A control method and control system of a motor filter active damping device

Abstract

The application discloses a control method and a control system of a motor filter active damping device. The method comprises the following steps: sampling the bus capacitor voltage of the active damping device, the output filter capacitor current and the motor current, and obtaining the motor rotor position; performing analog resistance control, performing low-pass filtering and proportional control on the motor current, and obtaining the first part of the damping controller output voltage; performing analog capacitor control, performing integral processing and proportional control on the output filter capacitor current, and obtaining the second part of the damping controller output voltage; obtaining the third part of the damping controller output voltage according to the given voltage and the measured voltage of the bus capacitor of the active damping device; and updating the PWM duty cycle according to the output voltage of each part of the damping controller, so as to control the active damping device. The control method of the active damping device disclosed by the application can realize resonance damping of a wider resonance frequency, and can reduce the volume and weight of the motor filter.

Description

Technical Field

[0001] This invention relates to motor control technology, and in particular to a control method and control system for an active damping device for a motor filter. Background Technology

[0002] Introducing high-order output filters into motor drive systems can improve the quality of the driver's output voltage and reduce the harmonic content of the motor current. However, the introduced output filter increases the system's order, potentially leading to resonance and instability. Existing methods for addressing resonance issues mainly include passive damping and active damping. Passive damping uses passive components to build a damping network, inevitably increasing power loss. Active damping, on the other hand, utilizes the motor driver itself to achieve resonant damping, requiring no additional passive components and generating no additional power loss, thus making active damping technology the mainstream. However, existing active damping methods all have limitations in their resonant frequency range. Currently, active damping methods cannot effectively dampen frequencies exceeding half the sampling frequency. This forces traditional filters used in motor drive systems to have lower resonant frequencies, resulting in larger filter sizes. Achieving damping control over a wider resonant frequency range is a key research focus. Summary of the Invention

[0003] Purpose of the invention: In order to solve the problems of small resonant frequency range and large size of existing motor filters, this invention provides a control method and control system for an active damping device for motor filters. It aims to overcome the defects of the prior art, achieve damping control over a wider resonant frequency range, and thus reduce the size of the output filter.

[0004] Technical solution: The present invention provides an active damping system for a motor filter, comprising a motor driver, an active damping device, an LCL output filter, and a motor. The motor driver is connected to the motor via the LCL output filter, and the active damping device is connected to the LCL output filter. The active damping device includes a three-phase full-bridge converter and an active damping device bus capacitor connected in parallel with the three-phase full-bridge converter. The midpoints of each phase arm of the three-phase full-bridge converter are respectively connected to each phase of the LCL output filter via the LCL output filter capacitor.

[0005] Based on the same inventive concept, the present invention provides a control method for an active damping device for a motor filter, comprising the following steps:

[0006] Sample the bus capacitor voltage of the active damping device, the capacitor current of the LCL output filter, and the motor current, and obtain the motor rotor position;

[0007] Perform analog resistance control: After low-pass filtering and proportional control of the motor current, the first part of the output voltage of the damping controller is obtained;

[0008] Perform analog capacitor control: After integrating and proportionally controlling the capacitor current of the LCL output filter, the second part of the output voltage of the damping controller is obtained;

[0009] The third part of the output voltage of the damping controller is calculated based on the difference between the given voltage and the measured voltage of the bus capacitor of the active damping device.

[0010] The PWM duty cycle is updated based on the first, second, and third parts of the output voltage of the damping controller, thereby controlling the active damping device.

[0011] Furthermore, the analog resistance control specifically involves:

[0012] The motor current is transformed by coordinate transformation to obtain the d-axis component and q-axis component. The d-axis component of the motor current is then subjected to low-pass filtering. The difference between the input d-axis component of the motor current and the low-pass filtered d-axis component is calculated. The difference is then proportionally controlled to obtain the first part of the d-axis output voltage of the damping controller.

[0013] The q-axis component of the motor current is low-pass filtered, and the difference between the input q-axis component of the motor current and the low-pass filtered q-axis component is calculated. The difference is then proportionally controlled to obtain the first part of the q-axis output voltage of the damping controller.

[0014] Furthermore, the analog capacitor control specifically involves:

[0015] The LCL output filter capacitor current is transformed by coordinate transformation to obtain the d-axis and q-axis components of the LCL output filter capacitor current. After integral processing and proportional control of the d-axis and q-axis components of the LCL output filter capacitor current, the second part of the d-axis output voltage and the second part of the q-axis output voltage of the damping controller are obtained.

[0016] Furthermore, after implementing analog resistance control, the transfer function of the permanent magnet motor with an LCL output filter is... for:

[0017] ;

[0018] in, C is the gain coefficient of the analog resistor controller, and C is the output capacitor of the LCL filter. The inverter-side inductor of the output filter, , For the motor-side inductance of the output filter, Let be the inductance of the motor winding, and s be the Laplace operator.

[0019] Furthermore, Amplitude gain at resonant angular frequency for:

[0020] ;

[0021] Choose according to the following formula The value of can effectively dampen system resonance;

[0022] ;

[0023] in, ω is the resonant angular frequency of the undamped model.

[0024] Furthermore, after implementing analog resistor control and analog capacitor control, the transfer function of the permanent magnet motor with LCL output filter is... for:

[0025] ;

[0026] in, For the gain coefficient of the analog resistor controller, C represents the gain coefficient of the analog capacitor controller, and C is the output filter capacitor of the LCL. The inductance on the inverter side of the filter. , The filter is the motor-side inductance. Let be the inductance of the motor winding, and s be the Laplace operator.

[0027] Furthermore, Resonant angular frequency The expression is:

[0028] ;

[0029] in, The value is set between 0 and 1 to change the resonant angular frequency, which is equivalent to changing the capacitance value of the LCL output filter capacitor C; if If the value is greater than zero, it is equivalent to increasing the capacitance value of the LCL output filter capacitor C, thereby further reducing the volume of the LCL output filter capacitor.

[0030] Based on the same inventive concept, the control system of the active damping device for a motor filter according to the present invention includes:

[0031] The data acquisition unit is used to sample the bus capacitor voltage of the active damping device, the capacitor current of the LCL output filter, the motor current, and to obtain the motor rotor position.

[0032] An analog resistor controller is used for analog resistor control: after low-pass filtering and proportional control of the motor current, the first part of the output voltage of the damping controller is obtained.

[0033] The analog capacitor controller is used for analog capacitor control: after integrating and proportionally controlling the capacitor current of the LCL output filter, the second part of the output voltage of the damping controller is obtained.

[0034] The bus capacitor voltage controller is used to calculate the third part of the output voltage of the damping controller based on the difference between the given voltage and the measured voltage of the bus capacitor of the active damping device.

[0035] The PWM controller is used to update the PWM duty cycle based on the first, second, and third parts of the output voltage of the damping controller, thereby controlling the active damping device.

[0036] Based on the same inventive concept, the present invention provides a control device for an active damping device of a motor filter, the device comprising:

[0037] Memory containing executable program code;

[0038] A processor coupled to the memory;

[0039] The processor calls the executable program code stored in the memory to execute the steps of the control method for the motor filter active damping device as described above.

[0040] Based on the same inventive concept, the present invention provides a computer-readable storage medium storing computer instructions, which, when invoked, are used to execute the steps of the control method for the motor filter active damping device described above.

[0041] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0042] (1) The present invention uses an analog resistor controller to dampen resonance, which can effectively dampen a wider range of resonant frequencies. The highest dampable resonant frequency can be increased from half the motor driver sampling frequency to more than twice the motor driver sampling frequency, thereby increasing the degree of freedom in the parameter design of the output filter and reducing the size of the output filter.

[0043] (2) An analog capacitor controller was designed to increase the equivalent capacitance value of the LCL output filter capacitor C and further reduce the volume of the LCL output filter capacitor.

[0044] (3) The bus capacitor voltage controller is used to adjust the bus capacitor voltage of the damping controller. The damping controller does not require an additional power supply. Attached Figure Description

[0045] Figure 1 For motor filter active damping system;

[0046] Figure 2 A block diagram of the control method for an active damping device for a motor filter;

[0047] In the diagram: 1-Motor driver; 2-Active damping device; 3-LCL output filter; 4-Motor; 5-Active damping device bus capacitor; 6-Active damping device bus capacitor controller; 7-D-axis analog resistor controller; 8-D-axis analog capacitor controller; 9-Q-axis analog resistor controller; 10-Q-axis analog capacitor controller. Detailed Implementation

[0048] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0049] like Figure 1 As shown, the active damping system for the motor filter of the present invention includes a motor driver 1, an active damping device 2, an LCL output filter 3, and a motor 4. The active damping device 2 is connected to the LCL output filter 3. One end of the LCL output filter 3 is connected to the motor driver 1, and the other end is connected to the motor 4. The active damping device 2 includes a three-phase full-bridge converter and an active damping device bus capacitor 5 connected in parallel with the three-phase full-bridge converter. The midpoints of each phase arm of the three-phase full-bridge converter are respectively connected to each phase of the LCL output filter through the LCL output filter capacitor.

[0050] like Figure 1 and Figure 2 As shown, the undamped model of a permanent magnet motor with an LCL output filter is as follows:

[0051] (1)

[0052] in, The motor current is a complex vector. The inverter output voltage is a complex vector; the inverter is contained within the motor driver. The inverter-side inductor of the LCL output filter. , For the motor-side inductance of the LCL output filter, C is the motor winding inductance, C is the LCL output filter capacitor, and s is the Laplace operator.

[0053] Resonant angular frequency of the undamped model The expression is:

[0054] (2)

[0055] Amplitude gain of the undamped model at the resonant angular frequency for:

[0056] (3)

[0057] The undamped model has an infinite amplitude gain at the resonant angular frequency, which amplifies the high-frequency components in the motor current, resulting in unstable resonance in the system.

[0058] The transfer function of a permanent magnet motor with an LCL output filter and an analog resistor controller is increased. for:

[0059] (4)

[0060] in, This represents the gain coefficient of the analog resistor controller.

[0061] The amplitude gain at the resonant angular frequency is:

[0062] (5)

[0063] Choose according to the following formula The value of can effectively dampen system resonance.

[0064] (6)

[0065] Preferably, The value can be:

[0066] (7)

[0067] Building upon this, by further adding an analog capacitor controller, the transfer function of a permanent magnet motor with an LCL output filter can be obtained. for:

[0068] (8)

[0069] in, This represents the gain coefficient of the analog capacitor controller.

[0070] Resonant angular frequency The expression is:

[0071] (9)

[0072] It can change the resonant angular frequency, which is equivalent to changing the capacitance value C of the LCL output filter. If If the value is greater than zero, it can be equivalent to increasing the capacitance value of the LCL output filter capacitor C, which can further reduce the size of the LCL output filter capacitor.

[0073] like Figure 2 As shown, a control method for an active damping device for a motor filter according to the present invention includes the following steps:

[0074] Sample the bus capacitor voltage of the active damping device, the capacitor current of the LCL output filter, and the motor current, and obtain the motor rotor position;

[0075] Simulated resistance control is performed: the motor current is transformed by coordinate transformation to obtain the d-axis and q-axis components of the motor current. After low-pass filtering and proportional control of the d-axis and q-axis components of the motor current, the first part of the d-axis output voltage and the first part of the q-axis output voltage of the damping controller are obtained.

[0076] Simulated capacitor control is performed: the LCL output filter capacitor current is transformed by coordinate transformation to obtain the d-axis and q-axis components of the LCL output filter capacitor current. After integral processing and proportional control of the d-axis and q-axis components of the LCL output filter capacitor current, the second part of the d-axis output voltage and the second part of the q-axis output voltage of the damping controller are obtained.

[0077] The difference between the given voltage and the measured voltage of the bus capacitor of the active damping device is calculated, and the third part of the d-axis output voltage of the damping controller is obtained by the bus capacitor voltage controller.

[0078] Based on the first and second parts of the d-axis output voltage, the first and second parts of the q-axis output voltage, and the third part of the d-axis output voltage, the PWM duty cycle is updated to control the active damping device.

[0079] Furthermore, the d-axis component of the motor current is subjected to low-pass filtering, the difference between the input d-axis component of the motor current and the d-axis component of the motor current after low-pass filtering is calculated, and the difference is proportionally controlled to obtain the first part of the d-axis output voltage of the damping controller.

[0080] The q-axis component of the motor current is low-pass filtered, and the difference between the input q-axis component of the motor current and the low-pass filtered q-axis component is calculated. The difference is then proportionally controlled to obtain the first part of the q-axis output voltage of the damping controller.

[0081] Furthermore, the voltage difference between the first part of the d-axis output voltage of the damping controller and the second and third parts of the d-axis output voltage of the damping controller is used as the first output voltage of the damping controller.

[0082] The voltage difference between the first part of the q-axis output voltage and the second part of the q-axis output voltage of the damping controller is used as the second output voltage of the damping controller.

[0083] The first and second output voltages of the damping controller are input to the PWM modulator. The PWM modulator updates the PWM duty cycle based on the first and second output voltages of the damping controller, thereby controlling the active damping device.

[0084] like Figure 2 As shown, the damping controller includes an analog resistor controller, an analog capacitor controller, and an active damping device bus capacitor controller. The input of the analog resistor controller is the motor current, and it includes a low-pass filter and a proportional controller. Its function is to suppress the resonance introduced by the LCL output filter. The analog resistor controller is divided into a d-axis analog resistor controller 7 and a q-axis analog resistor controller 9. The inputs of the d-axis analog resistor controller 7 and the q-axis analog resistor controller 9 are the d-axis component and q-axis component of the motor current, respectively.

[0085] The analog capacitor controller takes the LCL output filter capacitor current as its input and includes an integrator and a proportional controller connected in series. Its function is to adjust the equivalent value of the LCL output filter capacitor, optimize the filtering effect, and reduce the size of the LCL output filter capacitor. The analog capacitor controller consists of a d-axis analog capacitor controller 8 and a q-axis analog capacitor controller 10. The inputs to the d-axis analog capacitor controller 8 and the q-axis analog capacitor controller 10 are the d-axis and q-axis components of the LCL output filter capacitor current, respectively.

[0086] The active damping device bus capacitor controller 6 includes a bus capacitor voltage controller, which is used to adjust the bus capacitor voltage of the damping controller. The bus capacitor voltage controller includes, but is not limited to, proportional-integral controllers, sliding mode controllers, and adaptive controllers.

[0087] This invention dampens the oscillation of an output filter. The proposed control method comprises three parts: an analog resistor controller, an analog capacitor controller, and a bus capacitor voltage controller. The output voltages of the analog resistor controller, analog capacitor controller, and bus capacitor voltage controller are the first, second, and third parts of the output of the damping controller, respectively. The analog resistor controller suppresses the resonance introduced by the output filter. The analog capacitor controller adjusts the equivalent value of the LCL output filter capacitor and optimizes the filtering effect. The bus capacitor voltage controller adjusts the bus capacitor voltage of the damping controller, and its controller includes, but is not limited to, proportional-integral controllers, sliding mode controllers, and adaptive controllers. This invention can achieve resonant damping with a wider resonant frequency range and can reduce the size and weight of the motor filter.

[0088] Specifically:

[0089] The gain coefficient of the analog resistor controller is calculated according to the system parameters using equation (6). Set the range of the analog capacitor controller gain coefficient. Preferred selection The value is between 0 and 1. The software calculation process of the active damping control algorithm can be divided into: (sampling calculation, etc.)

[0090] S1: Interrupt begins, enter the main algorithm program. The interrupt frequency of the active damping device is designed to be 10 times the interrupt frequency of the motor driver.

[0091] S2: Sample the bus capacitor voltage of the active damping device, the capacitor current of the LCL output filter, and the motor current, and obtain the motor rotor position.

[0092] S3: The LCL output filter capacitor current is transformed using coordinate transformation to obtain the d-axis and q-axis components of the LCL output filter capacitor current. The active damping device control program is then executed.

[0093] S31: Execute the d-axis analog resistance control program to obtain the first part of the d-axis output voltage of the damping controller.

[0094] S32: Execute the d-axis analog capacitor control program to obtain the second part of the d-axis output voltage of the damping controller.

[0095] S33: Execute the bus capacitor voltage control program and calculate the third part of the damping controller d-axis output voltage based on the given voltage and the measured voltage.

[0096] S34: Execute the q-axis analog resistance control program to obtain the first part of the q-axis output voltage of the damping controller.

[0097] S35: Execute the q-axis analog capacitor control program to obtain the second part of the q-axis output voltage of the damping controller.

[0098] S36: The first output voltage of the damping controller is obtained by subtracting the first part of the d-axis output voltage of the damping controller from the second part and the third part of the d-axis output voltage of the damping controller.

[0099] The second output voltage of the damping controller is obtained by subtracting the first part of the q-axis output voltage of the damping controller from the second part of the q-axis output voltage of the damping controller.

[0100] S4: Input the first and second output voltages of the damping controller into the PWM modulator. The PWM modulator updates the PWM duty cycle according to the output voltage, thereby controlling the active damping device. The PWM modulation method can be SPWM (Sinusoidal Pulse Width Modulation) or SVPWM (Space Vector Pulse Width Modulation).

[0101] S5: Interrupt ended, waiting for the next interrupt to be triggered.

[0102] Based on the same inventive concept, the control system of the active damping device for a motor filter according to the present invention includes:

[0103] The data acquisition unit is used to sample the bus capacitor voltage of the active damping device, the capacitor current of the LCL output filter, the motor current, and to obtain the motor rotor position.

[0104] An analog resistor controller is used to calculate the d-axis and q-axis components of the motor current through coordinate transformation. After low-pass filtering and proportional control of the d-axis and q-axis components of the motor current, the first part of the d-axis output voltage and the first part of the q-axis output voltage of the damping controller are obtained.

[0105] The analog capacitor controller is used to obtain the d-axis and q-axis components of the LCL output filter capacitor current through coordinate transformation. After integrating and proportionally controlling the d-axis and q-axis components of the LCL output filter capacitor current, the second part of the d-axis output voltage and the second part of the q-axis output voltage of the damping controller are obtained.

[0106] The bus capacitor voltage controller is used to calculate the difference between the given voltage and the measured voltage of the bus capacitor of the active damping device, and to obtain the third part of the d-axis output voltage of the damping controller through the calculation of the bus capacitor voltage controller.

[0107] The PWM controller is used to update the PWM duty cycle based on the first and second parts of the d-axis output voltage, the first and second parts of the q-axis output voltage, and the third part of the d-axis output voltage, thereby controlling the active damping device.

[0108] Based on the same inventive concept, the present invention also provides a control device for an active damping device for a motor filter. The device may include: a memory storing executable program code; a processor coupled to the memory; the processor calling the executable program code stored in the memory to execute the steps in the control method for the active damping device for a motor filter described above.

[0109] The memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the memory may be used to read and write non-removable, non-volatile magnetic media (commonly referred to as a "hard disk drive"). A program / utility having a set (at least one) of program modules may be stored in, for example, memory. Such program modules include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules typically perform the functions and / or methods described in the embodiments of the present invention.

[0110] The processor executes various functional applications and data processing by running programs stored in memory, such as the methods provided in this invention.

[0111] Based on the same inventive concept, the present invention also provides a computer-readable storage medium storing computer instructions, which, when invoked, are used to execute the steps of the control method for the motor filter active damping device as described above.

[0112] The computer-readable storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0113] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0114] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0115] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0116] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the above-described method operations, but can also perform related operations in the methods provided in any embodiment of the present invention.

[0117] The present invention also discloses a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform the steps in the control method for the motor filter active damping device described above.

[0118] The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0119] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0120] The above embodiments are merely illustrative of the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solutions based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

[0121] The above embodiments are merely illustrative of the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solutions based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A control method for an active damping device for a motor filter, characterized in that, The control method employs a motor filter active damping system. The system includes a motor driver, an active damping device, an LCL output filter, and a motor. The motor driver is connected to the motor via the LCL output filter, and the active damping device is connected to the LCL output filter. The active damping device includes a three-phase full-bridge converter and an active damping device bus capacitor connected in parallel with the three-phase full-bridge converter. The midpoints of each phase arm of the three-phase full-bridge converter are connected to each phase of the LCL output filter via the LCL output filter capacitor. The method includes the following steps: Sample the bus capacitor voltage of the active damping device, the capacitor current of the LCL output filter, and the motor current, and obtain the motor rotor position; Perform analog resistance control: After low-pass filtering and proportional control of the motor current, the first part of the output voltage of the damping controller is obtained; Perform analog capacitor control: After integrating and proportionally controlling the capacitor current of the LCL output filter, the second part of the output voltage of the damping controller is obtained; The third part of the output voltage of the damping controller is calculated based on the difference between the given voltage and the measured voltage of the bus capacitor of the active damping device. The PWM duty cycle is updated based on the first, second, and third parts of the output voltage of the damping controller, thereby controlling the active damping device.

2. The control method for an active damping device for a motor filter according to claim 1, characterized in that, The analog resistance control is specifically as follows: The motor current is transformed by coordinate transformation to obtain the d-axis component and q-axis component. The d-axis component of the motor current is then subjected to low-pass filtering. The difference between the input d-axis component of the motor current and the low-pass filtered d-axis component is calculated. The difference is then proportionally controlled to obtain the first part of the d-axis output voltage of the damping controller. The q-axis component of the motor current is low-pass filtered, and the difference between the input q-axis component of the motor current and the low-pass filtered q-axis component is calculated. The difference is then proportionally controlled to obtain the first part of the q-axis output voltage of the damping controller.

3. The control method for an active damping device for a motor filter according to claim 1, characterized in that, The analog capacitor control is specifically as follows: The LCL output filter capacitor current is transformed by coordinate transformation to obtain the d-axis and q-axis components of the LCL output filter capacitor current. After integral processing and proportional control of the d-axis and q-axis components of the LCL output filter capacitor current, the second part of the d-axis output voltage and the second part of the q-axis output voltage of the damping controller are obtained.

4. The control method for an active damping device for a motor filter according to claim 1, characterized in that, The transfer function of a permanent magnet motor with an LCL output filter after analog resistance control. for: ； in, C is the gain coefficient of the analog resistor controller, and C is the output capacitor of the LCL filter. The inverter-side inductor of the output filter, , For the motor-side inductance of the output filter, Let be the inductance of the motor winding, and s be the Laplace operator; Amplitude gain at resonant angular frequency for: ； Choose according to the following formula The value of can effectively dampen system resonance; ； in, ω is the resonant angular frequency of the undamped model.

5. The control method for an active damping device for a motor filter according to claim 1, characterized in that, The transfer function of a permanent magnet motor with an LCL output filter after implementing analog resistor control and analog capacitor control. for: ； in, For the gain coefficient of the analog resistor controller, C represents the gain coefficient of the analog capacitor controller, and C is the output filter capacitor of the LCL. The inductance on the inverter side of the filter. , The filter is the motor-side inductance. Let be the inductance of the motor winding, and s be the Laplace operator.

6. The control method for an active damping device for a motor filter according to claim 5, characterized in that, Resonant angular frequency The expression is: ； in, The value is set between 0 and 1 to change the resonant angular frequency, which is equivalent to changing the capacitance value of the LCL output filter capacitor C; if If the value is greater than zero, it is equivalent to increasing the capacitance value of the LCL output filter capacitor C, thereby further reducing the volume of the LCL output filter capacitor.

7. A control system for an active damping device for a motor filter, characterized in that, The control system includes a motor filter active damping system, which comprises a motor driver, an active damping device, an LCL output filter, and a motor. The motor driver is connected to the motor via the LCL output filter, and the active damping device is connected to the LCL output filter. The active damping device includes a three-phase full-bridge converter and an active damping device bus capacitor connected in parallel with the three-phase full-bridge converter. The midpoints of each phase arm of the three-phase full-bridge converter are connected to each phase of the LCL output filter via the LCL output filter capacitor. The control system includes: The data acquisition unit is used to sample the bus capacitor voltage of the active damping device, the capacitor current of the LCL output filter, the motor current, and to obtain the motor rotor position. An analog resistor controller is used for analog resistor control: after low-pass filtering and proportional control of the motor current, the first part of the output voltage of the damping controller is obtained. The analog capacitor controller is used for analog capacitor control: after integrating and proportionally controlling the capacitor current of the LCL output filter, the second part of the output voltage of the damping controller is obtained. The bus capacitor voltage controller is used to calculate the third part of the output voltage of the damping controller based on the difference between the given voltage and the measured voltage of the bus capacitor of the active damping device. The PWM controller is used to update the PWM duty cycle based on the first, second, and third parts of the output voltage of the damping controller, thereby controlling the active damping device.

8. A control device for an active damping device of a motor filter, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the steps of the control method of the motor filter active damping device as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, which, when invoked, are used to execute the steps of the control method for the active damping device of the motor filter as described in any one of claims 1-6.

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