Active damping control method and device of permanent magnet synchronous motor, permanent magnet synchronous motor

Abstract

The application discloses a method and device for active damping control of a permanent magnet synchronous motor and the permanent magnet synchronous motor, and relates to the field of motor control. In order to solve the technical problem that in the prior art, in the driving control of the permanent magnet synchronous motor, there is a filter capacitor on the alternating current side of the current source inverter, the filter capacitor and the inductance of the permanent magnet synchronous motor are parallel links, resonance is caused in the system, and the operation performance of the motor is reduced, the technical scheme provided by the application is as follows: a method for active damping control of a permanent magnet synchronous motor, the method comprising: performing mathematical modeling on a permanent magnet synchronous motor system powered by a current source inverter to obtain a coupling term of a current loop and a coupling term of a voltage loop; performing coupling compensation on the coupling term of the current loop and the coupling term of the voltage loop; and obtaining an equivalent circuit model of a current control strategy and a feedback term of active damping according to an open-loop transfer function of the permanent magnet synchronous motor system. The method can be applied to the control of the permanent magnet synchronous motor powered by the current source inverter.

Description

Technical Field

[0001] It involves the field of motor control. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in the aerospace field due to their high power density, low moment of inertia, and high efficiency. Driving a PMSM requires an inverter. In some high-temperature, high-speed operating conditions, current source inverters are widely used due to their low harmonic content and high-temperature resistance. However, current source inverters have a filter capacitor on the AC side, which is connected in parallel with the inductor of the PMSM, causing resonance in the system and reducing the motor's operating performance. Currently, a common method is to sample the voltage of the filter capacitor and introduce it as a damping term into the control loop. This method reduces the system's low-frequency gain and adds a voltage sensor, leading to increased system cost and size. Summary of the Invention

[0003] To address the technical problem in existing permanent magnet synchronous motor drive control systems where an inverter is required, and the AC side of the current source inverter has a filter capacitor connected in parallel with the inductor of the permanent magnet synchronous motor, causing resonance in the system and reducing the motor's operating performance, the present invention provides the following technical solution:

[0004] An active damping control method for a permanent magnet synchronous motor, the method comprising:

[0005] The steps for mathematically modeling a permanent magnet synchronous motor system powered by a current source inverter to obtain the coupling terms of the current loop and the voltage loop are as follows:

[0006] The steps for performing coupling compensation on the coupling terms of the current loop and the coupling terms of the voltage loop;

[0007] The steps are as follows: Based on the open-loop transfer function of the permanent magnet synchronous motor system, obtain the equivalent circuit model of the current control strategy and the feedback term of the active damping.

[0008] Furthermore, a preferred embodiment is provided, in which the permanent magnet synchronous motor system powered by the current source inverter is mathematically modeled using equations for the permanent magnet synchronous motor and the AC-side filter capacitor.

[0009] Furthermore, a preferred embodiment is provided, in which the equations of the permanent magnet synchronous motor and the AC side filter capacitor are subjected to Laplace transform to draw a mathematical model of the permanent magnet synchronous motor system powered by the current source inverter.

[0010] Furthermore, a preferred embodiment is provided in which the open-loop transfer function of the permanent magnet synchronous motor system is obtained according to Kirchhoff's voltage and current laws.

[0011] Furthermore, a preferred embodiment is provided, wherein the method further includes the step of performing internal model decoupling control on the current loop and the voltage loop respectively.

[0012] Based on the same inventive concept, the present invention also provides an active damping control device for a permanent magnet synchronous motor, the device comprising:

[0013] A mathematical model is performed on a permanent magnet synchronous motor system powered by a current source inverter to obtain modules of coupling terms in the current loop and coupling terms in the voltage loop.

[0014] A module for coupling compensation of the coupling terms of the current loop and the voltage loop;

[0015] Based on the open-loop transfer function of the permanent magnet synchronous motor system, the equivalent circuit model of the current control strategy and the module of the active damping feedback term are obtained.

[0016] Furthermore, a preferred embodiment is provided, in which a mathematical model of the permanent magnet synchronous motor system powered by the current source inverter is drawn by using the equations of the permanent magnet synchronous motor and the AC side filter capacitor and performing a Plass transformation.

[0017] A permanent magnet synchronous motor, wherein the method described above is used as the embedded computer program of the central control unit.

[0018] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program, wherein when the computer program is read by a computer, the computer executes the method described thereon.

[0019] Based on the same inventive concept, the present invention also provides a computer, including a processor and a storage medium, wherein when the processor reads a computer program stored in the storage medium, the computer executes the method described thereon.

[0020] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows:

[0021] The active damping control method for permanent magnet synchronous motors provided by this invention obtains the coupling terms of the current loop and voltage loop by mathematically modeling the permanent magnet synchronous motor system powered by a current source inverter. This method can accurately describe the dynamic characteristics of the system and provides a foundation for subsequent control strategy design.

[0022] The active damping control method for permanent magnet synchronous motors provided by this invention employs a feedforward decoupling approach to compensate for coupling terms. By compensating for coupling terms, the current harmonic content can be reduced, thereby improving the system's operating performance.

[0023] The active damping control method for permanent magnet synchronous motors provided by this invention introduces the feedback term of the phase current of the permanent magnet synchronous motor as an active damping term into the control loop. This approach can reduce the gain at the resonant point and improve the stability and robustness of the system.

[0024] The active damping control method for permanent magnet synchronous motors provided by this invention can accurately describe the dynamic characteristics of the system through mathematical modeling and coupling compensation, and can effectively reduce the current harmonic content.

[0025] The active damping control method for permanent magnet synchronous motors provided by this invention adopts an active damping control strategy, which can reduce the gain at the resonant point and improve the stability and robustness of the system.

[0026] The active damping control method for permanent magnet synchronous motors provided by this invention reduces the system size and cost, and improves the system's cost-effectiveness.

[0027] The active damping control method for permanent magnet synchronous motors provided by this invention can be applied to the control of permanent magnet synchronous motors powered by current source inverters. By using an active damping control strategy, the gain at the resonant point is reduced, thereby improving the stability and robustness of the system. Attached Figure Description

[0028] Figure 1 : Overall structure diagram of a permanent magnet synchronous motor system powered by a current source inverter;

[0029] Figure 2 Mathematical model diagram of a permanent magnet synchronous motor system powered by a current source inverter;

[0030] Figure 3 : Control block diagram of active damping control strategy for permanent magnet synchronous motor system powered by current source inverter;

[0031] Figure 4 Equivalent circuit diagram of the d-axis current loop;

[0032] Figure 5 The equivalent circuit diagram after d-axis current loop simplification;

[0033] Figure 6 The speed waveform of the permanent magnet synchronous motor using the present invention;

[0034] Figure 7 Simulation waveform of three-phase current of permanent magnet synchronous motor using the present invention;

[0035] Figure 8 Waveform diagram of harmonic content of phase A current in permanent magnet synchronous motor using the present invention. Detailed Implementation

[0036] To make the advantages of the technical solution provided by the present invention clearer, the technical solution provided by the present invention will now be described in further detail with reference to the accompanying drawings, specifically:

[0037] Implementation Method 1: This implementation method provides an active damping control method for a permanent magnet synchronous motor, the method comprising:

[0038] The steps for mathematically modeling a permanent magnet synchronous motor system powered by a current source inverter to obtain the coupling terms of the current loop and the voltage loop are as follows:

[0039] The steps for performing coupling compensation on the coupling terms of the current loop and the coupling terms of the voltage loop;

[0040] The steps are as follows: Based on the open-loop transfer function of the permanent magnet synchronous motor system, obtain the equivalent circuit model of the current control strategy and the feedback term of the active damping.

[0041] The purpose of this implementation is to propose an active damping control strategy for a permanent magnet synchronous motor powered by a current source inverter. By mathematically modeling the permanent magnet synchronous motor system powered by the current source inverter, a feedforward decoupling method is used to compensate for the coupling terms. Then, the feedback term of the phase current of the permanent magnet synchronous motor is introduced into the control loop as an active damping term. The purpose is to reduce the gain at the resonant point and improve the stability and robustness of the system.

[0042] Specifically:

[0043] Includes the following steps:

[0044] Step 1: By mathematically modeling the permanent magnet synchronous motor system powered by the current source inverter, the coupling terms of the current loop and voltage loop are obtained. Based on Kirchhoff's voltage and current laws, the equations for the permanent magnet synchronous motor and the AC-side filter capacitor are written, and a Laplace transform is performed to obtain the mathematical model of the system.

[0045] Step 2: Based on the system mathematical model in Step 1, perform coupling compensation on the coupling terms. By compensating for the coupling terms, the current harmonic content can be reduced, thereby improving the system performance.

[0046] Step 3: Based on the open-loop transfer functions of the system with and without active damping, derive the equivalent circuit model of the control strategy and the feedback term of the active damping. The equivalent circuit model of the active damping control strategy can be obtained from the system's open-loop transfer function, and the feedback term of the active damping can be determined.

[0047] Specifically, the mathematical model in step one includes the equations of a permanent magnet synchronous motor system powered by a current source inverter, and the system's transfer function is obtained through Laplace transform. The coupling compensation in step two is achieved by feedforward decoupling the coupling terms, which reduces current harmonic content. The equivalent circuit model in step three is derived from the system's open-loop transfer function, and the active damping feedback term is obtained based on an active damping control strategy using motor current feedback.

[0048] Implementation Method 2: This implementation method further defines the active damping control method for permanent magnet synchronous motors provided in Implementation Method 1. It uses the equations of the permanent magnet synchronous motor and the AC side filter capacitor to perform mathematical modeling of the permanent magnet synchronous motor system powered by the current source inverter.

[0049] Implementation Method 3: This implementation method further defines the active damping control method for permanent magnet synchronous motors provided in Implementation Method 2. The equations of the permanent magnet synchronous motor and the AC side filter capacitor are subjected to Laplace transform to draw a mathematical model of the permanent magnet synchronous motor system powered by the current source inverter.

[0050] In step one, the coupling terms of the current loop and voltage loop are obtained through the following formula, and the mathematical model of the permanent magnet synchronous motor system powered by the current source inverter is drawn:

[0051]

[0052] After performing a Laplace transform on the above equation, we get:

[0053]

[0054] Among them, i wd and i wq This represents the dq-axis current output by the current source inverter in a rotating coordinate system; i sd and i sq This represents the phase current of the three-phase windings of a permanent magnet synchronous motor in a rotating coordinate system; u sd and u sq L represents the dq-axis voltage of the AC-side filter capacitor in a rotating coordinate system of the current source inverter. d and L q The dq axis equivalent inductance of a permanent magnet synchronous motor; C f ω represents the capacitance value of the filter capacitor. e The electric angular velocity represents the permanent magnet synchronous motor. The mathematical model of the permanent magnet synchronous motor system powered by the current source inverter is shown below. Figure 2 As shown.

[0055] In step three, the active damping control strategy is as follows, taking the d-axis current loop as an example: Figure 3As shown.

[0056] Figure 3 This is the control block diagram for an active damping control strategy. c (s) PI controller for current loop; G dh (s) is the system's delay compensation component; G v (s) is the feedback term of the active damping control strategy; F i and F u These are the feedforward compensation terms for current and voltage, respectively. Wherein, G... c (s)=k p +k i / s, T s It is the system's sampling period.

[0057] The main advantages of this implementation are: This invention is an active damping control strategy for a permanent magnet synchronous motor powered by a current source inverter. By mathematically modeling the permanent magnet synchronous motor system powered by the current source inverter, a feedforward decoupling method is used to compensate for the coupling terms. Then, the feedback term of the phase current of the permanent magnet synchronous motor is introduced into the control loop as an active damping term. The purpose is to reduce the gain at the resonant point, improve the stability and robustness of the system, and reduce the size and cost of the system.

[0058] Implementation Method 4: This implementation method further defines the active damping control method for permanent magnet synchronous motors provided in Implementation Method 2. The open-loop transfer function of the permanent magnet synchronous motor system is obtained based on Kirchhoff's voltage and current laws.

[0059] Implementation Method 5: This implementation method further defines the active damping control method for permanent magnet synchronous motors provided in Implementation Method 2. The method also includes the step of performing internal model decoupling control on the current loop and voltage loop respectively.

[0060] Implementation Method Six: This implementation method provides an active damping control device for a permanent magnet synchronous motor, the device comprising:

[0061] A mathematical model is performed on a permanent magnet synchronous motor system powered by a current source inverter to obtain modules of coupling terms in the current loop and coupling terms in the voltage loop.

[0062] A module for coupling compensation of the coupling terms of the current loop and the voltage loop;

[0063] Based on the open-loop transfer function of the permanent magnet synchronous motor system, the equivalent circuit model of the current control strategy and the module of the active damping feedback term are obtained.

[0064] Implementation Method Seven: This implementation method further defines the active damping control method for permanent magnet synchronous motors provided in Implementation Method Six. By using the equations of the permanent magnet synchronous motor and the AC side filter capacitor, and through the Plas transformation, a mathematical model of the permanent magnet synchronous motor system powered by the current source inverter is drawn.

[0065] Implementation Method 8: This implementation method provides a permanent magnet synchronous motor, wherein the permanent magnet synchronous motor uses the method provided in Implementation Method 1 as the embedded computer program of the central control unit.

[0066] Implementation Method Nine: This implementation method provides a computer storage medium for storing a computer program. When the computer program is read by the computer, the computer executes the method provided in Implementation Method One.

[0067] Implementation Method 10: This implementation method provides a computer, including a processor and a storage medium. When the processor reads a computer program stored in the storage medium, the computer executes the method provided in Implementation Method 1.

[0068] Implementation Method Eleven: Combination Figure 1-8 This embodiment describes the technical solution mentioned above in further detail through specific examples. Specifically:

[0069] A permanent magnet synchronous motor powered by a current source inverter (e.g.) Figure 1 The active damping control strategy (shown) includes the following steps:

[0070] Step 1: By mathematically modeling the permanent magnet synchronous motor system powered by the current source inverter, the coupling terms of the current loop and the voltage loop are obtained.

[0071] Step 2: Based on the system mathematical model in Step 1, coupling compensation was performed on the coupling terms;

[0072] Step 3: Based on the open-loop transfer function of the system with and without active damping, the equivalent circuit model of the control strategy and the feedback term of active damping are derived.

[0073] In step one, based on Kirchhoff's voltage and current laws, the equations for the permanent magnet synchronous motor and the AC-side filter capacitor are written:

[0074]

[0075]

[0076] In the formula L s and R s C represents the equivalent stator inductance and resistance of a permanent magnet synchronous motor, respectively;f Represents the AC side filter capacitor; u sa u sb u sc The voltage represented by the three-phase AC filter capacitor; i wa i wb i wc These represent the three-phase currents output by the current source inverter; i sa i sb i sc These represent the three-phase currents of the permanent magnet synchronous motor; e a e b e c This represents the instantaneous back electromotive force of a three-phase permanent magnet synchronous motor.

[0077] Combining equations (1) and (2) and performing a Laplace transform, we obtain the following equation:

[0078]

[0079] Among them, i wd and i wq This represents the dq-axis current output by the current source inverter in a rotating coordinate system; i sd and i sq This represents the phase current of the three-phase windings of a permanent magnet synchronous motor in a rotating coordinate system; u sd and u sq L represents the dq-axis voltage of the AC-side filter capacitor in a rotating coordinate system of the current source inverter. d and L q The dq axis equivalent inductance of a permanent magnet synchronous motor; C f ω represents the capacitance value of the filter capacitor. e The electric angular velocity represents the permanent magnet synchronous motor. The mathematical model of the permanent magnet synchronous motor system powered by the current source inverter is shown below. Figure 2 As shown.

[0080] There are four coupling terms ω e C f u sq ω e C f u sd ω e C f L q i sq ω e C f L d i sd Therefore, it is necessary to perform internal model decoupling control on the current loop and voltage loop respectively to reduce the current harmonic content.

[0081] Taking the d-axis of the current loop as an example, its control block diagram is as follows: Figure 3 G shown c (s) PI controller for current loop; G dh (s) is the system's delay compensation component; G v (s) is the feedback term of the active damping control strategy; F i and F u These are the feedforward compensation terms for current and voltage, respectively. Wherein, G... c (s)=k p +k i / s, T s This is the system's sampling period. The three nodes A, B, C, and D connect to the output terminal i. sd The closed-loop transfer functions are as follows:

[0082]

[0083] To eliminate the interference of coupling terms, F can be derived from formula (5). i and F u

[0084]

[0085] If the delay element in formula (5) is equivalent to unity gain, then F i and F u They are respectively:

[0086]

[0087] like Figure 2 As shown, the mathematical model G of the permanent magnet synchronous motor and the AC side filter capacitor is... m (s) can be expressed as formula (7):

[0088]

[0089] Without an active damping control strategy, the open-loop transfer function G of the system is... op (s) is shown in formula (8):

[0090]

[0091] After incorporating an active damping control strategy, the system's open-loop transfer function G opad (s) is shown in formula (9):

[0092]

[0093] Since an active damping control strategy based on motor current feedback is adopted, this strategy can be equivalent to a parallel connection with the motor model in the case of passive damping. The equivalent circuit diagram of the d-axis is shown below. Figure 4As shown, Z p This is the equivalent impedance.

[0094] Based on the equivalent circuit diagram of the d-axis, i can be obtained. sd and i wd The transfer function between them is shown in formula (10):

[0095]

[0096] Under passive damping conditions, the open-loop transfer function G without active damping control strategy is... op_n (s) is shown in Equation 11:

[0097]

[0098] Comparing formulas (9) and (11), we can obtain:

[0099]

[0100] because It can be considered as unity gain, so we can obtain formula (13):

[0101]

[0102] As shown in formula (13), to avoid the appearance of a differential element in the active damping term, the order of the denominator should be the same as the order of the numerator, so Z P This can be represented as an inductor and a resistor connected in series. After incorporating an active damping control strategy, the system's equivalent circuit model is as follows: Figure 5 As shown.

[0103] Finally refer to Figures 6-8 As can be seen from the simulation waveform, the present invention enables the motor to reach a given speed and operate stably, with a current harmonic content of only 4.94%.

[0104] The above description of several specific embodiments further details the technical solution provided by the present invention in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above-described specific embodiments are not intended to limit the present invention. Any reasonable modifications and improvements to the present invention, combinations of embodiments, and equivalent substitutions based on the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0105] In the description of this specification, only preferred embodiments of the present invention are described, and should not be construed as limiting the scope of the invention. Furthermore, the use of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples" indicates that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or N embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction. Additionally, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of the present invention, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified. Any process or method described in the flowcharts or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logical functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain. The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, a “computer-readable medium” can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or N wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM).Furthermore, the computer-readable medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory. It should be understood that various parts of the invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0106] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments. Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

Claims

1. An active damping control method for a permanent magnet synchronous motor, characterized in that, The method includes: The steps for mathematically modeling a permanent magnet synchronous motor system powered by a current source inverter to obtain the coupling terms of the current loop and the voltage loop are as follows: The steps for performing coupling compensation on the coupling terms of the current loop and the coupling terms of the voltage loop; The d-axis current loop includes a PI controller. G c ( s The system's delay compensation process G dh ( s Feedback term of active damping control strategy G v ( s ), feedforward compensation terms for current and voltage F i and F u , in, , , T s It is the system's sampling period. ； in, It is the electrical angular velocity of the permanent magnet synchronous motor. L d It is the d-axis equivalent inductance of a permanent magnet synchronous motor. i sq It is the phase current of the three-phase winding of a permanent magnet synchronous motor in a rotating coordinate system. C f This is the capacitance value of the filter capacitor. It is the q-axis voltage of the AC side filter capacitor of the current source inverter in the rotating coordinate system; The steps for obtaining the equivalent circuit model of the current control strategy and the feedback term of the active damping based on the open-loop transfer function of the permanent magnet synchronous motor system. Mathematical model of permanent magnet synchronous motor and AC side filter capacitor G m ( s This can be expressed as a formula: ； in, It is the equivalent stator resistance of a permanent magnet synchronous motor; Without an active damping control strategy, the system's open-loop transfer function is... G op ( s As in the formula: ； After incorporating an active damping control strategy, the system's open-loop transfer function G opad ( s As in the formula: ； in, It is the equivalent stator inductance of a permanent magnet synchronous motor; The equivalent circuit diagram of the d-axis is obtained as follows. i sd and i wd The transfer function between them is shown in the formula: ； Under passive damping conditions, the open-loop transfer function without active damping control strategy is... G op_n ( s As in the formula: ； Comparing the above formulas, we get: ； Will Treating it as unity gain, we get the formula: ； in Z P The equivalent impedance can be represented as an inductor and a resistor connected in series.

2. The active damping control method for a permanent magnet synchronous motor according to claim 1, characterized in that, A mathematical model of the permanent magnet synchronous motor system powered by the current source inverter is constructed using the equations of the permanent magnet synchronous motor and the AC side filter capacitor.

3. The active damping control method for a permanent magnet synchronous motor according to claim 2, characterized in that, A mathematical model of the permanent magnet synchronous motor system powered by the current source inverter is drawn by performing a Laplace transform on the equations of the permanent magnet synchronous motor and the AC side filter capacitor.

4. The active damping control method for a permanent magnet synchronous motor according to claim 2, characterized in that, The open-loop transfer function of the permanent magnet synchronous motor system is obtained based on Kirchhoff's voltage and current laws.

5. The active damping control method for a permanent magnet synchronous motor according to claim 2, characterized in that, The method further includes the step of performing internal model decoupling control on the current loop and the voltage loop respectively.

6. An active damping control device for a permanent magnet synchronous motor, characterized in that, Based on the method described in claim 1, the apparatus comprises: A mathematical model is performed on a permanent magnet synchronous motor system powered by a current source inverter to obtain modules of coupling terms in the current loop and coupling terms in the voltage loop. A module for coupling compensation of the coupling terms of the current loop and the voltage loop; Based on the open-loop transfer function of the permanent magnet synchronous motor system, the equivalent circuit model of the current control strategy and the module of the active damping feedback term are obtained.

7. The active damping control device for a permanent magnet synchronous motor according to claim 6, characterized in that, By using the equations of the permanent magnet synchronous motor and the AC side filter capacitor, and through the Place transform, a mathematical model of the permanent magnet synchronous motor system powered by the current source inverter is drawn.

8. A permanent magnet synchronous motor, characterized in that, The permanent magnet synchronous motor uses the method described in claim 1 as the embedded computer program of the central control unit.

9. A computer storage medium for storing computer programs, characterized in that, When the computer program is read by the computer, the computer executes the method of claim 1.

10. A computer, including a processor and a storage medium, characterized in that, When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 1.

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