Control method and system for motor speed control response
By acquiring the motor speed command and the actual speed, calculating the torque command, and performing filtering and PI control, the problem of slow motor response speed is solved, and the response time and characteristics of motor speed control are improved.
Patent Information
- Application Number
- CN202211505563.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-11-28
- Publication Date
- 2026-02-27
- Estimated Expiration
- 2042-11-28
AI Technical Summary
In the existing motor speed control mode, the motor response speed is low, which affects the use of the vehicle.
By acquiring the motor speed command and the actual speed, the torque command is calculated, and filtering and PI control are performed. Combined with the torque estimation value and limit processing, the current commands of the d-axis and q-axis are obtained, thereby improving the motor speed response speed.
This significantly improves the response time of motor speed control and enhances the motor's speed response characteristics.
Smart Images
Figure CN115864927B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The one or more embodiments of the present specification relate to the technical field of automobiles, and in particular to a control method and system for motor speed control response. BACKGROUND
[0002] In engineering practice, it is required that the motor has a speed control mode, and in the speed control mode, the motor is required to have a high speed response characteristic. However, in the current motor speed control mode, the response speed of the motor is low, which affects the use of the vehicle. SUMMARY
[0003] Therefore, the purpose of the one or more embodiments of the present specification is to provide a control method and system for motor speed control response to improve the response speed of the motor.
[0004] In a first aspect, a control method for motor speed control response is provided. The control method for motor speed control response provided by the present application comprises the following steps:
[0005] Obtaining a motor speed instruction and an actual motor speed;
[0006] According to the motor speed instruction and the actual motor speed, calculating a torque instruction of a motor speed loop;
[0007] Inputting the motor speed instruction, the actual motor speed, and the torque instruction of the motor speed loop into a torque estimation value module;
[0008] Subtracting the torque of the motor speed loop from the output of the torque estimation value module and performing torque limitation to obtain a motor torque instruction;
[0009] Inputting the difference between the motor torque instruction, the motor speed instruction, and the actual motor speed, and the torque instruction of the motor speed loop into the speed estimation value module to obtain a motor torque estimation value;
[0010] According to the motor torque estimation value, obtaining current instructions of d-axis and q-axis.
[0011] In the above scheme, the motor torque output is subtracted from the difference between the motor speed and the motor speed, the remaining motor torque instruction is offset by the motor torque instruction, and finally only the difference between the motor speed instruction and the actual motor speed is adjusted before and after the PI, which greatly improves the response time of the speed control.
[0012] In a specific implementable scheme, it further comprises:
[0013] Filtering the motor speed instruction to eliminate the step part in the motor speed instruction.
[0014] In one specific implementation, the d-axis and q-axis current commands are obtained according to the motor torque command; specifically:
[0015] The corresponding d-axis and q-axis currents are decoupled out through the calibration lookup table in MTPA as the d-axis and q-axis current commands for current closed-loop control.
[0016] In one specific implementation, the motor torque command of the motor speed loop is calculated according to the motor speed command and the actual motor speed; specifically:
[0017] The filtered motor speed command is subjected to PI control with the actual motor speed to obtain the motor torque command of the motor speed loop.
[0018] In one specific implementation, the motor torque command is obtained by subtracting the output of the torque estimation value module from the motor torque of the motor speed loop and performing torque limiting; specifically:
[0019] The torque value of the speed closed loop after PI processing is subtracted from the output of the torque estimation value module, and torque limiting is performed, and the final output is the motor torque command.
[0020] In one specific implementation, the difference between the motor speed command and the actual motor speed; specifically:
[0021] The acceleration torque is calculated according to the motor actual speed change rate, and the acceleration torque is subtracted from the torque caused by the absolute difference between the motor speed command and the actual motor speed.
[0022] In a second aspect, a control system for controlling the response of a permanent magnet synchronous motor is provided, and the system comprises:
[0023] A detection module obtains a motor speed command and an actual motor speed;
[0024] A data processing module calculates a motor torque command of a motor speed loop according to the motor speed command and the actual motor speed;
[0025] A torque estimation value module is input with the motor speed command, the actual motor speed, and the motor torque command of the motor speed loop;
[0026] The motor torque command of the motor speed loop is obtained by subtracting the output of the torque estimation value module and performing torque limiting;
[0027] The motor torque estimation value is obtained by inputting the motor torque command, the difference between the motor speed command and the actual motor speed, and the motor torque command of the motor speed loop into the speed estimation value module;
[0028] The d-axis and q-axis current commands are obtained according to the motor torque estimation value.
[0029] In the above technical solution, the difference between the motor speed output torque and the motor speed is subtracted, the remaining motor torque command is offset by the motor torque command, and finally only the difference between the motor speed command and the actual motor speed is adjusted before and after the PI, which greatly improves the response time of the speed control.
[0030] In a specific implementation, the data processing module is further configured to filter the motor speed command to remove step portions in the motor speed command.
[0031] In a specific implementation, the data processing module is further configured to determine the torque command estimation value of the album speed control according to the motor actual speed, the deviation between the motor speed command value and the motor actual value, and the torque command of the motor speed loop.
[0032] In a specific implementation, the data processing module is further configured to perform PI control on the filtered motor speed command and the actual motor speed to obtain the torque command of the motor speed loop.
[0033] In a third aspect, a vehicle is provided, which includes a vehicle body and the permanent magnet synchronous motor speed control response control system described in any one of the above aspects arranged in the vehicle body.
[0034] In the above technical solution, in the above solution, the difference between the motor speed output torque and the motor speed is subtracted, the remaining motor torque command is offset by the motor torque command, and finally only the difference between the motor speed command and the actual motor speed is adjusted before and after the PI, which greatly improves the response time of the speed control.
[0035] In a fourth aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the method of the first aspect and any one of the possible designs in the first aspect.
[0036] In a fifth aspect, a non-transitory computer readable storage medium is provided, which stores computer instructions for causing the computer to execute the method of the first aspect and any one of the possible designs in the first aspect.
[0037] In a sixth aspect, a computer program product is also provided, which includes instructions that, when executed on a computer, cause the computer to execute the method of the first aspect and any one of the possible designs in the first aspect.
[0038] In addition, the technical effects brought by any one of the possible design manners of the fourth aspect to the sixth aspect can be referred to the effects brought by different design manners in the method part, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS
[0039] In order to more clearly illustrate the technical solutions in the one or more embodiments of the present specification or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only one or more embodiments of the present specification, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.
[0040] Figure 1 The permanent magnet synchronous motor control block diagram provided for the embodiment of the present application;
[0041] Figure 2 The structure block diagram of the control method of the motor speed control response provided for the embodiment of the present application;
[0042] Figure 3 The torque limit schematic diagram provided for the embodiment of the present application;
[0043] Figure 4 The torque estimation value schematic diagram provided for the embodiment of the present application;
[0044] Figure 5 The structure block diagram of the electronic device provided for the embodiment of the present application. DETAILED DESCRIPTION
[0045] In order to make the purpose, technical scheme and advantages of the present disclosure more clear, the present disclosure will be further described in detail below in combination with specific embodiments and with reference to the drawings.
[0046] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the one or more embodiments of the present specification should be understood as the usual meaning understood by those skilled in the art to which the present disclosure belongs. The "first", "second" and similar words used in the one or more embodiments of the present specification do not represent any order, quantity or importance, but are only used to distinguish different components. "Include" or "contain" and similar words mean that the elements or objects before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connected" or "connected" and similar words are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0047] The control method for improving motor speed control response is disclosed in the technical solution of the application. In engineering practice, the motor is required to have a speed control mode, and in the speed control mode, the motor is required to have a high speed response characteristic. Figure 1 As shown in FIG. 1, it is a permanent magnet synchronous motor control block diagram, under the condition of rotor field oriented vector control method, the speed control loop is added in the torque control outer ring, the input is motor speed instruction and motor actual speed, the output is motor torque instruction, the corresponding dq axis current is decoupled out as the dq axis current instruction of current closed loop control through the calibration lookup table in MTPA.
[0048] The method disclosed in the application comprises the following steps:
[0049] Step 01: obtaining motor speed instruction and motor actual speed;
[0050] Specifically, the motor speed instruction and the motor actual speed can be obtained by a controller and a sensor. For example, when the controller sends the motor speed instruction, the instruction can be directly obtained. In addition, when the motor actual speed is obtained, the speed of the motor can be detected by the sensor.
[0051] Step 02: calculating the torque instruction of the motor speed loop according to the motor speed instruction and the motor actual speed;
[0052] Specifically, the motor speed instruction is filtered to eliminate the step part in the motor speed instruction.
[0053] When the torque instruction of the motor speed loop is obtained, the motor speed instruction is filtered and PI controlled with the motor actual speed to obtain the torque instruction of the motor speed loop.
[0054] Step 03: inputting the motor speed instruction, the motor actual speed and the torque instruction of the motor speed loop into the torque estimation value module;
[0055] Step 04: subtracting the output of the torque estimation value module from the torque of the motor speed loop, and obtaining the motor torque instruction after torque limiting;
[0056] Specifically, the torque value of the speed closed loop after PI processing is subtracted from the output of the torque estimation value module, and torque limiting is performed, and finally the motor torque instruction is output.
[0057] Step 05: inputting the difference between the motor torque instruction, the motor speed instruction and the motor actual speed, and the torque instruction of the motor speed loop into the speed estimation value module to obtain the motor torque estimation value;
[0058] Specifically, the difference between the motor speed command and the actual motor speed is: the acceleration torque is calculated according to the motor speed change rate, and the acceleration torque is subtracted from the torque caused by the absolute difference between the motor speed command and the actual motor speed.
[0059] Step 06: Obtain the current command of the d-axis and q-axis according to the motor torque estimation value.
[0060] Specifically, the corresponding d-axis and q-axis currents are decoupled through the calibration lookup table in MTPA as the d-axis and q-axis current commands for current closed-loop control.
[0061] For the convenience of understanding the above method, refer to Figure 2 , as shown in Figure 2 , the speed control mode part of the permanent magnet synchronous motor is shown. In it, Spdcmd is the motor speed command, which is filtered by an average value filter to eliminate the step part of the motor speed command, and then PI controlled with the actual motor speed. The output torque value of the Trqspd speed loop part is input to the torque estimation value module. The input of the torque estimation value module is the deviation between the motor speed command value and the actual motor speed, the torque command of the motor speed loop, and the output is the torque command estimation value of the motor speed control.
[0062] Subtract the output of the torque estimation value module from the torque value of the PI processed speed closed loop, and perform the torque limiting module, which is the motor torque output capability, that is, when the bus voltage and motor speed are given, the output capability of the motor torque is different. For example Figure 3 is a schematic diagram of the torque limiting module, which is different with different voltages and actual motor speeds.
[0063] Continue to refer to Figure 2 , the motor torque command Trqcmd is obtained through the torque limiting module. The motor torque command Trqcmd is input to the torque estimation value module, and the actual motor speed is input to the torque estimation value module and the torque limiting module, and after joint processing, the output is the torque estimation value Trqest.
[0064] Specific processing method, refer to Figure 4 , Figure 4 is a schematic diagram of the torque estimation module, which uses the motor speed difference as the torque module input of the speed part, and the motor torque part related to the actual motor speed and the motor torque command. Refer to Figure 4 , in which Trqspd = inertia x absolute angular acceleration, absolute angular acceleration = [Spdcmd-Spdreal(n)] / interval time, F(SPDreal) = inertia x angular acceleration, angular acceleration = [Spdreal(n)-Spdreal(n-1)] / interval time.
[0065] In summary, it can be seen that... Figure 2 The difference between the motor speed output torque after PI and the motor speed before PI is subtracted, and the remaining motor torque command is canceled out by Trqcmd. In the end, it only becomes the adjustment relationship between the difference between the motor speed command and the actual motor speed before and after PI, which greatly improves the response time of speed control.
[0066] In this embodiment, the motor speed command is filtered and then subjected to PI control with the actual motor speed to obtain the motor speed control torque command, which is a traditional motor speed control method. Here, a motor torque command feedforward function is added to the original speed control as an input for torque estimation, reducing the pressure on the PI loop. Simultaneously, the acceleration torque is calculated based on the actual motor speed change rate, and the difference between this torque and the torque caused by the absolute difference between the motor speed command and the actual motor speed is calculated, further reducing the pressure on the PI loop output. For example, under traditional control conditions, the torque output by the PI controller participates in closed-loop control. This invention feeds forward the torque output by the PI controller. For instance, if the torque target for a certain speed of a traditional PI controller is 50 Nm, this torque value includes the torque from the speed difference and the torque from angular acceleration (15 Nm). At this time, the output torque should be 35 Nm (this part accounts for a large proportion). After feeding forward, the torque target of the PI controller is 15 Nm, thus reducing the output pressure (output value) of the PI controller.
[0067] In the above scheme, after subtracting the difference between the motor speed output torque and the motor speed, the remaining motor torque commands are canceled out, and finally it only becomes the adjustment relationship between the difference between the motor speed command and the actual motor speed before and after PI, which greatly improves the response time of speed control.
[0068] This application also provides a control system for the speed control response of a permanent magnet synchronous motor. The system includes a detection module and a data processing module. The detection module acquires data, while the data processing module processes the data acquired by the detection module to improve the motor response time. These aspects are described below.
[0069] The detection module is specifically configured to acquire a motor speed instruction and an actual motor speed; the data processing module is configured to calculate a torque instruction of a motor speed loop according to the motor speed instruction and the actual motor speed; input the motor speed instruction, the actual motor speed and the torque instruction of the motor speed loop into a torque estimation value module; subtract the torque instruction of the motor speed loop from an output of the torque estimation value module and obtain a motor torque instruction after torque limitation; input a difference between the motor torque instruction, the motor speed instruction and the actual motor speed and the torque instruction of the motor speed loop into the speed estimation value module to obtain a motor torque estimation value; and acquire current instructions of d-axis and q-axis according to the motor torque estimation value. Details can be referred to the description in the above method.
[0070] As can be seen from the above description, the motor torque output torque is subtracted from the motor speed difference, the remaining motor torque instruction is offset by the motor torque instruction, and finally only the difference between the motor speed instruction and the actual motor speed is adjusted before and after the PI, which greatly improves the response time of the speed control.
[0071] In a specific implementation, the data processing module is further configured to filter the motor speed instruction to remove a step part in the motor speed instruction. Details can be referred to the description in the above method.
[0072] In a specific implementation, the data module is further configured to determine a torque instruction estimation value of the speed control according to the actual motor speed, a deviation between the motor speed instruction and the actual motor speed and the torque instruction of the motor speed loop. Details can be referred to the description in the above method.
[0073] In a specific implementation, the data processing module is further configured to perform PI control on the filtered motor speed instruction and the actual motor speed to obtain the torque instruction of the motor speed loop. Details can be referred to the description in the above method.
[0074] The application also provides a car, which comprises a car body and the above permanent magnet synchronous motor speed control response system.
[0075] In the above technical solution, the motor torque output torque is subtracted from the motor speed difference, the remaining motor torque instruction is offset by the motor torque instruction, and finally only the difference between the motor speed instruction and the actual motor speed is adjusted before and after the PI, which greatly improves the response time of the speed control.
[0076] The embodiment of the present application provides an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, when the processor executes the program, the method of the first aspect and any possible design in the first aspect is implemented.
[0077] The embodiment of the present application provides a non-transitory computer readable storage medium, the non-transitory computer readable storage medium stores computer instructions, the computer instructions are used for causing the computer to execute the method of the first aspect and any possible design in the first aspect.
[0078] The embodiment of the present application further provides a computer program product, including instructions, when the instructions are executed on the computer, the computer is caused to execute the method of the first aspect and any possible design in the first aspect of the present application.
[0079] It should be noted that the method of one or more embodiments of the present application can be executed by a single device, for example, a computer or a server, etc. The method of the embodiment can also be applied to a distributed scenario, and is completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of one or more embodiments of the present application, and the multiple devices interact with each other to complete the method.
[0080] The above describes a specific embodiment of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than the order in which they are recited and still achieve the desired result. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous or necessary.
[0081] For the convenience of description, the above device is described as various modules respectively described in function. Of course, the functions of each module can be implemented in the same or more software and / or hardware when implementing one or more embodiments of the present application.
[0082] The device of the above embodiment is used to implement the corresponding method in the above embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be described here.
[0083] Figure 5A more specific electronic device hardware structure schematic diagram provided by the embodiment is shown, and the device can include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 for internal communication.
[0084] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided by the embodiments of the present specification.
[0085] The memory 1020 can be implemented by a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1020 and are called and executed by the processor 1010.
[0086] The input / output interface 1030 is used to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.
[0087] The communication interface 1040 is used to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).
[0088] The bus 1050 includes a channel for transmitting information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.
[0089] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary to implement the embodiments of the present specification, and does not have to contain all the components shown in the figure.
[0090] The computer readable medium of the present embodiment includes permanent and non-permanent, removable and non-removable media, which can realize information storage by any method or technology. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible by a computing device.
[0091] Those skilled in the art should understand that the above discussion of any embodiment is only exemplary and is not intended to imply that the scope of the present disclosure (including claims) is limited to these examples; under the idea of the present disclosure, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of one or more embodiments of the present specification as described above. In order to be brief, they are not provided in detail.
[0092] Additionally, to simplify the description and discussion, and so as not to obscure one or more embodiments of the description, well-known power supply / ground connections to integrated circuit (IC) chips and other components can or can not be shown in the provided figures. Furthermore, devices can be shown in block diagram form in order to avoid obscuring one or more embodiments of the description, and this also acknowledges the fact that the details in regard to the implementation of such block device are highly dependent on the platform within which the one or more embodiments of the description are being implemented (i.e., such details should be well within the purview of one of ordinary skill in the art). Where specific details are set forth in order to describe an illustrative embodiment of the disclosure, it will be apparent to one of ordinary skill in the art that the one or more embodiments of the description can be practiced without, or with variation of, these specific details. Thus, the description is to be considered as illustrative and not restrictive, and the scope of the one or more embodiments of the description is to be determined not with the assistance of the foregoing description alone, but rather in light of the appended claims in conjunction with recognizing the one or more embodiments of the description can over come a variety of non-anticipated
[0093] While the present disclosure has been described in connection with specific embodiments thereof, many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.
[0094] The one or more embodiments of the description are intended to cover all such alternatives, modifications and variations as can come within the scope of the appended claims. Accordingly, any and all such modifications, variations or equivalents that fall within the scope of the one or more embodiments of the description should be considered within the scope of the disclosure.
Claims
1. A control method for controlling the response of a motor speed, characterized in that, Includes the following steps: Obtain the motor speed command and the actual motor speed; The motor speed command is filtered to remove the step portion in the motor speed command; wherein, the motor speed command is filtered by an average value filter; Based on the motor speed command and the actual motor speed, calculate the torque command for the motor speed loop; The calculation is achieved through PI control. The logic is as follows: the motor speed command is filtered and then subjected to PI control with the actual motor speed to obtain the torque command of the motor speed loop. The motor torque command is obtained by subtracting the output of the torque estimation module from the torque of the motor speed loop and then applying torque limitation. The control logic is as follows: the torque value of the speed closed loop after PI processing is subtracted from the output of the torque estimation module, and torque is limited. The final output is the motor torque command. The torque limiting module determines the torque output capability based on the different output capabilities of the motor torque when given the bus voltage and motor speed. The difference between the motor torque command, the motor speed command, and the actual motor speed is input into the torque estimation module to obtain the motor torque estimation value. Obtain the current commands for the d-axis and q-axis based on the estimated motor torque; Decoupling is achieved through calibration lookup tables in MTPA, including decoupling the corresponding d-axis and q-axis currents as d-axis and q-axis current commands for current closed-loop control through calibration lookup tables in MTPA. Specifically, the difference between the motor speed command and the actual motor speed is as follows: The acceleration torque is calculated based on the actual rate of change of the motor speed, and the difference between the acceleration torque and the torque caused by the absolute difference between the motor speed command and the actual motor speed is calculated.
2. A control system for the speed control response of a permanent magnet synchronous motor, characterized in that, include: The detection module acquires the motor speed command and the actual motor speed; it filters the motor speed command to remove step portions; wherein the motor speed command is filtered by an average value filter. The data processing module calculates the torque command of the motor speed loop based on the motor speed command and the actual motor speed. The calculation is achieved through PI control, and the logic is as follows: the motor speed command is filtered and then subjected to PI control with the actual motor speed to obtain the torque command of the motor speed loop. The motor torque command is obtained by subtracting the output of the torque estimation module from the torque of the motor speed loop and then limiting the torque. The control logic is as follows: the output of the torque estimation module is subtracted from the torque value of the speed closed loop after PI processing, and then the torque is limited. The final output is the motor torque command. The torque limiting module determines the torque output capability based on the different output capabilities of the motor torque when the given bus voltage and motor speed are different. The difference between the motor torque command, the motor speed command, and the actual motor speed is input into the torque estimation module to obtain the motor torque estimation value. The d-axis and q-axis current commands are obtained based on the estimated motor torque value; decoupling is achieved through calibration lookup tables in MTPA, including decoupling the corresponding d-axis and q-axis currents through calibration lookup tables in MTPA as the d-axis and q-axis current commands for current closed-loop control; Specifically, the difference between the motor speed command and the actual motor speed is as follows: The acceleration torque is calculated based on the actual rate of change of the motor speed, and the difference between the acceleration torque and the torque caused by the absolute difference between the motor speed command and the actual motor speed is calculated.
3. A car, characterized in that, The system includes a vehicle body and a control system for controlling the speed response of a permanent magnet synchronous motor as described in claim 2, which is installed within the vehicle body.
4. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the control method for motor speed control response as described in claim 1.
5. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing the computer to execute the control method for motor speed control response as described in claim 1.
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