Permanent magnet synchronous motor current harmonic disturbance suppression system, method and storage medium

Abstract

The present application discloses a permanent magnet synchronous motor current harmonic disturbance suppression system, method and storage medium. The system includes an extended state observer and a repetitive self-disturbance rejection controller; the extended state observer is used to obtain the current cycle disturbance observation value z2(k+1) containing a DC disturbance component and a low-frequency disturbance component, the current observation value z1(k+1) of the current cycle, and the error e1(k) between the current sampling value of the current cycle and the current observation value of the previous cycle; the repetitive self-disturbance rejection controller includes a main controller and a repetitive controller, the repetitive controller is used to receive the error e1(k), and reproduce the signal of the selected frequency based on the internal model principle, the main controller is used to receive the output signal of the repetitive controller, the current cycle disturbance observation value z2(k+1) and the current observation value z1(k+1) of the current cycle, and output the motor control instruction. The present invention has a good suppression effect on harmonic disturbances.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and more specifically, to a permanent magnet synchronous motor current harmonic disturbance suppression system, method and storage medium. Background Art

[0002] At present, the permanent magnet synchronous motor control system will suffer from a series of inherent harmonic disturbances in actual operation. The harmonic disturbance spectrum is rich and the sources are wide. For example, factors such as non-sinusoidal air gap magnetic density and cogging effect will cause back electromotive force harmonics, the nonlinear characteristics of the inverter switch tube will cause output voltage harmonics, the current sampling amplifier circuit has DC bias, and there are differences in the frequency characteristics between individual sensors, such as different channel amplification factors and different phase lags, which will cause asymmetric three-phase current sampling values ​​and cause current harmonics in the rotating coordinate system. Regardless of the form of harmonic disturbance, it will eventually act on the voltage equation of the motor, causing current harmonic disturbances. The current harmonics further cause torque fluctuations, increase losses, and reduce the steady-state operation performance of the motor. For low-order harmonics, many controllers have shown excellent anti-interference performance, while high-order harmonics mainly come from inverter nonlinearity. Due to the limited bandwidth of the controller, it is difficult to suppress them with traditional controllers alone.

[0003] Active disturbance rejection control is a new control method with broad application prospects in the field of permanent magnet synchronous motor control in recent years. The harmonic disturbance suppression performance of the active disturbance rejection controller of the permanent magnet synchronous motor depends on the observation accuracy of the extended state observer for such disturbances. In theory, if the bandwidth of the extended state observer is high enough, the harmonic disturbance can always be accurately observed and compensated to the controller output to protect the system from the disturbance. However, due to the influence of sampling noise and controller delay, the bandwidth of the extended state observer has an upper limit. Therefore, when the speed exceeds a certain value, the harmonic disturbance frequency will exceed the bandwidth of the extended state observer, and the disturbance estimation accuracy will drop significantly. In addition, too high a bandwidth will cause the active disturbance rejection controller to lose its noise suppression ability in the low frequency band. Therefore, for the current harmonic disturbance in the permanent magnet synchronous motor, the traditional active disturbance rejection controller cannot achieve a good suppression effect. Summary of the invention

[0004] In view of at least one defect or improvement need in the prior art, the present invention provides a permanent magnet synchronous motor current harmonic disturbance suppression system, method and storage medium, which have a good effect on suppressing harmonic disturbances.

[0005] To achieve the above object, according to a first aspect of the present invention, a permanent magnet synchronous motor current harmonic disturbance suppression system is provided, comprising an extended state observer and a repetitive active disturbance rejection controller;

[0006] The extended state observer is used to obtain the current cycle disturbance observation value z2(k+1) including the DC disturbance component and the low-frequency disturbance component, the current observation value z1(k+1) of the current cycle, and the error e1(k) between the current sampling value of the current cycle and the current observation value of the previous cycle;

[0007] The repetitive anti-disturbance controller includes a main controller and a repetitive controller. The repetitive controller is used to receive the error e1(k) and reproduce the signal of the selected frequency based on the internal model principle. The main controller is used to receive the output signal of the repetitive controller, the current cycle disturbance observation value z2(k+1) and the current observation value z1(k+1) of the current cycle, and output the motor control instruction.

[0008] Furthermore, the main controller is used to subtract the current command i*(k) of the previous cycle sampled from the current observation value z1(k+1) of the current cycle and send it into the proportional controller, subtract the current cycle disturbance observation value z2(k+1) from the output of the proportional controller and multiply the output signal of the repetitive controller by the control gain to obtain the motor voltage control command.

[0009] Furthermore, the control rate of the repetitive ADRC is:

[0010]

[0011] Where u(k) is the motor voltage control command, B is the control gain, and K is p is the closed-loop bandwidth of the control loop, G rc (z) is the repetitive controller.

[0012] Furthermore, the discrete expression of the repetitive controller is:

[0013]

[0014] In the formula, z -N is the delay parameter, K rc is the open-loop gain for adjusting the output size, K is the delay compensation coefficient for adjusting the output phase, and Q(z) is the stability coefficient.

[0015] Furthermore, the parameter K of the repetitive controller is selected according to the speed and the parameters of the extended state observer. rc , K.

[0016] Furthermore, the calculation formula of the parameters of the repetitive controller is:

[0017]

[0018]

[0019]

[0020]

[0021] In the formula, ω d is the angular frequency of the interference, ω0 is the bandwidth of the extended state observer, ω s is the sampling angular frequency.

[0022] Furthermore, the expression of the extended state observer is:

[0023]

[0024]

[0025] Among them, z1(k) is the current observation value of the previous cycle, i(k) is the current sampling value of the current cycle, z2(k) is the disturbance observation value of the previous cycle including the DC disturbance component and the low-frequency disturbance component, T s is the motor PWM drive switching cycle, L d Indicates the d-axis inductance, L q represents the q-axis inductance, u(k-1) is the voltage output by the inverter in the current cycle, and β1 and β2 are the observer gain parameters.

[0026] According to a second aspect of the present invention, a method for suppressing current harmonic disturbance of a permanent magnet synchronous motor is also provided, comprising:

[0027] Constructing an extended state observer, the extended state observer is used to obtain the current cycle disturbance observation value z2(k+1) including the DC disturbance component and the low-frequency disturbance component, the current observation value z1(k+1) of the current cycle, and the error e1(k) between the current sampling value of the current cycle and the current observation value of the previous cycle;

[0028] A repetitive anti-disturbance control controller is constructed, which includes a main controller and a repetitive controller. The repetitive controller is used to receive the error e1(k) and reproduce the signal of the selected frequency based on the internal model principle. The main controller is used to receive the output signal of the repetitive controller, the current cycle disturbance observation value z2(k+1) and the current observation value z1(k+1) of the current cycle, and output a motor control instruction.

[0029] According to a third aspect of the present invention, there is also provided a storage medium storing a computer program executable by a processor, wherein when the computer program runs on the processor, the processor executes the steps of the above-mentioned method.

[0030] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0031] (1) Aiming at the shortcomings of the traditional current auto-disturbance rejection controller of permanent magnet synchronous motor, a repetitive auto-disturbance rejection controller is proposed, which can effectively suppress the current high-order harmonic disturbances, taking advantage of the fact that the high-order harmonics of the dq axis current are mainly 6k (k is a positive integer). The repetitive auto-disturbance rejection controller has the same command tracking performance as the traditional auto-disturbance rejection control, but has a significantly improved effect on suppressing harmonic disturbances.

[0032] (2) Compared with the empirical parameter adjustment method of the traditional repetitive controller, a parameter selection method for the repetitive controller is proposed. The frequency domain is used for parameter selection, which saves time and can ensure the harmonic suppression effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 is a structural block diagram of a permanent magnet synchronous motor control system according to an embodiment of the present invention;

[0035] Figure 2 is a flowchart of an implementation method for suppressing current harmonic disturbances of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0036] Figure 3 is the Bode diagram of the perturbation observation capability of the traditional extended state observer;

[0037] Figure 4 is the Bode plot of the traditional extended state observer’s sensitivity to noise;

[0038] Figure 5 is a Bode diagram of the frequency selection capability of the repeated observer according to an embodiment of the present invention;

[0039] Figure 6 is a Bode diagram of the sensitivity of the observed current error to noise according to an embodiment of the present invention;

[0040] Figure 7 is a transfer function of a motor control system according to an embodiment of the present invention;

[0041] Figure 8 is a Bode diagram of a transfer function from disturbance to control error according to an embodiment of the present invention;

[0042] Fig. 9 This is a dq axis current spectrum analysis diagram of the repeated active disturbance rejection control strategy when the motor according to an embodiment of the present invention is running under light load.

[0043] Fig.10 The motor of the embodiment of the present invention adopts the traditional control method and the improved control method to track the same current instruction. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0046] like Figure 1 As shown, a permanent magnet synchronous motor current harmonic disturbance suppression system according to an embodiment of the present invention includes an extended state observer and a repetitive self-disturbance rejection controller. In the figure, PI represents a proportional integral regulator, SVPWM represents a voltage space vector pulse width modulation, and SPMSM represents a permanent magnet synchronous motor.

[0047] The extended state observer is used to obtain the current cycle disturbance observation value z2(k+1) including the DC disturbance component and the low-frequency disturbance component, the current observation value z1(k+1) of the current cycle, and the error e1(k) between the current sampling value of the current cycle and the current observation value of the previous cycle.

[0048] The repetitive anti-disturbance controller includes a main controller and a repetitive controller. The repetitive controller is used to receive the error e1(k) and reproduce the signal of the selected frequency based on the internal model principle. The main controller is used to receive the output signal of the repetitive controller, the current cycle disturbance observation value z2(k+1) and the current observation value z1(k+1) of the current cycle, and output the motor control command.

[0049] The implementation of the extended state observer is described in detail below.

[0050] Step 1: According to the mathematical model of the permanent magnet synchronous motor in the d and q coordinate systems, a current state equation with d and q axis currents as state variables is established.

[0051] The above d and q coordinate systems are common coordinate systems for analyzing the operation of synchronous motors. Specifically, the three-phase currents a, b, and c of the stator are projected onto the direct axis (d axis) rotating with the rotor, the quadrature axis (q axis), and the zero axis (0 axis) perpendicular to the dq plane.

[0052]

[0053] in

[0054] i=[i d i q ] T ,u=[u d u q ] T , C=[0-ψ f ω e ] T

[0055]

[0056] Among them, i d is the d-axis current component in the synchronous coordinate system, i q is the q-axis current component in the synchronous coordinate system, u d is the d-axis voltage component in the synchronous coordinate system, u g is the q-axis voltage component in the synchronous coordinate system, R s Indicates stator resistance, L d Indicates the d-axis inductance, L q represents the q-axis inductance, ψ f represents the permanent magnet flux, ω e is the rotor speed.

[0057] Due to the periodic delay of the SVPWM switch control cycle, the reference signal generated in the current cycle will be updated to the PWM output in the next cycle, which can be expressed in the discrete domain as follows:

[0058] i(k+1)=i(k)+T s (A(k)i(k)+Bu(k-1)+BC(k))

[0059] Where i(k+1) represents the theoretical current value of the next cycle, i(k) represents the current sampling value of the current cycle, A(k) represents the A value of the current cycle, u(k-1) represents the voltage output by the inverter in the current cycle, C(k) represents the C value of the current cycle, T s is the PWM update period. It is converted into a first-order integral form as follows:

[0060] i(k+1)=i(k)+T s Bu(k-1)+T s f(k)

[0061] Where f(k) = A(k)i(k) + BC(k). f(k) is the total interference in the motor control system, which includes known interference and unknown interference. The known interference includes the 6k (k is a positive integer) harmonics caused by the inverter dead zone and permanent magnet flux harmonics to be eliminated by this patent.

[0062] Step 2: Establish a discrete extended state observer. Specifically:

[0063] First, transform the voltage equation into state space form:

[0064]

[0065] Among them, f(k+1) represents the DC and low-frequency disturbance observation values ​​of the current cycle, and h(k) represents the derivative of the DC and low-frequency disturbance observation values ​​of the previous cycle.

[0066] Establish an extended state observer in the discrete domain:

[0067]

[0068] Among them, z1(k) is the current observation output of the previous cycle; z1(k+1) is the current observation output of the current cycle;

[0069] e1(k) is the error between the current sampling value i(k) of the current cycle and the current observation output z1(k) of the previous cycle;

[0070] z2(k) is the DC and low-frequency disturbance output of the previous cycle; z2(k+1) is the DC and low-frequency disturbance output of the current cycle;

[0071] u(k-1) is the voltage output by the inverter in the current cycle, and u(k-1) is calculated in the previous cycle. However, it is emphasized here that it is the output of the inverter in this cycle, and the output of the inverter will have a cycle delay.

[0072] β1 and β2 are observer gain parameters;

[0073] The observer gain parameters β1 and β2 are adjusted using the bandwidth method, and the observer bandwidth is defined as ω o .

[0074]

[0075] The transfer function for disturbance estimation can be derived

[0076]

[0077] Its bode diagram is as follows Figure 3As shown, it can be seen that as the bandwidth increases, the interference estimation capability increases. However, considering the impact of noise on the observer, the sensitivity transfer function of the estimated value of the current observation output to noise is as follows:

[0078]

[0079] Its bode diagram is as follows Figure 4 As shown in the figure, it can be seen that as the bandwidth increases, the estimated value becomes more sensitive to high-frequency noise, which directly affects the stability of the system in the control system, so the bandwidth cannot increase indefinitely. Therefore, the extended state observer has an upper limit on the ability to estimate interference, and the high-order harmonics caused by switch control generally exceed the bandwidth range, so special compensation methods are required.

[0080] The implementation of the repetitive ADRC is described in detail below.

[0081] Establish a repetitive controller, whose discrete expression is as follows

[0082]

[0083] where z -N is the delay parameter, z -1 is the unit delay operator, K rc is the open-loop gain used to adjust the output size, Q(z) is the stability factor, generally designed to be 0.95, N = f s / f dbase , f s is the PWM switching frequency, f dbase is the frequency of the sixth harmonic interference. For the convenience of explanation, f s =10kHzf dbase =100Hz. Therefore, N = 100. K is the delay compensation coefficient used to adjust the output phase. By adjusting K, the output phase can be adjusted. The bode diagram of the discrete repetitive controller is shown in Figure 5 As shown, it can be seen that the discrete repetitive controller has a very high gain for the selected frequency and its integer multiple frequencies, and has the characteristic of 0 phase shift, which also means that it has a strong frequency selection ability. However, its gain for the low frequency band is a problem that needs to be avoided when using the repetitive controller. Generally, DC bias detection can be used, and then fed back to the input minus the DC bias.

[0084] The repetitive anti-disturbance controller includes a main controller and a repetitive controller. The main controller is used to subtract the sampled current command i*(k) of the current cycle from the current observation value z1(k+1) of the current cycle and send it to the proportional controller, and then subtract the current cycle disturbance observation value z2(k+1) from the output of the proportional controller and multiply the output signal of the repetitive controller by the control gain to obtain the motor voltage control command.

[0085] The control rate of the repetitive ADRC controller is:

[0086]

[0087] Where u(k) is the motor voltage control command, B is the control gain, and K is p is the closed-loop bandwidth of the control loop, G rc (z) is the repetitive controller.

[0088] Considering the sensitivity of e1 to noise, its transfer function is as follows:

[0089]

[0090] Its bode diagram is as follows Figure 6 As shown, it can be seen that e1 can suppress low-frequency noise. This way of constructing the control law can omit the DC bias part of the repetitive controller.

[0091] The system is transformed into a transfer function form as Figure 7 As shown, the expressions of each part are as follows:

[0092]

[0093]

[0094] In the control system, the pursuit of perfect 6k-order disturbance compensation, the compensation equation is as follows:

[0095] (e1G rc (z)+z2)z -1 =f

[0096] As a controller based on the internal model principle, the repetitive controller can reproduce the signal of the selected frequency, so it is often used as an additional controller in combination with the main controller to suppress harmonic disturbances. However, the parameter tuning of the repetitive controller has always been a problem that limits its application scope, and due to its sensitive characteristics to DC, it is often necessary to add a tributary feedback to the structure of the repetitive controller, which further increases the complexity of the controller.

[0097] Since it is more complicated to select parameters in the discrete domain, repetitive controllers are usually selected based on empirical parameters. This patent proposes a parameter selection module that uses the frequency domain to select the parameters K of the repetitive controller based on the speed and the parameters of the extended state observer. rc , K.

[0098] First, the frequency domain transfer function of e1 and z2 to interference can be derived as follows:

[0099]

[0100] Where s is the Laplace operator.

[0101] Its amplitude-frequency response can be expressed as the following two equations:

[0102]

[0103] According to the characteristics of the repetitive controller, it can be equivalent to a delay link with a gain of 20, so the compensation equation can be simplified to the following formula:

[0104]

[0105] Therefore, the phase and amplitude can be solved separately, and the following parameter selection method can be obtained:

[0106]

[0107]

[0108]

[0109]

[0110] In the formula, ω d is the angular frequency of the interference, ω0 is the bandwidth of the extended state observer, ω s is the sampling angular frequency.

[0111] Take the sixth harmonic of 100Hz as an example to select parameters, as shown in Table 1:

[0112] Table 1

[0113]

[0114] Its harmonic suppression capability can be expressed by the transfer function from disturbance to system control error:

[0115]

[0116] Its bode diagram is as follows Figure 8 As shown, it can be proved that this structure can suppress the selected frequency and its integer multiple harmonics while suppressing low-frequency interference.

[0117] A method for suppressing current harmonic disturbance of a permanent magnet synchronous motor according to an embodiment of the present invention includes:

[0118] Construct an extended state observer, which is used to obtain the current cycle disturbance observation value z2(k+1) including the DC disturbance component and the low-frequency disturbance component, the current observation value z1(k+1) of the current cycle, and the error e1(k) between the current sampling value of the current cycle and the current observation value of the previous cycle;

[0119] A repetitive ADRC controller is constructed. The repetitive ADRC controller includes a main controller and a repetitive controller. The repetitive controller is used to receive the error e1(k) and reproduce the signal of the selected frequency based on the internal model principle. The main controller is used to receive the output signal of the repetitive controller, the current period disturbance observation value z2(k+1) and the current observation value z1(k+1) of the current period, and output the motor control command.

[0120] The implementation principle of the method is the same as that of the above system and will not be repeated here.

[0121] The present application also provides a storage medium, which stores a computer program executable by a processor, and when the computer program runs on the processor, the processor executes the steps of any one of the above-mentioned permanent magnet synchronous motor current harmonic disturbance suppression methods. Wherein, the computer readable storage medium may include but is not limited to any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0122] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0123] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor current harmonic disturbance suppression system, characterized in that: Includes extended state observer and repetitive active disturbance rejection controller; The extended state observer is used to obtain the current period disturbance observation value including the DC disturbance component and the low-frequency disturbance component. , the current observation value of the current cycle , the error between the current sampling value of the current cycle and the current observation value of the previous cycle ; The repetitive ADRC controller includes a main controller and a repetitive controller, wherein the repetitive controller is used to receive an error , and reproduce the signal of the selected frequency based on the internal model principle, the main controller is used to receive the output signal of the repetitive controller, the current periodic disturbance observation value and the current observation value of the current cycle , and output motor control instructions; The main controller is used to sample the current instruction of the current cycle The current observation value of the current cycle Subtract the current period disturbance observation value from the output of the proportional controller. , multiplying the output signal of the repetitive controller by the control gain to obtain a motor voltage control instruction; Wherein, the control rate of the repetitive ADRC is: In the formula, Motor voltage control command, To control the gain, To control the closed-loop bandwidth of the loop, is the repeat controller; Wherein, the discrete expression of the repetitive controller is: In the formula, is the delay parameter, is the open-loop gain used to adjust the output size, is the delay compensation coefficient used to adjust the output phase, is the stability coefficient; The calculation formula of the parameters of the repetitive controller is: In the formula, is the angular frequency of the interference, is the bandwidth of the extended state observer, is the sampling angular frequency; The expression of the extended state observer is: in, is the current observation value of the previous cycle, is the current sampling value of the current cycle, is the disturbance observation value of the previous cycle including the DC disturbance component and the low-frequency disturbance component, Ts is the motor PWM drive switching cycle, represents the d-axis inductance, represents the q-axis inductance, is the voltage output by the inverter in the current cycle, and is the observer gain parameter.

2. The permanent magnet synchronous motor current harmonic disturbance suppression system according to claim 1, characterized in that: The parameters of the repetitive controller are selected according to the speed and the parameters of the extended state observer. , .

3. A method for suppressing harmonic disturbances of a permanent magnet synchronous motor current, based on the permanent magnet synchronous motor current harmonic disturbance suppression system as described in any one of claims 1 or 2 above, characterized in that: include: Constructing an extended state observer, the extended state observer is used to obtain the current period disturbance observation value including the DC disturbance component and the low-frequency disturbance component , the current observation value of the current cycle , the error between the current sampling value of the current cycle and the current observation value of the previous cycle ; A repetitive ADRC controller is constructed, wherein the repetitive ADRC controller includes a main controller and a repetitive controller, wherein the repetitive controller is used to receive an error , and reproduce the signal of the selected frequency based on the internal model principle, the main controller is used to receive the output signal of the repetitive controller, the current periodic disturbance observation value and the current observation value of the current cycle , and output motor control instructions; The main controller is used to sample the current instruction of the current cycle The current observation value of the current cycle Subtract the current period disturbance observation value from the output of the proportional controller. , multiplying the output signal of the repetitive controller by the control gain to obtain a motor voltage control instruction; Wherein, the control rate of the repetitive ADRC is: In the formula, Motor voltage control command, To control the gain, To control the closed-loop bandwidth of the loop, is the repeat controller; Wherein, the discrete expression of the repetitive controller is: In the formula, is the delay parameter, is the open-loop gain used to adjust the output size, is the delay compensation coefficient used to adjust the output phase, is the stability coefficient; The calculation formula of the parameters of the repetitive controller is: In the formula, is the angular frequency of the interference, is the bandwidth of the extended state observer, is the sampling angular frequency; The expression of the extended state observer is: in, is the current observation value of the previous cycle, is the current sampling value of the current cycle, is the disturbance observation value of the previous cycle including the DC disturbance component and the low-frequency disturbance component, Ts is the motor PWM drive switching cycle, represents the d-axis inductance, represents the q-axis inductance, is the voltage output by the inverter in the current cycle, and is the observer gain parameter.

4. The method for suppressing current harmonic disturbance of a permanent magnet synchronous motor according to claim 3, characterized in that: The main controller is used to sample the current instruction of the current cycle The current observation value of the current cycle Subtract the current period disturbance observation value from the output of the proportional controller. , the output signal of the repetitive controller is multiplied by the control gain to obtain the motor voltage control instruction.

5. A storage medium, characterized in that: The device stores a computer program, and when the computer program is run on a processor, the processor is caused to execute the steps of the method according to any one of claims 3 to 4.

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