A permanent magnet synchronous motor current loop control method and device

Abstract

This invention provides a current loop control method and system for a permanent magnet synchronous motor. The method includes: obtaining the upper and lower boundaries of the direct and quadrature axes of the motor inductance, respectively; calculating the proportional control parameter ranges of the controller parameter limiter on the D and Q axes; using the proportional control parameters corresponding to the nominal inductance value as the initial parameters of the controller for current loop control; obtaining the current control error, the maximum current overshoot within the command cycle, and the current rise time; calculating the controller parameter correction based on the controller parameter adaptive law; calculating the controller parameters for the next cycle based on the parameter correction; processing the controller parameters through the limiter and using them as the controller parameters for current loop control; and transforming the current loop control output to obtain the UVW three-phase command voltage signal, which is then used to generate a power switch control signal to control the motor via SVPWM. This scheme not only avoids the complexity and time-consuming problems of controller parameter debugging but also enables tracking control of the command current, ensuring stable motor output torque.

Description

Technical Field

[0001] This invention belongs to the field of electric motors, and particularly relates to a current loop control method and system for a permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motor (PMSM) systems are characterized by nonlinearity and strong coupling between variables. The mainstream control method is based on space vector pulse width modulation (SVPWM) technology, which decouples the flux linkage, voltage, and current of the PMSM into excitation and quadrature-axis components. However, for PI current regulation, the design often neglects the cross-coupling effect of the d-axis and q-axis voltages caused by the PMSM's motion electromotive force, and the motor's inability to adapt to changes in the direct-axis and quadrature-axis inductances Ld and Lq during operation. This results in complex and time-consuming controller parameter tuning and debugging. In high-performance servo applications, the current tracking performance of this PI current regulator is unsatisfactory, with large current fluctuations leading to significant torque ripple. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a current loop control method and system for permanent magnet synchronous motors, which solves the problems of complex and time-consuming controller parameter debugging and large current fluctuations in PI current regulation.

[0004] In a first aspect of the present invention, a current loop control method for a permanent magnet synchronous motor is provided, comprising:

[0005] Obtain the upper and lower bounds of the direct axis and quadrature axis of the motor inductance respectively, and calculate the range of proportional control parameters of the controller parameter limiter D-axis and Q-axis based on the upper and lower bounds of the direct axis and quadrature axis;

[0006] The proportional control parameter corresponding to the nominal value of the inductor is used as the initial parameter of the controller for current loop control.

[0007] Obtain the current control error, the maximum current overshoot within the command cycle, and the current rise time; calculate the controller parameter correction based on the controller parameter adaptive law.

[0008] The controller parameters for the next cycle are calculated based on the parameter correction amount. The controller parameters outside the range of proportional control parameters are processed by the limiter and then used as controller parameters for current loop control.

[0009] The coordinate transformation of the current loop control output yields the UVW three-phase command voltage signal, which is then used to generate a power switch control signal to control the motor via SVPWM waveform generation.

[0010] In a second aspect of the present invention, a current loop control system for a permanent magnet synchronous motor is provided, comprising:

[0011] The adaptive adjustment module is used to obtain the current control error, the maximum current overshoot within the command cycle, and the current rise time, calculate the controller parameter correction based on the controller parameter adaptive law, and calculate the controller parameters for the next cycle based on the parameter correction.

[0012] A limiter is used to limit controller parameters that are outside the range of proportional control parameters, and to use the limited controller parameters as the current loop control signal.

[0013] The range of the proportional control parameters is calculated based on the upper and lower boundaries of the direct axis and the quadrature axis;

[0014] The control module is used to perform coordinate transformation on the current loop control signal based on the initial controller parameters or the adaptively adjusted controller parameters to obtain the UVW three-phase command voltage signal, and then generate a power switch control signal to control the motor via SVPWM waveform generation.

[0015] In a third aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor executes the computer program to implement the steps of the method as described in the first aspect of the present invention.

[0016] In a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method provided in the first aspect of the present invention.

[0017] In this embodiment of the invention, the controller parameters are dynamically adjusted in real time based on the D-axis and Q-axis current errors. This not only effectively compensates for the effects of cross-coupling of the D-axis and Q-axis voltages, but also, combined with the adaptive law of controller parameters, automatically adjusts the controller parameters, avoiding the problems of complex and time-consuming debugging inherent in traditional debugging methods. Furthermore, it can adapt to the changing effects of direct-axis and quadrature-axis inductances Ld and Lq, achieving rapid and low-fluctuation tracking control of command currents and ensuring stable motor output torque. Simultaneously, the controller parameters are processed by a limiter, effectively preventing system instability and loss of control caused by controller parameters exceeding stability thresholds due to communication or data anomalies. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1A flowchart illustrating a current loop control method for a permanent magnet synchronous motor according to an embodiment of the present invention;

[0020] Figure 2 A schematic diagram illustrating the principle of a current loop control method for a permanent magnet synchronous motor according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of a current loop control system for a permanent magnet synchronous motor provided in one embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0023] It should be understood that the terms "comprising" and other similar expressions in the specification, claims, and accompanying drawings of this invention are intended to cover a non-exclusive inclusion, such as a process, method, system, or apparatus that includes a series of steps or units and is not limited to the listed steps or units. Furthermore, "first" and "second" are used to distinguish different objects and are not intended to describe a specific order.

[0024] Please see Figure 1 The present invention provides a flowchart of a current loop control method for a permanent magnet synchronous motor, comprising:

[0025] S101. Obtain the upper and lower bounds of the direct axis and quadrature axis of the motor inductance respectively, and calculate the proportional control parameter range of the controller parameter limiter D-axis and Q-axis based on the upper and lower bounds of the direct axis and quadrature axis;

[0026] The upper and lower bounds of the direct axis and quadrature axis can be determined based on the motor inductance parameter markings, such as Ld∈[Ldmin,Ldmax], Lq∈[Lqmin,Lqmax], where Ld represents the direct axis inductance and Lq represents the quadrature axis inductance.

[0027] Based on the upper and lower bounds of the direct and quadrature axes of the motor inductance, calculate the range of the controller parameter limiter: D-axis proportional control parameter Kp_d, Kp_d∈[Kp_dmin,Kp_dmax], Q-axis proportional control parameter Kp_q, Kp_q∈[Kp_qmin,Kp_qmax].

[0028] Among them, Kp_dmin=2πfnLd, Kp_dmax=2πfnLdmax, Kp_qmin=2πfnLqmin, Kp_qmax=2πfnLqmax, f n The desired frequency of the closed-loop system is typically chosen as f. n = (1 / 10~1 / 20)f_pwm, where f_pwm is the PWM switching frequency.

[0029] S102. Use the proportional control parameters corresponding to the nominal value of the inductor as the initial parameters of the controller for current loop control.

[0030] Calculate the proportional control parameters for the d-axis and q-axis. Within the control parameter range, set parameter Kp_d(0) = 2πf n L d Kp_q(0)=2πf n L q Ki_d0=Ki_q0=2πf n R is used as the initial parameter of the controller, where R is the winding line resistance, and L is the initial resistance. d and L q These are the nominal values ​​for the direct-axis and quadrature-axis inductances of the motor, which can be found on the nameplate.

[0031] S103. Obtain the current control error, the maximum current overshoot and the current rise time within the command cycle, and calculate the controller parameter correction based on the controller parameter adaptive law.

[0032] The recorded command current and response current are obtained, the current control error is calculated, and the maximum current overshoot can be calculated based on the extreme value of the response current and the command current. For example, the maximum current overshoot of the current in the current command cycle is Meimax_n = in_s_max - in_ref (n = d or q), which represents the difference between the extreme value of the response current and the command current.

[0033] Based on the current control error, the maximum overshoot of the previous cycle, and the current rise time, the correction values ​​d_Kp_d and d_Kp_q of the controller parameters can be calculated using the adaptive law of controller parameters.

[0034] Meanwhile, the updated controller parameters for the (k+1)th cycle are calculated using the following formulas: Kp_d(k+1) = Kp_d(k) + d_Kp_d and Kp_q(k+1) = Kp_q(k) + d_Kp_q.

[0035] Specifically, the correction amounts for the controller parameters D-axis and Q-axis are calculated separately according to the formula;

[0036]

[0037]

[0038] In the formula, d_Kp_d represents the d-axis correction amount, and ωe represents the motor angular velocity. This represents the nominal value of the motor's direct-axis inductance, Γ1 represents a constant, eiq represents the value of the motor's direct-axis inductance, Pd represents the D-axis inductance, iiq_s represents the value of the motor's direct-axis inductance, K_mt_d represents the d-axis switching function, and d_Kp_q represents the Q-axis correction value. Γ2 represents the nominal value of the quadrature axis inductance of the motor, Pq represents the Q axis, iid_s represents the Q axis switching function, and K_mt_q represents the Q axis switching function.

[0039] Specifically, when the current command period for the q-axis and d-axis changes, and the current rise time exceeds a predetermined value, the q-axis and d-axis switching functions are set to 1, corresponding to the fast adjustment term ω. e P d i iq_s K_mt_d and ω e P q i id_s K_mt_q comes into play to enable rapid response and dynamic adjustment;

[0040] When the command current signal does not change abruptly, the corresponding switching functions for the q-axis and d-axis are 0, and the fast adjustment term ω... e P d i iq_ s K_mt_d and ω e P q i id_s K_mt_q is disabled to avoid current fluctuations caused by large jumps in controller parameters;

[0041] Control errors caused by the difference between the actual and nominal values ​​of the direct-axis and quadrature-axis inductances during motor operation are due to... and The controller parameters are adaptively adjusted.

[0042] The adaptive law for the D-axis parameter is as follows:

[0043] Γ1>0 is a constant value, P d =Γ d Me imax_d >0, where Γ d >0 represents a constant value, Me imax_d It is the D-axis current overshoot, and it meets the following conditions:

[0044]

[0045] K_mt_d is the d-axis switching function, as shown below:

[0046] That is, when the rising time t of the D-axis current id_s up is greater than the preset lower limit value t of the rising time limit , the switching function K_mt_d is 1.

[0047] The Q-axis parameter adaptation law is as follows:

[0048] Γ2>0 is a constant value, P q =Γ q Me imax_q >0 where Γ q >0 is a constant value, Me imax_q is the overshoot of the Q-axis current, and satisfies the following conditions:

[0049] K_mt_q is the q-axis switching function and is expressed as follows:

[0050] That is, when the rising time t of the Q-axis current iq_s up is greater than the preset lower limit value t of the rising time limit , the switching function K_mt_q is 1.

[0051] S104. Calculate the controller parameters for the next cycle according to the parameter correction amount, and use the controller parameters outside the proportional control parameter range after being processed by the limiter as the controller parameters for current loop control;

[0052] Calculate the controller parameters for the next cycle (k + 1) and process them through the controller parameter limiter. The limiter processing method is as follows:

[0053] When Kp_d(k + 1) ∈ [Kp_dmin, Kp_dmax], Kp_d_limit = Kp_d(k + 1);

[0054] When Kp_d(k + 1) < Kp_dmin, Kp_d_limit = Kp_dmin;

[0055] When Kp_d(k + 1) > Kp_dmax, Kp_d_limit = Kp_dmax.

[0056] Similarly, perform the limiting process on Kp_q_lim. Use the limited controller parameters Kp_d_limit and Kp_q_limit as the controller parameters for the current control cycle for current loop control.

[0057] Among them, according to the PI control quantity and the feedforward decoupling of the D-axis and Q-axis, calculate the control outputs of the D-axis current loop and the Q-axis current loop respectively.

[0058] For example, the D-axis current loop control output is: Vd_ref = Vd_PI + Vd_EMF_RS;

[0059] PI control term Vd_PI = Kp_d_limit × e_id + ∑Ki_d0 × e_id, D-axis feedforward decoupling term

[0060] Q-axis current loop control output: Vq_ref=Vq_PI+Vq_EMF_RS;

[0061] PI control term Vq_PI = Kp_q_limit × e_iq + ∑Ki_q0 × e_iq, Q-axis feedforward decoupling term

[0062]

[0063] In the formula, For permanent magnet flux linkage, the current response error is e_id = Id_ref - Id_s, e_iq = Iq_ref - Iq_s, where Id_s and Iq_s are the feedback values ​​of the D-axis and Q-axis currents, respectively, and Rs is the winding line resistance. and These are the nominal values ​​of the direct-axis and quadrature-axis inductances of the motor, respectively.

[0064] S105. The current loop control output is transformed into a coordinate system to obtain the UVW three-phase command voltage signal, which is then used to generate a power switch control signal via SVPWM to control the motor.

[0065] SVPWM (Space Vector Pulse Width Modulation) is a technique that uses appropriate switching between different switching modes of a three-phase inverter to generate a PWM wave.

[0066] Optionally, the response currents of the D-axis and Q-axis are obtained through AD current sampling and coordinate transformation. The current control error is calculated based on the response current to obtain the maximum overshoot and rise time. When the maximum overshoot is less than the first limit and the rise time is less than the second limit, the controller parameter update is stopped.

[0067] For example, knowing the maximum overshoot Me imax_n (n = d, q) and rise time t up , when Me imax_n (n=d,q) <Me limit Me limit This is the upper limit of the overshoot, and the rise time t up <t limit When the controller parameters are updated, stop updating them; otherwise, perform adaptive dynamic adjustment of the controller parameters.

[0068] In another embodiment of the present invention, the principle of the permanent magnet synchronous motor current loop control method is as follows: Figure 2 As shown in the figure, within the current cycle, the PMSM (Permanent Magnet Synchronous Motor) feeds back the d-axis and q-axis currents. From this, the current response error, PI control term, and feedforward decoupling term for the current command cycle can be obtained. Specifically, based on the current response error, maximum overshoot, and current rise time, combined with the parameter adaptive law, the controller parameter correction can be obtained, and the adaptive controller parameters are calculated based on the correction. The PI control term is calculated from the limited adaptive controller parameters, the control parameters for the current cycle, and the current response error. Based on the PI control term and the feedforward decoupling term, the current control loop outputs for the d-axis and q-axis can be calculated respectively. After DQ / UVW coordinate transformation, the three-phase command voltage signal is obtained, which is further used to generate a power switch control signal that acts on the power switch to control the permanent magnet synchronous motor.

[0069] In this embodiment, not only can the effects of cross-coupling of D and Q axis voltages be effectively compensated, but also the controller parameters can be automatically adjusted in real time without the need for repeated manual adjustments, based on the controller parameter adaptive law. Simultaneously, it can adapt to the changes in direct-axis and quadrature-axis inductances Ld and Lq, achieving fast, low-fluctuation command current tracking control, resulting in stable motor output torque.

[0070] The controller parameter values ​​are processed by the limiter, which can effectively prevent system instability and loss of control caused by the controller parameters exceeding the stability threshold due to communication or data abnormalities, and has robustness against external abnormal disturbances.

[0071] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0072] Figure 3 This is a schematic diagram of a permanent magnet synchronous motor current loop control system provided in an embodiment of the present invention. The system includes at least:

[0073] The adaptive adjustment module 310 is used to obtain the current control error, the maximum current overshoot within the command cycle and the current rise time, calculate the controller parameter correction amount based on the controller parameter adaptive law, and calculate the controller parameters for the next cycle based on the parameter correction amount.

[0074] Specifically, the correction amounts for the controller parameters D-axis and Q-axis are calculated separately according to the formula;

[0075]

[0076]

[0077] In the formula, d_Kp_d represents the d-axis correction amount, and ωe represents the motor angular velocity. This represents the nominal value of the motor's direct-axis inductance, Γ1 represents a constant, eiq represents the value of the motor's direct-axis inductance, Pd represents the D-axis inductance, iiq_s represents the value of the motor's direct-axis inductance, K_mt_d represents the d-axis switching function, and d_Kp_q represents the Q-axis correction value. Γ2 represents the nominal value of the quadrature axis inductance of the motor, Pq represents the Q axis, iid_s represents the Q axis switching function, and K_mt_q represents the Q axis switching function.

[0078] Specifically, when the current command period for the q-axis and d-axis changes, and the current rise time exceeds a predetermined value, the q-axis and d-axis switching functions are set to 1, corresponding to the fast adjustment term ω. e P d i iq_s K_mt_d and ω e P q i id_s K_mt_q comes into play to enable rapid response and dynamic adjustment;

[0079] When the command current signal does not change abruptly, the corresponding switching functions for the q-axis and d-axis are 0, and the fast adjustment term ω... e P d i iq_ s K_mt_d and ω e P q i id_s K_mt_q is disabled to avoid current fluctuations caused by large jumps in controller parameters;

[0080] Control errors caused by the difference between the actual and nominal values ​​of the direct-axis and quadrature-axis inductances during motor operation are due to... and The controller parameters are adaptively adjusted.

[0081] Limiter 320 is used to limit controller parameters that are outside the range of proportional control parameters, and uses the limited controller parameters as the current loop control signal;

[0082] The range of the proportional control parameters is calculated based on the upper and lower boundaries of the direct axis and the quadrature axis;

[0083] The control module 330 is used to perform coordinate transformation on the current loop control signal based on the initial controller parameters or the adaptively adjusted controller parameters to obtain the UVW three-phase command voltage signal, and then generate a power switch control signal to control the motor via SVPWM wave generation.

[0084] The control module 330 includes:

[0085] The calculation unit is used to calculate the control output of the D-axis current loop and the Q-axis current loop respectively based on the PI control quantity and the feedforward decoupling of the D-axis and Q-axis.

[0086] Optionally, the control module 330 includes:

[0087] The judgment unit is used to obtain the D-axis and Q-axis response currents through AD current sampling and coordinate transformation, calculate the current control error based on the response currents, and know the maximum overshoot and rise time. When the maximum overshoot is less than the first limit value and the rise time is less than the second limit value, the controller parameter update is stopped.

[0088] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the systems and modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0089] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it implements part or all of the processes in steps S101 to S105. The storage medium includes, for example, ROM / RAM.

[0090] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0091] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A current loop control method for a permanent magnet synchronous motor, characterized in that, include: Obtain the upper and lower bounds of the direct axis and quadrature axis of the motor inductance respectively, and calculate the range of proportional control parameters of the controller parameter limiter D-axis and Q-axis based on the upper and lower bounds of the direct axis and quadrature axis; The proportional control parameter corresponding to the nominal value of the inductor is used as the initial parameter of the controller for current loop control. Obtain the current control error, the maximum current overshoot within the command cycle, and the current rise time; calculate the controller parameter correction based on the controller parameter adaptive law. The correction amounts for the controller parameters D-axis and Q-axis are calculated according to the formulas. ； ； In the formula, This indicates the d-axis correction amount. Indicates the angular velocity of the motor. This indicates the nominal value of the motor's direct-axis inductance. Indicates a constant. This indicates the q-axis current response error. Represents the q-axis stator current. This represents the d-axis switching function. Indicates the Q-axis correction amount. This indicates the nominal value of the quadrature axis inductance of the motor. Indicates a constant. This indicates the d-axis current response error. Represents the d-axis stator current. Represents the q-axis switching function; Specifically, when the current command period for the q-axis and d-axis changes, and the current rise time exceeds a predetermined value, the q-axis and d-axis switching functions are set to 1, corresponding to the fast adjustment term. and It functions to enable rapid response and dynamic adjustment; When the command current signal does not change abruptly, the corresponding switching functions for the q-axis and d-axis are 0, and the fast adjustment term is... and It does not work in order to avoid current fluctuations caused by large jumps in controller parameters; Control errors caused by the difference between the actual and nominal values ​​of the direct-axis and quadrature-axis inductances during motor operation are due to... and The controller parameters are adaptively adjusted. , It is a constant value. ,in, It is a constant value. This refers to the D-axis current overshoot. , It is a constant value. ,in It is a constant value. This refers to the Q-axis current overshoot. The controller parameters for the next cycle are calculated based on the parameter correction amount. The controller parameters outside the range of proportional control parameters are processed by the limiter and then used as controller parameters for current loop control. The coordinate transformation of the current loop control output is used to obtain the UVW three-phase command voltage signal, which is then used to generate a power switch control signal to control the motor via SVPWM wave generation. Specifically, the response currents of the D-axis and Q-axis are obtained through AD current sampling and coordinate transformation. The current control error is calculated based on the response current to determine the maximum overshoot and rise time. When the maximum overshoot is less than the first limit and the rise time is less than the second limit, the controller parameter update is stopped.

2. The method according to claim 1, characterized in that, The controller parameters outside the proportional control parameter range, after being processed by the limiter, are used as controller parameters for current loop control, which also includes: Based on the PI control quantity and the feedforward decoupling of the D-axis and Q-axis, the control outputs of the D-axis current loop and Q-axis current loop are calculated respectively.

3. A current loop control system for a permanent magnet synchronous motor, characterized in that, At least include: The adaptive adjustment module is used to obtain the current control error, the maximum current overshoot within the command cycle, and the current rise time, calculate the controller parameter correction based on the controller parameter adaptive law, and calculate the controller parameters for the next cycle based on the parameter correction. The correction amounts for the controller parameters D-axis and Q-axis are calculated according to the formulas. ； ； In the formula, This indicates the d-axis correction amount. Indicates the angular velocity of the motor. This indicates the nominal value of the motor's direct-axis inductance. Indicates a constant. This indicates the q-axis current response error. This indicates the d-axis correction proportional gain. Represents the q-axis stator current. This represents the d-axis switching function. Indicates the Q-axis correction amount. This indicates the nominal value of the quadrature axis inductance of the motor. Indicates a constant. This indicates the d-axis current response error. This indicates the q-axis correction proportional gain. Represents the d-axis stator current. Represents the q-axis switching function; Specifically, when the current command period for the q-axis and d-axis changes, and the current rise time exceeds a predetermined value, the q-axis and d-axis switching functions are set to 1, corresponding to the fast adjustment term. and It functions to enable rapid response and dynamic adjustment; When the command current signal does not change abruptly, the corresponding switching functions for the q-axis and d-axis are 0, and the fast adjustment term is... and It does not work in order to avoid current fluctuations caused by large jumps in controller parameters; Control errors caused by the difference between the actual and nominal values ​​of the direct-axis and quadrature-axis inductances during motor operation are due to... and The controller parameters are adaptively adjusted. , It is a constant value. ,in, It is a constant value. This refers to the D-axis current overshoot. , It is a constant value. in It is a constant value. This refers to the Q-axis current overshoot. A limiter is used to limit controller parameters that are outside the range of proportional control parameters, and to use the limited controller parameters as the current loop control signal. The range of the proportional control parameters is calculated based on the upper and lower boundaries of the direct axis and the quadrature axis; The control module is used to perform coordinate transformation on the current loop control signal based on the initial controller parameters or the adaptively adjusted controller parameters to obtain the UVW three-phase command voltage signal, and then generate a power switch control signal to control the motor via SVPWM wave generation. The control module includes: The judgment unit is used to obtain the D-axis and Q-axis response currents through AD current sampling and coordinate transformation, calculate the current control error based on the response currents, and know the maximum overshoot and rise time. When the maximum overshoot is less than the first limit value and the rise time is less than the second limit value, the controller parameter update is stopped.

4. The system according to claim 3, characterized in that, The control module includes: The calculation unit is used to calculate the control output of the D-axis current loop and the Q-axis current loop respectively based on the PI control quantity and the feedforward decoupling of the D-axis and Q-axis.

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