Motor harmonic torque compensation method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a motor harmonic torque compensation method and device, electronic equipment and storage medium, the method obtains the stator resistance of the motor, and the coordinate axis current, the preset current, the inductance of the motor in the preset coordinate axis, determines the current feedback error according to the coordinate axis current and the preset current, and determines the sliding mode surface function value, determines the coordinate axis voltage of the preset coordinate axis based on the sliding mode surface function value, the current feedback error, the stator resistance, the inductance, the coordinate axis current and the preset current, adjusts the current error of the motor to the balance state through the coordinate axis voltage, determines the unmodeled disturbance and the torque harmonic estimation value based on the sliding mode surface function value, the inductance and the stator resistance, and determines the compensated command voltage, to compensate the disturbance and the harmonic torque, considering the unmodeled disturbance of the current loop and the torque fluctuation caused by the harmonic disturbance of the current loop, can suppress the unmodeled disturbance and compensate the torque fluctuation, the method is simple, and the reliability is higher.

Description

Technical Field

[0001] This invention relates to the field of motor drive control, and specifically to a method, device, electronic device, and storage medium for motor harmonic torque compensation. Background Technology

[0002] A permanent magnet synchronous motor (PMSM) is an electromechanical device that converts electrical energy into mechanical kinetic energy. It boasts advantages such as high power density, compact structure, and good control performance, making it a popular choice for the drive mechanism of electric vehicles. However, due to the nonlinearity of the PSM itself, the inverter, and current sampling errors, a significant amount of harmonic torque is generated in the output torque. This harmonic torque not only causes noise and abnormal sounds in the power system but also affects the ride comfort of the electric vehicle. Therefore, a harmonic torque compensation algorithm needs to be designed in the motor control algorithm to prevent the adverse effects of harmonic torque on the power system while ensuring accurate torque output from the electric drive system.

[0003] Because vector control is used, the output torque of a permanent magnet synchronous motor (PMSM) is proportional to the quadrature-axis (q-axis) current in the synchronous rotating coordinate system. Therefore, precise current control is essential to ensure high-precision torque output. Traditional methods for suppressing harmonic torque typically involve a control scheme that combines iterative learning or repetitive control algorithms with a proportional-integral (PI) controller in the current loop. For example, patent CN114039519A discloses a method for suppressing torque ripple in a PMSM, which combines robust internal model control and fractional-order vector resonant control to improve the robustness of the PMSM current loop and suppress torque ripple. However, the frequency domain characteristics of the parallel control signals are prone to aliasing, thus affecting the dynamic response. For example, patent CN112564557A establishes a mathematical model of the permanent magnet synchronous motor on the dq axis based on its basic structure and extracts the system's input parameters. It then identifies the motor parameters using a least squares model with a forgetting factor, thereby obtaining a current loop control model. The system's input parameters are then input into an RBF neural network model trained using a particle swarm optimization algorithm to generate a speed loop control model. Based on the current loop control model and the speed loop control model, an adaptive control model for the permanent magnet synchronous motor is generated. However, the above method is relatively cumbersome and depends on the reliability of the RBF neural network model training, resulting in high costs and questionable reliability. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, embodiments of the present invention provide a method, apparatus, electronic device and storage medium for motor harmonic torque compensation to solve the above technical problems.

[0005] This invention provides a method for compensating harmonic torque in a motor. The method includes: acquiring the stator resistance of the motor, and the coordinate axis current, preset current, and inductance of the motor on a preset coordinate axis, wherein the preset coordinate axis includes a vertical axis and a cross axis; determining the current feedback error based on the coordinate axis current and the preset current, and determining the sliding surface function value; determining the coordinate axis voltage of the preset coordinate axis based on the sliding surface function value, the current feedback error, the stator resistance, the inductance, the coordinate axis current, and the preset current, so as to adjust the current error of the motor to converge to an equilibrium state through the coordinate axis voltage; determining the unmodeled interference and torque harmonic estimation value based on the sliding surface function value, the inductance, and the stator resistance, and determining the compensated command voltage, and compensating for the interference and harmonic torque through the compensated command voltage.

[0006] In one embodiment of the present invention, the method for determining the current feedback error includes:

[0007] e d =I d * -I d ,

[0008] e q =I q * -I q ,

[0009] Among them, e d For the current feedback error on the vertical axis, I d * I is the preset current on the vertical axis. d The vertical axis represents the current, e q For the current feedback error of the quadrature axis, I q * For the preset current of the quadrature axis, I q The coordinate axis currents are intersecting the axis.

[0010] In one embodiment of the present invention, the method for determining the sliding surface function value includes:

[0011]

[0012] Among them, S d e represents the sliding surface function value along the vertical axis. d S represents the current feedback error on the vertical axis. q e represents the sliding surface function value of the cross-axis. q Let α be the current feedback error of the quadrature axis, 0 and t be the lower and upper limits of integration, and t be the time.

[0013] In one embodiment of the present invention, the method for determining the coordinate axis voltage includes:

[0014]

[0015] G d =1 / L d ,

[0016] G q =1 / L q ,

[0017] F d =R s / L d ,

[0018] F q =R s / L q ,

[0019] Among them, U d Let L be the voltage on the vertical axis of the coordinate system. d Inductance along the vertical axis, I d * I is the preset current on the vertical axis. d The vertical axis represents the current, S. d e represents the sliding surface function value along the vertical axis. d For the current feedback error on the vertical axis, U q For the coordinate axis voltage, L q For quadrature-axis inductance, I q * For the preset current of the quadrature axis, I q Let S be the coordinate axis current. q e represents the sliding surface function value of the cross-axis. q For the current feedback error of the quadrature axis, R s Let g be the stator resistance, g1 be the switching gain of the sign function, g1>0, g2 be the exponential coefficient, and α be the integration constant.

[0020] In one embodiment of the present invention, the unmodeled interference and the torque harmonic estimate are determined as follows:

[0021]

[0022] in, The values ​​represent the unmodeled disturbances and torque harmonic estimates along the vertical axis. For the unmodeled disturbances and torque harmonic estimates of the quadrature axis, g1 is the switching gain of the sign function, g1>0, g2 is the exponential coefficient, and S d S represents the sliding surface function value along the vertical axis. q Let k be the sliding surface function value of the cross-axis. rL is the gain parameter of the bandpass filter. d Inductance along the vertical axis, L q Let be the quadrature-axis inductance, s be the Laplace operator, and R be the inductance. s For the stator resistance, ω c λ is the damping coefficient, ω0 is the center frequency, λ is the time constant of the low-pass filter, and k is the damping coefficient. r This represents the gain parameter of the bandpass filter.

[0023] In one embodiment of the present invention, the method for determining the compensated command voltage includes:

[0024]

[0025]

[0026] Among them, U d_d U q_q U represents the compensated command voltage. d The vertical axis represents the voltage, U. q For the coordinate axis voltage, L d Inductance L is the vertical axis. q For quadrature-axis inductance, The values ​​represent the unmodeled disturbances and torque harmonic estimates along the vertical axis. This represents the unmodeled disturbances and torque harmonic estimates for the quadrature axis.

[0027] This invention provides a motor harmonic torque compensation device, comprising: an acquisition module for acquiring the stator resistance of the motor, and the coordinate axis current, preset current, and inductance of the motor on a preset coordinate axis, the preset coordinate axis including a vertical axis and a cross axis; a sliding surface module for determining the current feedback error based on the coordinate axis current and the preset current, and determining the sliding surface function value; a current error convergence module for determining the coordinate axis voltage of the preset coordinate axis based on the sliding surface function value, the current feedback error, the stator resistance, the inductance, the coordinate axis current, and the preset current, so as to adjust the current error of the motor to converge to an equilibrium state through the coordinate axis voltage; and a compensation module for determining the unmodeled interference and torque harmonic estimation value based on the sliding surface function value, the inductance, and the stator resistance, and determining the compensated command voltage, and compensating for the interference and harmonic torque through the compensated command voltage.

[0028] This invention provides a method for compensating motor harmonic torque. The method includes: constructing a sliding surface based on a mathematical model of the motor's current loop, and constructing a sliding surface control law for the current error, wherein the sliding surface control law is used to control the current error of the motor to converge to an equilibrium state; creating a transfer function between the disturbance and torque harmonics and the estimated value, and rewriting the transfer function as an estimation error equation; constructing an exponential reaching law, and determining the differential of the compensated sliding surface based on the exponential reaching law and disturbance compensation; determining an estimation model for unmodeled disturbance and torque harmonics based on the estimation error equation and the differential of the compensated sliding surface; obtaining the current parameters of the motor, estimating the disturbance and harmonic torque based on the current parameters using the estimation model for unmodeled disturbance and torque harmonics, and feeding it forward to the voltage command to compensate for the disturbance and harmonic torque.

[0029] An electronic device provided in this invention includes: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to perform the method described in any of the above embodiments.

[0030] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the method described in any of the above embodiments.

[0031] The beneficial effects of the embodiments of the present invention are as follows: The embodiments of the present invention provide a method, device, electronic device, and storage medium for motor harmonic torque compensation. The method obtains the stator resistance of the motor, and the coordinate axis current, preset current, and inductance of the motor on a preset coordinate axis. The preset coordinate axis includes the vertical axis and the quadrature axis. The current feedback error is determined based on the coordinate axis current and the preset current, and the sliding surface function value is determined. Based on the sliding surface function value, current feedback error, stator resistance, inductance, coordinate axis current, and preset current, the coordinate axis voltage of the preset coordinate axis is determined so as to adjust the current error of the motor to converge to an equilibrium state through the coordinate axis voltage. Based on the sliding surface function value, inductance, and stator resistance, the unmodeled interference and torque harmonic estimation value are determined, and the compensated command voltage is determined. The interference and harmonic torque are compensated by the compensated command voltage. The method considers the unmodeled interference of the current loop, which can suppress the unmodeled interference. It also considers the torque fluctuation caused by the current loop harmonic disturbance, which can compensate for the torque fluctuation. The method is simple, low-cost, and achieves strong robustness and good reliability at a small switching frequency.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0034] Figure 1 This is a flowchart illustrating a motor harmonic torque compensation method in an exemplary embodiment of this application;

[0035] Figure 2 This is a Bode plot of the amplitude-frequency response of a filter under different filter time constants (λ), as illustrated in an exemplary embodiment of this application.

[0036] Figure 3 This is an exemplary embodiment of the filter shown in this application with different gain coefficients (k r Bode plot of the lower amplitude frequency response;

[0037] Figure 4 This is an exemplary embodiment of the filter shown in this application with different damping coefficients (ω). c Bode plot of the lower amplitude frequency response;

[0038] Figure 5 This is a control block diagram illustrating a motor harmonic torque compensation method for controlling a motor, as shown in an exemplary embodiment of this application.

[0039] Figure 6 This is an exemplary embodiment of the present application, illustrating a comparison of simulation results between the motor harmonic torque compensation method of the present application and a conventional method;

[0040] Figure 7 This is a schematic diagram of the structure of a motor harmonic torque compensation device shown in an exemplary embodiment of this application;

[0041] Figure 8 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0042] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0044] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0045] A permanent magnet synchronous motor (PMSM) is an electromechanical device that converts electrical energy into mechanical kinetic energy. It boasts advantages such as high power density, compact structure, and good control performance, making it a popular choice for the drive mechanism of electric vehicles. However, due to the nonlinearity of the PSM itself, the inverter, and current sampling errors, a significant amount of harmonic torque is generated in the output torque. This harmonic torque not only causes noise and abnormal sounds in the power system but also affects the ride comfort of the electric vehicle. Therefore, a harmonic torque compensation algorithm needs to be designed in the motor control algorithm to prevent the adverse effects of harmonic torque on the power system while ensuring accurate torque output from the electric drive system.

[0046] In related technologies, methods for suppressing harmonic torque typically involve a control scheme that connects an iterative learning or repetitive control algorithm in parallel with a proportional-integral (PI) controller in the current loop. While this control scheme is simple and reliable, the frequency domain characteristics of the parallel control signals are prone to aliasing, thus affecting the dynamic response. Motors also typically face various time-varying unmodeled disturbances during operation, the frequency characteristics of which may not be known. In addition to the above factors, the current loop itself can be considered a first-order inertial element, which will affect the gain of the compensation algorithm, thereby reducing the harmonic torque suppression performance.

[0047] To address the aforementioned problems, embodiments of this application propose a motor harmonic torque compensation method, a motor harmonic torque compensation device, an electronic device, a computer-readable storage medium, and a computer program product, which will be described in detail below.

[0048] Please see Figure 1 , Figure 1 This is a flowchart illustrating a motor harmonic torque compensation method as an exemplary embodiment of this application. This method can be performed in other implementation environments known to those skilled in the art; for example, it can be applied to torque control algorithms for permanent magnet synchronous motors in electric vehicles. Figure 1As shown, in an exemplary embodiment, the motor harmonic torque compensation method includes at least steps S101 to S104, which are described in detail below:

[0049] Step S101: Obtain the stator resistance of the motor, and the coordinate axis current, preset current and inductance of the motor on the preset coordinate axis.

[0050] The preset coordinate axes include the vertical axis (d-axis) and the cross axis (q-axis). The preset current of each coordinate axis can be set by those skilled in the art as needed, and is not limited here.

[0051] In the control of permanent magnet synchronous motors, to achieve control characteristics similar to those of DC motors, a coordinate system is established on the motor rotor. This coordinate system rotates synchronously with the rotor. The direction of the rotor's magnetic field is taken as the d-axis, and the direction perpendicular to the rotor's magnetic field is taken as the q-axis. By transforming the mathematical model of the motor into this coordinate system, the d-axis and q-axis can be decoupled, thereby obtaining good control characteristics. Therefore, in this embodiment, the preset coordinate axes include the d-axis and q-axis.

[0052] Each coordinate axis can provide its component current, preset current, and inductance. The methods for obtaining the stator resistance, coordinate axis current, preset current, and inductance can be implemented using methods known to those skilled in the art, and are not limited here.

[0053] Step S102: Determine the current feedback error based on the coordinate axis current and the preset current, and determine the sliding surface function value.

[0054] The methods for determining the current feedback error include:

[0055] e d =I d * -I d Formula (1),

[0056] e q =I q * -I q Formula (2),

[0057] Among them, e d For the current feedback error on the vertical axis, I d * I is the preset current on the vertical axis. d The vertical axis represents the current, e q For the current feedback error of the quadrature axis, I q * For the preset current of the quadrature axis, I q The coordinate axis currents are intersecting the axis.

[0058] In this embodiment, the method for determining the sliding surface function value includes:

[0059]

[0060] Among them, S d e represents the sliding surface function value along the vertical axis. d S represents the current feedback error on the vertical axis. q e represents the sliding surface function value of the cross-axis. q Let α be the current feedback error of the quadrature axis, 0 and t be the lower and upper limits of integration, and t be the time.

[0061] Before determining the sliding surface function values, the method also includes,

[0062] A mathematical model of the current loop of the permanent magnet synchronous motor, also known as the current loop model, is established. The mathematical model is then rewritten to obtain the rewritten model.

[0063] One exemplary formula for the current loop model is as follows:

[0064]

[0065] Among them, U d U q I d I q These represent the dq-axis voltage and current in a synchronous rotating coordinate system, respectively, R. S Ld and Lq are the stator resistance and the dq-axis inductance in the synchronous rotating coordinate system, respectively. e Let ψ be the electric angular frequency. f For permanent magnet flux linkage, U hαr_d and U hαr_q This refers to the harmonic voltage generated due to inverter nonlinearity and current sampling errors. This harmonic voltage will produce harmonic currents of the same frequency in the current loop, thus causing output torque fluctuations. T e This represents the output torque of the motor.

[0066] An exemplary formula for rewriting the model is as follows:

[0067]

[0068] F d =R s / L d Formula (6),

[0069] F q =R s / L q Formula (7),

[0070] G d =1 / Ld Formula (8),

[0071] G q =1 / L q Formula (9),

[0072] D d =(-ω e L q I q + U hαr_d ) / L d Formula (10),

[0073] D q =(ω e (L d I d +ψ f )+U hαr_q ) / L q Formula (11).

[0074] Among them, I d I q These are the dq-axis currents in the synchronous rotating coordinate system, R. S Ld and Lq are the stator resistances, and Lq and Lq are the dq-axis inductances in the synchronous rotating coordinate system. e Let ψ be the electric angular frequency. f For permanent magnet flux linkage, U hαr_d and U hαr_q U represents the harmonic voltage generated due to inverter nonlinearity and current sampling error. d U q These are the dq-axis voltages in a synchronously rotating coordinate system, respectively. d F q G d G q D d D q These are the identifier symbols of the formulas they represent.

[0075] Step S103: Determine the coordinate axis voltage of the preset coordinate axis based on the sliding surface function value, current feedback error, stator resistance, inductance, coordinate axis current and preset current, so as to adjust the current error of the motor to converge to the equilibrium state by adjusting the coordinate axis voltage.

[0076] The methods for determining the coordinate axis voltages include:

[0077]

[0078] G d =1 / L d Formula (8),

[0079] Gq =1 / L q Formula (9),

[0080] F d =R s / L d Formula (6),

[0081] F q =R s / L q Formula (7),

[0082] Among them, U d Let L be the voltage on the vertical axis of the coordinate system. d Inductance along the vertical axis, I d * I is the preset current on the vertical axis. d The vertical axis represents the current, S. d e represents the sliding surface function value along the vertical axis. d For the current feedback error on the vertical axis, U q For the coordinate axis voltage, L q For quadrature-axis inductance, I q * For the preset current of the quadrature axis, I q Let S be the coordinate axis current. q e represents the sliding surface function value of the cross-axis. q For the current feedback error of the quadrature axis, R s Let g be the stator resistance, g1 be the switching gain of the sign function, g1>0, g2 be the exponential coefficient, and α be the integration constant.

[0083] To avoid chattering caused by sliding mode control laws, an exponential reaching law is adopted as follows:

[0084]

[0085] Where g1>0 is the switching gain of the sign function, and g2 is the exponential coefficient. Let be the first derivative of the sliding surface function along the vertical axis. S is the first derivative of the sliding surface function of the cross-axis. d S is the sliding surface function along the vertical axis. q It is a sliding surface function of the intersection axis.

[0086] In one embodiment, the differential of the current error can be expressed as:

[0087]

[0088] in, Let be the first derivative of the current feedback error on the vertical axis. I is the first derivative of the current feedback error of the quadrature axis.d * The preset current for the vertical axis. Let I be the first derivative of the current along the vertical axis. q * The preset current for the quadrature axis. F is the first derivative of the current along the coordinate axis intersecting the axis. d G d U d D d F q G q U q D q The determination method can refer to the above formulas (6)-(11), U d U q These are the dq-axis voltages in the synchronous rotating coordinate system.

[0089] Combining equations (13) and (14), the expression for the sliding mode control law is as follows:

[0090]

[0091] Among them, U d U q I d I q These represent the dq-axis voltage and current in a synchronously rotating coordinate system, respectively. Let be the first derivative of the preset current on the vertical axis. Let g1 be the first derivative of the preset current of the quadrature axis, g2 be the switching gain of the sign function (g1 > 0), α be the exponential coefficient, and S be the integration constant. d S is the sliding surface function along the vertical axis. q For the sliding surface function of the intersection axis, e d e represents the current feedback error on the vertical axis. q This represents the current feedback error of the quadrature axis. F d F q G d G q These are the identifiers of the formulas they represent, and the determination method can be referred to the above formulas (6)-(9).

[0092] Step S104: Based on the sliding mode surface function value, inductance, and stator resistance, determine the unmodeled interference and torque harmonic estimation values, and determine the compensated command voltage. The interference and harmonic torque are compensated by the compensated command voltage.

[0093] In one embodiment, before modeling the disturbance and determining the torque harmonic estimate, the method further includes:

[0094] To suppress disturbances and harmonics within the system, it is assumed that the disturbances and torque harmonics have the following transfer functions with respect to the estimated values:

[0095]

[0096] in, F represents the estimated value of the dq-axis perturbation, respectively. dfilter F qfilter These are improved filters embedded with the controlled object. λ is the time constant of the low-pass filter; the smaller the time constant, the wider the filter bandwidth. However, excessively high bandwidth introduces noise, so the parameter must be chosen between noise and bandwidth. k r ω is the gain parameter of the bandpass filter. A larger value indicates a larger gain, which allows for a more accurate estimation of the system's torque harmonics. c The damping coefficient determines the controller bandwidth; a larger parameter results in a wider bandwidth, but the gain will be affected. Therefore, this parameter needs to be selected reasonably according to actual needs. ω0 is the center frequency, Ld and Lq are the dq-axis inductances in the synchronous rotating coordinate system, s is the Laplace operator, and R... S For the stator resistance, ω e D is the electric angular frequency. d D q The symbol is to be identified, and its determination method can be referred to formula (10) and formula (11).

[0097] Rewrite (16) as an equation concerning the estimation error:

[0098]

[0099] in, Let represent the estimated values ​​of the dq-axis perturbations, λ be the time constant of the low-pass filter, and k be the time constant. A smaller time constant indicates a wider filter bandwidth, but excessive bandwidth introduces noise. Therefore, the parameters must be chosen between noise and bandwidth. r ω is the gain parameter of the bandpass filter. A larger value indicates a larger gain, which allows for a more accurate estimation of the system's torque harmonics. c The damping coefficient determines the controller bandwidth; a larger parameter results in a wider bandwidth, but the gain will be affected. Therefore, this parameter needs to be selected reasonably according to actual needs. ω0 is the center frequency, Ld and Lq are the dq-axis inductances in the synchronous rotating coordinate system, s is the Laplace operator, and R... S For stator resistance, e dd e qq These are the estimation errors for the d-axis and q-axis perturbations, respectively.

[0100] After adding disturbance compensation, the differential of the sliding surface can be further expressed as:

[0101]

[0102] in, Let be the first derivative of the sliding surface function along the vertical axis. S is the first derivative of the sliding surface function of the cross-axis. d S is the sliding surface function along the vertical axis. q For the sliding surface function of the intersection axis, Let D represent the estimated values ​​of the dq-axis perturbation, respectively. d D q The symbol is defined by formulas (10) and (11), where g1 is the switching gain of the sign function, g1>0, g2 is the exponential coefficient, and e dd e qq These are the estimation errors for the d-axis and q-axis perturbations, respectively.

[0103] When the system reaches the sliding mode, we can obtain:

[0104]

[0105] Among them, S d S is the sliding surface function along the vertical axis. q For the sliding surface function of the intersection axis, Let be the first derivative of the sliding surface function along the vertical axis. It is the first derivative of the sliding surface function of the intersection axis.

[0106] Combining formulas (17) and (18), we can obtain:

[0107]

[0108] in, Let denot dq, λ be the time constant of the low-pass filter, and t be ω. c Let Ld and Lq be the damping coefficients, respectively, and Lq be the dq-axis inductances in the synchronous rotating coordinate system. s is the Laplace operator, and k is the damping coefficient. r Here are the gain parameters for the bandpass filter, ω0 is the center frequency, and R... S Let g be the stator resistance, g1 be the switching gain with a sign function (g1 > 0), g2 be the exponential coefficient, and S be the current. d S is the sliding surface function along the vertical axis. q It is a sliding surface function of the intersection axis.

[0109] Integrating both sides of equation (19) simultaneously yields the estimated values ​​of the disturbances in the d-axis and q-axis currents, as well as the torque harmonics. The determination of the unmodeled disturbances and the estimated values ​​of the torque harmonics is as follows:

[0110]

[0111] in, The values ​​represent the unmodeled disturbances and torque harmonic estimates along the vertical axis. For the unmodeled disturbances and torque harmonic estimates of the quadrature axis, g1 is the switching gain of the sign function, g1>0, g2 is the exponential coefficient, and S d S represents the sliding surface function value along the vertical axis. q Let k be the sliding surface function value of the cross-axis. r L is the gain parameter of the bandpass filter. d Inductance L is the vertical axis. q Let be the quadrature-axis inductance, s be the Laplace operator, and R be the inductance. s For the stator resistance, ω c λ is the damping coefficient, ω0 is the center frequency, λ is the time constant of the low-pass filter, and k is the damping coefficient. r This represents the gain parameter of the bandpass filter.

[0112] The estimated interference and harmonic torque are fed forward into the voltage command to compensate for the interference. The compensated voltage command is shown below, and the method for determining the compensated command voltage includes:

[0113]

[0114]

[0115] Among them, U d_d U q_q U represents the compensated command voltage. d The vertical axis represents the voltage, U. q For the coordinate axis voltage, L d Inductance L is the vertical axis. q For quadrature-axis inductance, The values ​​represent the unmodeled disturbances and torque harmonic estimates along the vertical axis. This represents the unmodeled disturbances and torque harmonic estimates for the quadrature axis.

[0116] This invention also provides another method for motor harmonic torque compensation, which includes:

[0117] A sliding surface is constructed based on the mathematical model of the motor current loop, and a sliding control law for the current error is constructed. The sliding control law is used to control the current error of the motor to converge to an equilibrium state.

[0118] Create a transfer function between the disturbance and torque harmonics and the estimated value, and rewrite the transfer function as an estimation error equation;

[0119] Construct an exponential reaching law, and determine the differential of the sliding surface after compensation based on the exponential reaching law and disturbance compensation;

[0120] The model for estimating torque harmonics is determined based on the estimation error equation and the differential of the compensated sliding surface.

[0121] The current parameters of the motor are obtained, and the interference and harmonic torque are estimated based on the current parameters using the unmodeled interference and torque harmonic estimation model. These are then fed forward to the voltage command to compensate for the interference and harmonic torque.

[0122] The current parameters can be determined by referring to the variables required in the above models, including but not limited to the stator resistance of the motor, and the coordinate axis current, preset current, and inductance of the motor on the preset coordinate axes, which include the vertical axis and the quadrature axis. In one embodiment, this motor torque control method can be applied to the torque control of permanent magnet synchronous motors for electric vehicles.

[0123] An exemplary method for implementing a motor torque control method using the method provided in the above embodiments is as follows:

[0124] First, establish a mathematical model of the current loop of the permanent magnet synchronous motor. An example of a current loop mathematical model can be found in formula (4).

[0125] Second, in order to facilitate the design of control algorithms, the above current loop mathematical model can be rewritten as formula (5).

[0126] Third, to ensure the robustness of the control algorithm, sliding mode control laws are designed for the dq-axis currents. The integral sliding surface for designing the sliding mode control law can be found in formula (3). At this time, S can be... d The sliding surface function, S, serves as the vertical axis. q Sliding surface function as the intersection axis.

[0127] Fourth, in order to avoid chattering caused by the sliding mode control law, an exponential approach law can be used, where the exponential approach law can be expressed as formula (13), and the differential of the current error can be expressed as formula (14). By combining formula (13) and formula (14), the sliding mode control law can be obtained, which can be expressed as formula (15).

[0128] Fifth, in order to control interference and suppress harmonics within the system, it is assumed that the interference and torque harmonics have a transfer function with respect to the estimated value as shown in Equation (16). The above transfer function is rewritten as an equation about the estimation error as shown in Equation (17).

[0129] Sixth, after adding disturbance compensation, the differential of the sliding surface can be expressed as formula (18). When the system reaches the sliding mode, formula (19) can be obtained. Combining formula (17) and formula (18), formula (20) can be obtained. Integrating both sides at the same time can obtain the estimated values ​​of the disturbance of the d-axis current and the torque harmonics, as shown in formula (21).

[0130] Seventh, the estimated interference and harmonic torque are fed forward into the voltage command to compensate for the interference. The compensated voltage command can be found in formulas (22) and (23).

[0131] See Figure 2 , Figure 2 This is a Bode plot of the amplitude-frequency response of a filter under different filter time constants (λ), as illustrated in an exemplary embodiment of this application. Figure 2 As shown, the filter time constant λ mainly affects the bandwidth in the low-frequency band. The smaller the time constant, the higher the bandwidth, and the more quickly the estimated value will track the given value. However, this will also amplify high-frequency noise, so this parameter should be chosen with a trade-off. It should be noted that... Figure 2 In the upper half of the image, the curves on the right side from top to bottom are 0.001λ, 0.01λ, 0.1λ, and 1λ, respectively. Figure 2 In the lower half of the image, the curves from top to bottom in the middle of the image are 0.001λ, 0.01λ, 0.1λ, and 1λ, respectively.

[0132] See Figure 3 , Figure 3 This is an exemplary embodiment of the filter shown in this application with different gain coefficients (k r Bode plot of the lower amplitude frequency response, such as Figure 3 As shown, with the gain coefficient k r The increase in gain at the center frequency means that the estimator can estimate torque harmonics more effectively. Figure 3 In the upper half of the image, the curves from top to bottom in the middle of the image are 4k... r 3k r 2k r k r , Figure 3 In the lower half of the image, the curves from top to bottom in the left half are 4k... r 3k r 2k r k r .

[0133] See Figure 4 , Figure 4 This is an exemplary embodiment of the filter shown in this application with different damping coefficients (ω). c Bode plot of the lower amplitude frequency response, from Figure 4 It can be seen that as the damping coefficient ω c With the increase of , the bandwidth increases, but the gain at the center frequency decreases. Generally speaking, this parameter is usually chosen to be 5-15 rad / s. Figure 4In the upper half of the image, the curves from top to bottom in the middle of the image are ω c 2ω c 3ω c 4ω c , Figure 4 In the lower half of the image, the left half (frequency 10) 1 ~10 2 The curves from top to bottom are ω c 2ω c 3ω c 4ω c .

[0134] See Figure 5 , Figure 5 This is a control block diagram illustrating a motor harmonic torque compensation method for controlling a motor, as shown in an exemplary embodiment of this application. Figure 5 As shown, firstly, the d-axis and q-axis currents are subtracted from the given current values. For example, the phase currents Ia and Ib of the motor are collected by the current sensor and converted into DC components Id and Iq through Clark and Park transformations. The current given values ​​Id* and Iq* are subtracted from the feedback values. The sliding surface function values ​​of the d-axis and q-axis are calculated in real time using formula (3). Then, the function values ​​and the current error are input into formula (15) to calculate the voltage U in real time. d U q After adjusting the voltage, the current error can be forced to converge to 0. At the same time, the information of the sliding surface is transmitted to formula (21) to estimate the unmodeled interference and torque harmonics in real time. The estimated information is used as the feedforward voltage to compensate for the interference and torque harmonics. The estimated information and uation.DSMT4 are used as the feedforward voltage to compensate for the interference and torque harmonics. After compensation, a new command voltage Ud_d and Uq_q are generated. Through the spatial pulse width vector modulation algorithm (SVPWM), a new modulation wave is generated to drive the motor to run.

[0135] See Figure 6 , Figure 6 This is a schematic diagram illustrating a comparison of simulation results between the motor harmonic torque compensation method of this application and a conventional method, as shown in an exemplary embodiment of this application. Figure 5 As shown in the simulation comparison between the control scheme proposed in this application and the traditional PI control scheme, it can be seen that the output torque fluctuation is relatively large under the traditional PI control scheme, reaching 1.008 N·m, while the torque fluctuation is less than 1.003 N·m using the control scheme proposed in this application. When a DC bias occurs in the loop, the scheme proposed in this application can still recover to the command value. Furthermore, it can be seen that the controller significantly improves the dynamic response of the system and does not produce overshoot. Simulations show that the proposed scheme can improve the torque control accuracy and dynamic response.Figure 6 In the diagram, the horizontal dashed line represents the torque setting. The control scheme of this invention has a smaller fluctuation range relative to the horizontal dashed line, while the control scheme of the traditional PI controller has a larger fluctuation range relative to the horizontal dashed line.

[0136] The motor harmonic torque compensation method provided in the above embodiments obtains the stator resistance of the motor, as well as the coordinate axis current, preset current, and inductance of the motor on a preset coordinate axis (including the vertical axis and the quadrature axis). Based on the coordinate axis current and the preset current, the current feedback error is determined, and the sliding surface function value is determined. Based on the sliding surface function value, current feedback error, stator resistance, inductance, coordinate axis current, and preset current, the coordinate axis voltage of the preset coordinate axis is determined. This allows the motor's current error to converge to an equilibrium state by adjusting the coordinate axis voltage. Based on the sliding surface function value, inductance, and stator resistance, unmodeled interference and torque harmonic estimates are determined, and a compensated command voltage is determined. The compensated command voltage is used to compensate for interference and harmonic torque. This method considers unmodeled interference in the current loop, enabling suppression of unmodeled interference. It also considers torque fluctuations caused by current loop harmonic disturbances, enabling compensation for torque fluctuations. The method is simple, low-cost, and achieves strong robustness and high reliability at relatively low switching frequencies.

[0137] The method provided in the above embodiments is based on a sliding mode control algorithm. It uses the d-axis and q-axis current errors to form an integral sliding surface. Then, it estimates the disturbance and harmonic components of the current loop through the sliding surface information and the corrected filter. Finally, it feeds the estimated disturbance and harmonic currents forward to the voltage loop to compensate for the disturbance and current harmonics of the system.

[0138] A sliding mode control law based on current error was constructed using a mathematical model of the current loop. This law forces the d and q current errors to converge to an equilibrium state. To estimate the current loop disturbance and harmonic current, the disturbance and harmonic current are estimated using the constructed sliding mode surface information and a modified filter. Finally, the estimated results are fed forward to the command voltage, thereby compensating for the disturbance and harmonic current.

[0139] The method in the above embodiments considers the unmodeled interference of the current loop, which can suppress the unmodeled interference; it considers the torque fluctuation caused by the harmonic disturbance of the current loop, which can compensate for the torque fluctuation; it considers the influence of the controlled element on the gain of the disturbance compensation algorithm, which can improve the disturbance estimation performance; the controller has a simple structure, is easy to implement digitally, and can achieve strong robustness at a small switching frequency.

[0140] Figure 7 This is a schematic diagram illustrating the structure of a motor harmonic torque compensation device according to an exemplary embodiment of this application. Please refer to... Figure 7 The device includes:

[0141] The acquisition module 701 is used to acquire the stator resistance of the motor, and the coordinate axis current, preset current, and inductance of the motor on a preset coordinate axis, which includes the vertical axis and the cross axis.

[0142] The sliding surface module 702 is used to determine the current feedback error based on the coordinate axis current and the preset current, and to determine the sliding surface function value;

[0143] The current error convergence module 703 is used to determine the coordinate axis voltage of the preset coordinate axis based on the sliding surface function value, current feedback error, stator resistance, inductance, coordinate axis current and preset current, so as to adjust the current error of the motor to converge to a balanced state by adjusting the coordinate axis voltage.

[0144] The compensation module 704 is used to determine the unmodeled interference and torque harmonic estimation values ​​based on the sliding mode surface function value, inductance, and stator resistance, and to determine the compensated command voltage. The compensation command voltage is used to compensate for the interference and harmonic torque.

[0145] It should be noted that the apparatus and method provided in the above embodiments belong to the same concept, and the specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the apparatus provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the apparatus can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation.

[0146] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the methods provided in the above embodiments.

[0147] Figure 8 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 8 The computer system 1100 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0148] like Figure 8As shown, the computer system 1100 includes a Central Processing Unit (CPU) 1101, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1102 or programs loaded from storage portion 1108 into Random Access Memory (RAM) 1103, such as performing the methods described in the above embodiments. Various programs and data required for system operation are also stored in RAM 1103. The CPU 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. An Input / Output (I / O) interface 1105 is also connected to bus 1104.

[0149] The following components are connected to I / O interface 1105: an input section 1106 including a keyboard, mouse, etc.; an output section 1107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to I / O interface 1105 as needed. Removable media 1111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1110 as needed so that computer programs read from them can be installed into storage section 1108 as needed.

[0150] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1109, and / or installed from removable medium 1111. When the computer program is executed by central processing unit (CPU) 1101, it performs various functions defined in the system of this application.

[0151] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0152] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0153] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0154] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the method described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0155] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0156] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for compensating for harmonic torque in a motor, characterized in that, The motor harmonic torque compensation method includes: Obtain the stator resistance of the motor, and the coordinate axis current, preset current, and inductance of the motor on a preset coordinate axis, wherein the preset coordinate axis includes a vertical axis and a cross axis, and the vertical axis is the d-axis; The current feedback error is determined based on the coordinate axis current and the preset current, and the sliding surface function value is determined accordingly. Based on the sliding surface function value, the current feedback error, the stator resistance, the inductance, the coordinate axis current, and the preset current, the coordinate axis voltage of the preset coordinate axis is determined so as to adjust the current error of the motor to converge to an equilibrium state through the coordinate axis voltage; Based on the sliding surface function value, the inductance, and the stator resistance, the unmodeled interference and torque harmonic estimation values ​​are determined, and the compensated command voltage is determined. The interference and harmonic torque are compensated by the compensated command voltage. The method for determining the coordinate axis voltage includes: ， G d =1 / L d , G q =1 / L q , F d =R s / L d , F q =R s / L q , Among them, U d Let L be the voltage on the vertical axis of the coordinate system. d Inductance along the vertical axis, I d * I is the preset current on the vertical axis. d The vertical axis represents the current, S. d e represents the sliding surface function value along the vertical axis. d For the current feedback error on the vertical axis, U q For the coordinate axis voltage, L q For quadrature-axis inductance, I q * For the preset current of the quadrature axis, I q Let S be the coordinate axis current. q e represents the sliding surface function value of the cross-axis. q For the current feedback error of the quadrature axis, R s Let g1 be the stator resistance, g2 be the switching gain of the sign function (g1>0), g2 be the exponential coefficient, and α be the integration constant. The method for determining the unmodeled interference and torque harmonic estimates is as follows: ， in, The values ​​represent the unmodeled disturbances and torque harmonic estimates along the vertical axis. For the unmodeled disturbances and torque harmonic estimates of the quadrature axis, g1 is the switching gain of the sign function, g1>0, g2 is the exponential coefficient, and S d S represents the sliding surface function value along the vertical axis. q Let k be the sliding surface function value of the cross-axis. r L is the gain parameter of the bandpass filter. d Inductance L is the vertical axis. q Let be the quadrature-axis inductance, s be the Laplace operator, and R be the inductance. s For stator resistance, ω c The damping coefficient is... ω 0 is the center frequency, and λ is the time constant of the low-pass filter.

2. The motor harmonic torque compensation method as described in claim 1, characterized in that, The methods for determining the current feedback error include: yes d =I d * -I d , yes q =I q * -I q , Among them, e d For the current feedback error on the vertical axis, I d * I is the preset current on the vertical axis. d The vertical axis represents the current, e q For the current feedback error of the quadrature axis, I q * For the preset current of the quadrature axis, I q The coordinate axis currents are intersecting the axis.

3. The motor harmonic torque compensation method as described in claim 1, characterized in that, The methods for determining the sliding surface function value include: ， Among them, S d e represents the sliding surface function value along the vertical axis. d S represents the current feedback error on the vertical axis. q e represents the sliding surface function value of the cross-axis. q Let α be the current feedback error of the quadrature axis, α be the integration constant, 0 and t be the lower and upper limits of integration, and t be time.

4. The motor harmonic torque compensation method as described in claim 1, characterized in that, The method for determining the compensated command voltage includes: And d_d =U d + L d , And q_q =U q + L q , Among them, U d_d U q_q U represents the compensated command voltage. d The vertical axis represents the voltage, U. q For the coordinate axis voltage, L d Inductance L is the vertical axis. q For quadrature-axis inductance, The values ​​represent the unmodeled disturbances and torque harmonic estimates along the vertical axis. This represents the unmodeled disturbances and torque harmonic estimates for the quadrature axis.

5. A method for compensating for harmonic torque in a motor, characterized in that, The motor harmonic torque compensation method includes: A sliding mode surface is constructed based on the mathematical model of the motor's current loop, and a sliding mode control law for the current error is constructed. The sliding mode control law is used to control the current error of the motor to converge to an equilibrium state. Create a transfer function for the disturbance and torque harmonic estimates, and rewrite the transfer function as an estimation error equation; Construct an exponential reaching law, and determine the differential of the sliding surface after compensation based on the exponential reaching law and the disturbance compensation; Based on the estimation error equation and the differential of the compensated sliding surface, the unmodeled disturbance and the torque harmonic estimation model are determined. The current parameters of the motor are obtained, and the interference and harmonic torque are estimated based on the current parameters through the unmodeled interference and torque harmonic estimation model, and fed forward to the voltage command to compensate for the interference and harmonic torque. The unmodeled disturbances and torque harmonic estimation models include: ， in, The values ​​represent the unmodeled disturbances and torque harmonic estimates along the vertical axis. For the unmodeled disturbances and torque harmonic estimates of the quadrature axis, g1 is the switching gain of the sign function, g1>0, g2 is the exponential coefficient, and S d S represents the sliding surface function value along the vertical axis. q Let k be the sliding surface function value of the cross-axis. r L is the gain parameter of the bandpass filter. d Inductance L is the vertical axis. q Let be the quadrature-axis inductance, s be the Laplace operator, and R be the inductance. s For stator resistance, ω c The damping coefficient is... ω 0 is the center frequency, and λ is the time constant of the low-pass filter.

6. A motor harmonic torque compensation device, characterized in that, The motor harmonic torque compensation device includes: The acquisition module is used to acquire the stator resistance of the motor, and the coordinate axis current, preset current, and inductance of the motor on a preset coordinate axis. The preset coordinate axis includes a vertical axis and a cross axis, and the vertical axis is the d-axis. The sliding surface module is used to determine the current feedback error based on the coordinate axis current and the preset current, and to determine the sliding surface function value. The current error convergence module is used to determine the coordinate axis voltage of the preset coordinate axis based on the sliding surface function value, the current feedback error, the stator resistance, the inductance, the coordinate axis current and the preset current, so as to adjust the current error of the motor to converge to a balanced state through the coordinate axis voltage; The compensation module is used to determine the unmodeled interference and torque harmonic estimation values ​​based on the sliding surface function value, the inductance, and the stator resistance, and to determine the compensated command voltage, and to compensate for the interference and harmonic torque through the compensated command voltage. The method for determining the coordinate axis voltage includes: ， G d =1 / L d , G q =1 / L q , F d =R s / L d , F q =R s / L q , Among them, U d Let L be the voltage on the vertical axis of the coordinate system. d Inductance along the vertical axis, I d * I is the preset current on the vertical axis. d The vertical axis represents the current, S. d e represents the sliding surface function value along the vertical axis. d For the current feedback error on the vertical axis, U q For the coordinate axis voltage, L q For quadrature-axis inductance, I q * For the preset current of the quadrature axis, I q Let S be the coordinate axis current. q e represents the sliding surface function value of the cross-axis. q For the current feedback error of the quadrature axis, R s Let g1 be the stator resistance, g2 be the switching gain of the sign function (g1>0), g2 be the exponential coefficient, and α be the integration constant. The method for determining the unmodeled interference and torque harmonic estimates is as follows: ， in, The values ​​represent the unmodeled disturbances and torque harmonic estimates along the vertical axis. For the unmodeled disturbances and torque harmonic estimates of the quadrature axis, g1 is the switching gain of the sign function, g1>0, g2 is the exponential coefficient, and S d S represents the sliding surface function value along the vertical axis. q Let k be the sliding surface function value of the cross-axis. r L is the gain parameter of the bandpass filter. d Inductance L is the vertical axis. q Let be the quadrature-axis inductance, s be the Laplace operator, and R be the inductance. s For stator resistance, ω c The damping coefficient is... ω 0 is the center frequency, and λ is the time constant of the low-pass filter.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to perform the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the method as described in any one of claims 1 to 5.

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