High frequency voltage injection-based rotor position and speed estimation method for permanent magnet synchronous machines

Abstract

The application discloses a high-frequency voltage injection permanent magnet synchronous motor rotor position and speed estimation method, and specifically comprises the following steps: step 1, injecting a high-frequency sinusoidal voltage signal on an alpha axis, extracting a high-frequency current response through a fourth-order generalized integral, and demodulating the high-frequency current response to obtain a rotor position related signal; step 2, obtaining a quadrature signal of the rotor position related signal obtained in step 1 through a delay compensation quadrature signal generator, and compensating for a phase lag caused by a low-pass filter in a signal demodulation process; and step 3, estimating the rotor position and speed of the permanent magnet synchronous motor through a phase-locked loop from the quadrature signal obtained in step 2. The application solves the problem of inaccurate estimation of the rotor position caused by a direct current bias and a low-pass filter in the existing stationary coordinate system pulse high-frequency sinusoidal voltage injection method.

Description

Technical Field

[0001] This invention belongs to the field of permanent magnet synchronous motor control technology, and relates to a method for estimating the rotor position and speed of a permanent magnet synchronous motor by high-frequency voltage injection. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in transportation, industrial automation, artificial intelligence, aerospace, and other fields due to their high torque density, high power density, and high efficiency. For high-performance PMSM vector control systems, accurate rotor position information is crucial. Inaccurate rotor position inevitably reduces the stability, accuracy, and dynamics of motor control, and may even prevent the motor from starting normally. Typically, rotor position is measured by photoelectric encoders, resolvers, and other mechanical sensors. Mechanical sensors not only make the motor control system more complex and costly, but also reduce system reliability. To overcome the problems caused by mechanical sensors and improve the reliability of motor systems, sensorless vector control drive technology has become a key technology.

[0003] The high-frequency voltage injection method based on salient pole characteristic tracking does not rely on back EMF and motor parameters, and can estimate rotor position and speed at low speeds or even zero speeds. Compared with the high-frequency rotating voltage injection method, the voltage signal injected in the stationary coordinate system is simple in form, and the signal processing does not require complex coordinate transformations. Compared with the high-frequency pulse injection method, the high-frequency pulse voltage signal injected in the stationary coordinate system has better rotor position error convergence characteristics. However, the high-frequency current response of the a-axis generated by the high-frequency pulse voltage signal injection method in the stationary coordinate system contains a DC bias. When the motor is running at low speed, it is difficult to filter out the DC bias using a low-pass filter, and the use of a low-pass filter inevitably leads to amplitude attenuation and phase lag of the high-frequency current, which in turn causes the estimated rotor to lag behind the actual rotor position. Summary of the Invention

[0004] The purpose of this invention is to provide a method for estimating the rotor position and speed of a permanent magnet synchronous motor by high-frequency voltage injection, which solves the problem of inaccurate rotor position estimation caused by DC bias and low-pass filter in the existing stationary coordinate system pulsating high-frequency sinusoidal voltage injection method.

[0005] The technical solution adopted in this invention is a method for estimating the rotor position and speed of a permanent magnet synchronous motor with high-frequency voltage injection, which specifically includes the following steps:

[0006] Step 1: Inject a high-frequency sinusoidal voltage signal into the α-axis, extract the high-frequency current response through a fourth-order generalized integral, and demodulate the high-frequency current response to obtain the rotor position-related signal.

[0007] Step 2: Obtain the orthogonal signal of the rotor position related signal obtained in Step 1 through the delay-compensated orthogonal signal generator, and compensate for the phase lag caused by the low-pass filter during signal demodulation.

[0008] Step 3: The quadrature signals obtained in Step 2 are used to estimate the rotor position and speed of the permanent magnet synchronous motor through a phase-locked loop.

[0009] The invention is further characterized by:

[0010] The specific process of step 1 is as follows:

[0011] Step 1.1: Inject a high-frequency sinusoidal voltage signal into the α-axis and extract the high-frequency current response through a fourth-order generalized integral;

[0012] Step 1.2: Demodulate the high-frequency current response obtained in step 1.1 to obtain the rotor position related signal.

[0013] The specific process of step 1.1 is as follows:

[0014] When the frequency of the injected high-frequency voltage is much higher than the operating frequency of the motor, the high-frequency voltage equation of the permanent magnet synchronous motor in the two-phase rotating coordinate system dq is as follows: (1)

[0015]

[0016] Where p is the differential operator, u dh u qh These represent the components of the high-frequency voltage along the d-axis and q-axis, respectively. dh i qh These represent the d-axis and q-axis components of the high-frequency current, respectively. dh L qh These are the inductances along the d-axis and q-axis, respectively.

[0017] The high-frequency voltage equation of the permanent magnet synchronous motor in the two-phase stationary coordinate system is shown in the following formula (2):

[0018]

[0019] Among them, u αh u βh These are the components of the high-frequency voltage along the α and β axes, respectively. αh i βh These are the components of the high-frequency current along the α-axis and β-axis, respectively, θ r This is the actual rotor position. T -1 (θ r ) is T(θ r The transpose of )

[0020] The differential of the high-frequency current response obtained from formula (2) is shown in formula (3) below:

[0021]

[0022] Among them, L n =2L dh L qh / (L dh +L qh );

[0023] The high-frequency pulsating sinusoidal voltage injected along the α-axis is shown in the following formula (4):

[0024]

[0025] Among them, V h It is the amplitude of the injected high-frequency sinusoidal voltage, ω h It is the angular frequency of the injected high-frequency sinusoidal voltage, and t is time;

[0026] The high-frequency current response obtained from equations (3) and (4) is shown in equation (5) below:

[0027]

[0028] Among them, I n =V h / (ω h L n );

[0029] In order to accurately extract the high-frequency current response as shown in Equation (5) from the sampled stator current, a fourth-order generalized integral with no amplitude attenuation and phase lag at the center point is used to extract the high-frequency current. The extracted high-frequency current response is shown in Equation (6) below:

[0030]

[0031] Among them, i αhF i βhF These are the components of the extracted high-frequency current along the α-axis and β-axis, respectively. sα i sβ These are the components of the sampled electronic current on the α and β axes, respectively, and K1 and K2 are adjustable parameters;

[0032] The adjustment process of the adjustable parameter K1 is shown in the following formula (7):

[0033]

[0034] in, Given the rotor angular frequency, ω e It is the estimated rotor angular frequency;

[0035] The adjustment process of the adjustable parameter K2 is shown in the following formula (8):

[0036]

[0037] Since the fourth-order generalized integral has no amplitude attenuation and phase lag at the center frequency, it is assumed that i αhF =i αh and i βhF =i βh ,Right now:

[0038]

[0039] The specific process of step 1.2 is as follows:

[0040] Multiply both sides of formula (9) by 2sin(ω) h The demodulated high-frequency current is obtained as shown in formula (10):

[0041]

[0042] Among them, i αhd i βhd These represent the components of the demodulated high-frequency current along the α-axis and β-axis, respectively.

[0043] The rotor position correlation signal is extracted using a low-pass filter as shown in formula (11):

[0044]

[0045] Among them, i βhpL It is the β-axis rotor position correlation signal, τ is the filtering time constant, and k LPF The amplitude attenuation coefficient θ is caused by the low-pass filter. LPF The phase lag is caused by the low-pass filter.

[0046] The specific process of step 2 is as follows:

[0047] The amplitude attenuation and phase lag caused by the low-pass filter are compensated by a delay-compensated quadrature signal generator as shown in the following formula (12):

[0048]

[0049] Among them, i βhpp For i βhpL The compensated rotor position-related signal, where k is an adjustable parameter;

[0050] The adjustment process of the adjustable parameter k is shown in the following formula (13):

[0051]

[0052] The orthogonal signal obtained by the delay-compensated orthogonal signal generator is shown in the following formula (14):

[0053]

[0054] Among them, i βhpq is i βhpp Orthogonal signals.

[0055] The specific process of step 3 is as follows:

[0056] The rotor position error signal calculated using formulas (13) and (14) is shown in formula (15) below:

[0057] ε=i βhpp cosθ e -i βhpq sinθ e =I n sin(2Δθ) (15);

[0058] Where, θ e It is the estimated rotor position, Δθ = θ r -θ e ;

[0059] The rotor position error signal ε is adjusted by a PI controller to obtain the estimated rotational speed as shown in the following formula (16):

[0060]

[0061] Among them, K p It is the proportional gain of the PI controller, K i It is the integral gain of the PI controller;

[0062] For the estimated rotational speed ω e The estimated rotor position obtained by integration is shown in the following formula (17):

[0063]

[0064] The beneficial effects of this invention are that, compared with the traditional high-frequency injection method, this invention injects a high-frequency sinusoidal voltage signal into a stationary coordinate system, extracts the β-axis high-frequency current response through a fourth-order generalized integral, demodulates the high-frequency current response to obtain the rotor position-related signal, obtains the orthogonal signal of the β-axis rotor position-related signal through a delay-compensated orthogonal signal generator, and compensates for the phase lag caused by the low-pass filter during signal demodulation. Finally, the rotor position and speed are estimated through a phase-locked loop, thus solving the problem of inaccurate rotor position estimation caused by DC bias and low-pass filter in the existing stationary coordinate system pulsating high-frequency sinusoidal voltage injection method. Attached Figure Description

[0065] Figure 1 This is a block diagram of the vector control system used in the high-frequency voltage injection permanent magnet synchronous motor rotor position and speed estimation method of the present invention;

[0066] Figure 2 This is a block diagram of the delay-compensated orthogonal signal generator structure in the high-frequency voltage injection method for estimating the rotor position and speed of a permanent magnet synchronous motor in this invention.

[0067] Figure 3 This is a block diagram of the phase-locked loop structure used in the high-frequency voltage injection method for estimating the rotor position and speed of a permanent magnet synchronous motor in this invention.

[0068] Figure 4 The simulation diagram shows the rotational speed estimated using traditional methods;

[0069] Figure 5 This is a simulation diagram showing the rotor position estimation error using the traditional method;

[0070] Figure 6 The image shows a simulation of the rotational speed estimated using the high-frequency voltage injection method for permanent magnet synchronous motor rotor position and speed estimation of the present invention.

[0071] Figure 7 The image shows a simulation of the rotor position estimation error of a permanent magnet synchronous motor using the high-frequency voltage injection method of this invention. Detailed Implementation

[0072] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0073] The present invention relates to a method for estimating the rotor position and speed of a permanent magnet synchronous motor using high-frequency voltage injection, wherein the block diagram of the vector control system employed is as follows. Figure 1 As shown, the specific steps are as follows:

[0074] Step 1: Inject a high-frequency sinusoidal voltage signal into the α-axis, extract the high-frequency current response using a fourth-order generalized integral, and demodulate the high-frequency current response to obtain the rotor position-related signal. Specifically:

[0075] Step 1.1: Inject a high-frequency sinusoidal voltage signal into the α-axis and extract the high-frequency current response through a fourth-order generalized integral;

[0076] When the frequency of the injected high-frequency voltage is much higher than the operating frequency of the motor, the permanent magnet synchronous motor can be considered as a purely inductive load. Therefore, the high-frequency voltage equation of the permanent magnet synchronous motor in the two-phase rotating coordinate system dq is as follows:

[0077]

[0078] Where p is the differential operator, udh u qh These represent the components of the high-frequency voltage along the d-axis and q-axis, respectively. dh i qh These represent the d-axis and q-axis components of the high-frequency current, respectively. dh L qh These are the inductances along the d-axis and q-axis, respectively.

[0079] The high-frequency voltage equation of the permanent magnet synchronous motor in the two-phase stationary coordinate system is shown in the following formula (2):

[0080]

[0081] Among them, u αh u βh These are the components of the high-frequency voltage along the α and β axes, respectively. αh i βh These are the components of the high-frequency current along the α-axis and β-axis, respectively, θ r This is the actual rotor position. T -1 (θ r ) is T(θ r The transpose of ).

[0082] The differential of the high-frequency current response obtained from formula (2) is shown in formula (3) below:

[0083]

[0084] Among them, L n =2L dh L qh / (L dh +L qh ).

[0085] The high-frequency pulsating sinusoidal voltage injected along the α-axis is shown in the following formula (4):

[0086]

[0087] Among them, V h It is the amplitude of the injected high-frequency sinusoidal voltage, ω h It is the angular frequency of the injected high-frequency sinusoidal voltage, and t is time.

[0088] The high-frequency current response obtained from equations (3) and (4) is shown in equation (5) below:

[0089]

[0090] Among them, I n =V h / (ω h L n ).

[0091] In practical control systems, the stator current obtained by the current Hall sensor contains the fundamental frequency current, high-frequency current, and current harmonics caused by non-ideal factors. In order to accurately extract the high-frequency current response as shown in formula (5) from the sampled stator current, a fourth-order generalized integral with no amplitude attenuation and phase lag at the center point is used to extract the high-frequency current. The extracted high-frequency current response is shown in formula (6) below:

[0092]

[0093] Among them, i αhF i βhF These are the components of the extracted high-frequency current along the α-axis and β-axis, respectively. sα i sβ K1 and K2 are the components of the sampled electronic current on the α and β axes, respectively, and are adjustable parameters.

[0094] The adjustment process of the adjustable parameter K1 is shown in the following formula (7):

[0095]

[0096] in, Given the rotor angular frequency, ω e It is the estimated rotor angular frequency.

[0097] The adjustment process of the adjustable parameter K2 is shown in the following formula (8):

[0098]

[0099] Since the fourth-order generalized integral has no amplitude attenuation and phase lag at the center frequency, it can be assumed that i αhF =i αh and i βhF =i βh ,Right now:

[0100]

[0101] Step 1.2: Demodulate the high-frequency current response obtained in step 1.1 to obtain the rotor position correlation signal;

[0102] Multiply both sides of formula (9) by 2sin(ω) h From t), the demodulated high-frequency current can be obtained as shown in the following formula (10):

[0103]

[0104] Among them, i αhd i βhd These represent the components of the demodulated high-frequency current along the α-axis and β-axis, respectively.

[0105] Because the demodulated high-frequency current has an α-axis component i αhd Includes DC bias I n Rotor position related signal I n cos(2θ r ) and high-frequency component -I n cos(2ω h t)-I n cos(2θ r cos(2ω) h t). When the motor is running at low speed, the DC bias I n Rotor position related signal I n cos(2θ r It is difficult to separate. However, the demodulated high-frequency current in the β-axis component i βhd Includes only rotor position related signals I n sin(2θ r ) and high-frequency components -I n sin(2θ r cos(2ω) h Therefore, the rotor position correlation signal can be extracted using a low-pass filter as shown in the following formula (11):

[0106]

[0107] Among them, i βhpL It is the β-axis rotor position correlation signal, τ is the filtering time constant, and k LPF The amplitude attenuation coefficient θ is caused by the low-pass filter. LPF The phase lag is caused by the low-pass filter.

[0108] Step 2, through, as Figure 2 The delay-compensated quadrature signal generator shown obtains the quadrature signal of the rotor position-related signal obtained in step 1, and compensates for the phase lag caused by the low-pass filter during signal demodulation, specifically as follows:

[0109] To accurately estimate the rotor position, the rotor position correlation signal i obtained in step 1 must be precisely compensated. βhpL The phase delay and amplitude attenuation caused by the low-pass filter, and the need for a rotor position error signal for rotor position estimation via a phase-locked loop, necessitate obtaining orthogonal signals related to the rotor position. This can be achieved through methods such as... Figure 2 The delay-compensated quadrature signal generator shown compensates for the amplitude attenuation and phase lag caused by the low-pass filter, as shown in the following formula (12):

[0110]

[0111] Among them, iβhpp For i βhpL The compensated rotor position related signal, where k is an adjustable parameter.

[0112] The adjustment process of the adjustable parameter k is shown in the following formula (13):

[0113]

[0114] Through such Figure 2 The orthogonal signal obtained by the delay-compensated orthogonal signal generator shown is given by the following formula (14):

[0115]

[0116] Among them, i βhpq is i βhpp Orthogonal signals.

[0117] Step 3, the orthogonal signals obtained in Step 2 are processed as follows: Figure 3 The phase-locked loop shown estimates the rotor position and speed of the permanent magnet synchronous motor as follows:

[0118] The rotor position error signal calculated using formulas (13) and (14) is shown in formula (15) below:

[0119] ε=i βhpp cosθ e -i βhpq sinθ e =I n sin(2Δθ) (15);

[0120] Where, θ e It is the estimated rotor position, Δθ = θ r -θ e .

[0121] The rotor position error signal ε is adjusted by a PI controller to obtain the estimated rotational speed as shown in the following formula (16):

[0122]

[0123] Among them, K p It is the proportional gain of the PI controller, K i It is the integral gain of the PI controller.

[0124] For the estimated rotational speed ω e The estimated rotor position obtained by integration is shown in the following formula (17):

[0125]

[0126] The vector control system block diagram used in the high-frequency voltage injection permanent magnet synchronous motor rotor position and speed estimation method of this invention is shown in the figure below. Figure 1 As shown, the system consists of three PI controllers, forming a dual-loop control system with a speed loop and a current loop. The output of the speed loop PI controller serves as the input to the maximum torque-to-current ratio control (MTPA), and the MTPA outputs the current command. As the input to the current loop PI regulator, the output of the current regulator controls the power electronic converter.

[0127] By injecting a pulsating high-frequency sinusoidal voltage signal along the α-axis of the stationary coordinate system, and then using a current Hall sensor to detect the stator current i of the permanent magnet synchronous motor in the three-phase stationary coordinate system, a method is employed. a i b i c The stator current i a i b i c It includes fundamental frequency current, high-frequency current, and harmonic current; the detected three-phase stator current i a i b i c The current value i is transformed into a two-phase stationary coordinate system through the abc / αβ transformation. sα i sβ i sα i sβ The current value i is transformed into a two-phase synchronous rotating coordinate system through the αβ / dq transformation. sd i sq i sd i sq The fundamental frequency component i of the stator current in the two-phase synchronous rotating coordinate system is obtained by using a low-pass filter (LPF). d i q Current value i in a two-phase stationary coordinate system sβ The high-frequency current response i is extracted using a fourth-order generalized integral. βhF High-frequency current response i βhF Multiply by 2sin(ω) h t) to obtain i βhd i βhd The rotor position correlation signal i is obtained through a low-pass filter. βhpL Rotor position related signal i βhpL After such Figure 2 The delay-compensated quadrature signal generator shown produces quadrature signal i. βhpp i βhpq Orthogonal signal i βhpp i βhpq After such Figure 3 The phase-locked loop shown obtains the estimated rotor position θ. e and rotational speed ωe ; Set the given speed of the speed ring Rotational speed ω estimated by phase-locked loop e The difference is calculated, and after passing through the speed loop PI controller, the electromagnetic torque setpoint is output. The given excitation current is then obtained from the maximum torque-to-current ratio (MTPA). and given torque current Given excitation current With feedback current i d The difference is calculated, and the d-axis voltage is output through the current loop PI controller. Given excitation current With feedback current i q The difference is calculated, and the output q-axis voltage is obtained through a current loop PI controller. The two-phase voltages in the two-phase stationary coordinate system are obtained after dq / αβ transformation. α-axis stator voltage Superimposed injection of high-frequency voltage u αh and β-axis stator voltage The three-phase inverter is controlled by SVPWM modulation to drive the permanent magnet synchronous motor.

[0128] Figure 4 The rotational speed is estimated using traditional methods; Figure 5 To reduce the error in rotor position estimation using traditional methods; Figure 6 The rotational speed estimated using the method of this invention; Figure 7 The rotor position estimation error is calculated using the method of this invention.

[0129] The parameters of the permanent magnet synchronous motor used in the simulation are shown in Table 1. Figures 4-7 In the simulation results, the speed was set as follows: 0s-1s the motor accelerates from 0Hz to 1Hz; 1s-4s the motor runs at 1Hz.

[0130] contrast Figure 4 and Figure 6 It can be observed that the rotational speed estimated by the traditional method fluctuates significantly, while the rotational speed estimated by the method of this invention can accurately track the actual rotational speed. (Comparison) Figure 5 and Figure 7 It can be observed that the rotor position estimation error of the traditional method fluctuates within the range of 8 degrees to -8 degrees, while the rotor position estimation error of the method of the present invention is within 1 degree. The above simulation results show that the rotor position and speed estimation method of the permanent magnet synchronous motor with pulsating high-frequency sinusoidal voltage injection in a stationary coordinate system of the present invention can significantly improve the estimation accuracy of rotor position and speed.

[0131] Table 1 Parameters of Permanent Magnet Synchronous Motor

[0132] parameter numerical values parameter numerical values Rated power 2kW Rated torque 19 N.m Extreme logarithm 4 Rated current 5.8A Rated speed 1000rpm Rated frequency 66.67Hz

Claims

1. A method for estimating the rotor position and speed of a permanent magnet synchronous motor with high-frequency voltage injection, characterized in that: Specifically, the steps include the following: Step 1, in α A high-frequency sinusoidal voltage signal is injected into the shaft, and the high-frequency current response is extracted by a fourth-order generalized integral. The high-frequency current response is then demodulated to obtain the rotor position-related signal. The high-frequency current is extracted by a fourth-order generalized integral that has no amplitude attenuation and phase lag at the center point. The extracted high-frequency current response is shown in the following formula (1): （1） in, i αhF , i βhF The extracted high-frequency current is respectively in α shaft and β Components of the axis, , These are the sampling electron currents at α shaft and β Components of the axis, and It is an adjustable parameter. It is the angular frequency of the injected high-frequency sinusoidal voltage; Adjustable parameters The adjustment process is shown in the following formula (2): （2） in, Given the rotor angular frequency, It is the estimated rotor angular frequency; Adjustable parameters The adjustment process is shown in the following formula (3): （3） Step 2: Obtain the orthogonal signal of the rotor position related signal obtained in Step 1 through the delay-compensated orthogonal signal generator, and compensate for the phase lag caused by the low-pass filter during signal demodulation. Step 3: The quadrature signals obtained in Step 2 are used to estimate the rotor position and speed of the permanent magnet synchronous motor through a phase-locked loop.

2. The method for estimating the rotor position and speed of a permanent magnet synchronous motor with high-frequency voltage injection according to claim 1, characterized in that: The specific process of step 1 is as follows: Step 1.1, in α A high-frequency sinusoidal voltage signal is injected into the shaft, and the high-frequency current response is extracted through a fourth-order generalized integral. Step 1.2: Demodulate the high-frequency current response obtained in step 1.1 to obtain the rotor position related signal.

3. The method for estimating the rotor position and speed of a permanent magnet synchronous motor with high-frequency voltage injection according to claim 2, characterized in that: The specific process of step 1.1 is as follows: When the frequency of the injected high-frequency voltage is much higher than the operating frequency of the motor, in a two-phase rotating coordinate system dq The high-frequency voltage equation of the lower permanent magnet synchronous motor is shown in the following formula (4): （4） in, p It is a differential operator. , High frequency voltage at d shaft and q Components of the axis, , High-frequency current at d shaft and q Components of the axis, L dh , L qh They are d shaft and q The inductance of the shaft; The high-frequency voltage equation of the permanent magnet synchronous motor in the two-phase stationary coordinate system is shown in the following formula (5): （5） in, , These are high-frequency voltages at... α shaft and β Components of the axis, , These are high-frequency currents at... α shaft and β Components of the axis, θ r This is the actual rotor position. , yes Transpose of; The differential of the high-frequency current response obtained through formula (5) is shown in formula (6) below: （6） in, ; exist α The high-frequency pulsating sinusoidal voltage injected into the shaft is shown in the following formula (7): （7） in, It is the amplitude of the injected high-frequency sinusoidal voltage. t It is time; The high-frequency current response obtained from equations (6) and (7) is shown in equation (8) below: （8） in, ; Since the fourth-order generalized integral has no amplitude attenuation and phase lag at the center frequency, it is assumed that... i αhF = i αh and i βhF = i βh ,Right now: （9） 。 4. The method for estimating the rotor position and speed of a permanent magnet synchronous motor with high-frequency voltage injection according to claim 3, characterized in that: The specific process of step 1.2 is as follows: Multiply both sides of formula (9) by 2sin( ω h t The demodulated high-frequency current is obtained as shown in formula (10): （10） in, i αhd , i βhd The demodulated high-frequency current is respectively in α shaft and β The components of the axis; The rotor position correlation signal is extracted using a low-pass filter as shown in the following formula (11): （11） in, yes β Shaft rotor position related signals, τ It is the filtering time constant. It is the amplitude attenuation coefficient caused by the low-pass filter. The phase lag is caused by the low-pass filter.

5. The method for estimating the rotor position and speed of a permanent magnet synchronous motor with high-frequency voltage injection according to claim 4, characterized in that: The specific process of step 2 is as follows: The amplitude attenuation and phase lag caused by the low-pass filter are compensated by a delay-compensated quadrature signal generator as shown in the following formula (12): （12） in, for Compensated rotor position related signal, k It is an adjustable parameter; Adjustable parameters k The adjustment process is shown in the following formula (13): （13） The orthogonal signal obtained by the delay-compensated orthogonal signal generator is shown in the following formula (14): （14） in, yes Orthogonal signals.

6. The method for estimating the rotor position and speed of a permanent magnet synchronous motor with high-frequency voltage injection according to claim 5, characterized in that: The specific process of step 3 is as follows: The rotor position error signal is calculated using formulas (12) and (14) as shown in formula (15): （15）； in, θ e It is the estimated rotor position, Δ θ = θ r - θ e ; Rotor position error signal ε The estimated rotational speed obtained by adjusting the PI controller is shown in the following formula (16): （16）； in, It is the proportional gain of the PI controller. It is the integral gain of the PI controller; For the estimated rotational speed ω e The estimated rotor position obtained by integration is shown in the following formula (17): （17）。

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