A motor vibration suppression control method, device and equipment

Abstract

The present invention provides a motor vibration suppression control method, device and equipment, relating to the technical field of motor control. The method includes: determining the harmonic phase corresponding to the minimum vibration noise based on the fundamental wave amplitude; determining the harmonic amplitude corresponding to the minimum vibration noise based on the fundamental wave phase; using the harmonic phase and the harmonic amplitude as the target harmonic current command to control the motor to generate a vibration suppression torque so as to suppress the torque fluctuation caused by the harmonic current.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular, to a motor vibration suppression control method, device, and equipment. Background Art

[0002] In electric vehicles, the non-linear characteristics of the inverter, such as the turn-on delay and turn-off delay of IGBTs, and the saturation conduction voltage drop of IGBT switching devices and parallel freewheeling diodes, will generate harmonics. On the other hand, the actual structure of the motor body is often not in an ideal state. For example, factors such as processing technology deviations, stator slots, and rotor shapes will cause distortions in the air-gap magnetic field when the permanent magnet synchronous motor is running. Therefore, the excitation magnetic field of the permanent magnet is difficult to maintain a sinusoidal waveform and will contain odd harmonics.

[0003] To ensure the normal operation and stable performance of the motor, it is necessary to effectively suppress these harmonics. Summary of the Invention

[0004] The problem solved by the present invention is how to suppress torque fluctuations caused by harmonic currents.

[0005] To solve the above problems, the present invention provides a motor vibration suppression control method, including:

[0006] Based on the fundamental wave amplitude, determine the harmonic phase corresponding to the minimum vibration noise;

[0007] Based on the fundamental wave phase, determine the harmonic amplitude corresponding to the minimum vibration noise;

[0008] Use the harmonic phase and the harmonic amplitude as the target harmonic current command to control the motor to generate a vibration suppression torque.

[0009] Compared with the prior art, the present invention adopts a strategy of actively injecting a harmonic current command, aiming to suppress torque fluctuations caused by magnetic flux harmonics in the motor body. Through electrical-level regulation, the present invention can balance the harmonic currents that cause torque fluctuations. Given the complex and changeable operating conditions of the motor and the continuous change of its current signal, the present invention effectively suppresses torque fluctuations by separately determining the amplitude and phase of the harmonic current. Specifically, on the one hand, a fixed fundamental wave amplitude is used to determine the harmonic phase to minimize the vibration noise caused by the harmonic phase; on the other hand, the harmonic amplitude is determined by fixing the fundamental wave phase to minimize the vibration noise caused by the harmonic amplitude. Based on the determination of the amplitude and phase, the present invention sets these values as the target harmonic current command, thereby greatly suppressing torque fluctuations during motor operation.

[0010] Optionally, the step of using the harmonic phase and the harmonic amplitude as the target harmonic current command to control the motor to generate a vibration suppression torque includes:

[0011] Perform proportional-integral-resonant control according to the target harmonic current command to obtain a target harmonic voltage command;

[0012] Control the motor to generate the vibration suppression torque according to the target harmonic voltage command.

[0013] Optionally, the determining the harmonic phase corresponding to the minimum vibration noise based on the fundamental wave amplitude includes:

[0014] Determine the fundamental wave amplitude according to the acquired fundamental wave current;

[0015] Determine the holding amplitude of the harmonic current to be injected according to the fundamental wave amplitude, and increase the phase of the harmonic current to be injected from the initial phase to a preset phase;

[0016] Perform noise simulation on the harmonic current to be injected at the holding amplitude, and use the phase corresponding to the minimum vibration noise during the simulation process as the harmonic phase.

[0017] Optionally, the determining the holding amplitude of the harmonic current to be injected according to the fundamental wave amplitude and increasing the phase of the harmonic current to be injected from the initial phase to a preset phase includes:

[0018] Reduce the fundamental wave amplitude to the holding amplitude by a preset ratio;

[0019] Increment the initial phase to the preset phase successively by a preset phase increment.

[0020] Optionally, the initial phase includes the phase where the difference between the harmonic current to be injected and the fundamental wave phase is 0;

[0021] The preset phase includes the phase where the difference between the harmonic current to be injected and the fundamental wave phase is a preset maximum value.

[0022] Optionally, the determining the harmonic amplitude corresponding to the minimum vibration noise based on the fundamental wave phase includes:

[0023] Determine the fundamental wave phase according to the fundamental wave current;

[0024] Determine the holding phase of the harmonic current to be injected according to the fundamental wave phase, and increase the amplitude of the harmonic current to be injected from the initial amplitude to a preset amplitude;

[0025] Perform noise simulation on the harmonic current to be injected at the holding phase, and use the amplitude corresponding to the minimum vibration noise during the simulation process as the harmonic amplitude.

[0026] Optionally, determining the holding phase of the harmonic current to be injected according to the fundamental wave phase and increasing the amplitude of the harmonic current to be injected from an initial amplitude to a preset amplitude includes:

[0027] Determining the holding phase according to the phase difference between the fundamental wave phase and the harmonic current to be injected, or using the harmonic phase as the holding phase;

[0028] Incrementing the initial amplitude to the preset amplitude successively by a preset amplitude increment.

[0029] Optionally, the harmonic phase includes a fifth harmonic phase and a seventh harmonic phase; the harmonic amplitude includes a fifth harmonic amplitude and a seventh harmonic amplitude.

[0030] In a second aspect, the present invention further provides a motor vibration suppression control device, including:

[0031] A phase adjustment module, configured to determine the harmonic phase corresponding to the minimum vibration noise based on the fundamental wave amplitude;

[0032] An amplitude adjustment module, configured to determine the harmonic amplitude corresponding to the minimum vibration noise based on the fundamental wave phase;

[0033] An instruction module, configured to use the harmonic phase and the harmonic amplitude as target harmonic current instructions to control the motor to generate a vibration suppression torque.

[0034] In a third aspect, the present invention further provides an electronic device, including a memory and a processor;

[0035] The memory is configured to store a computer program;

[0036] The processor is configured to implement the motor vibration suppression control method as described above when executing the computer program.

[0037] In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the motor vibration suppression control method as described above is implemented. Description of the Drawings

[0038] Figure 1 It is a schematic flowchart of the motor vibration suppression control method according to an embodiment of the present invention;

[0039] Figure 2 It is a schematic flowchart after refining step S100 of the motor vibration suppression control method according to an embodiment of the present invention;

[0040] Figure 3 It is a simulation data diagram of step S100 of the motor vibration suppression control method according to an embodiment of the present invention;

[0041] Figure 4 It is a schematic flowchart of the refinement of step S200 of the motor vibration suppression control method according to an embodiment of the present invention;

[0042] Figure 5 It is a simulation data graph of step S200 of the motor vibration suppression control method according to an embodiment of the present invention;

[0043] Figure 6 It is an example diagram of an electronic device according to an embodiment of the present invention;

[0044] Figure 7 It is an example diagram of a computer-readable storage medium according to an embodiment of the present invention. Detailed implementation manners

[0045] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0046] It should be understood that the steps described in the method embodiments of the present invention can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0047] As used herein, the term "including" and its variants are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules, or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules, or units.

[0048] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0049] As Figure 1 shown, an embodiment of the present invention provides a motor vibration suppression control method, including:

[0050] Step S100: Determine the harmonic phase corresponding to the minimum vibration noise based on the fundamental wave amplitude.

[0051] Step S200: Determine the harmonic amplitude corresponding to the minimum vibration noise based on the fundamental wave phase.

[0052] Since the current waveform is inconsistent with the applied voltage waveform when a non - linear load absorbs current, harmonic current is generated, which affects the stability of the motor control system, interferes with electronic devices, increases the vibration during motor rotation, and thus generates vibration noise. In this embodiment, starting from the electrical field, active suppression of motor vibration is achieved from the perspective of motor control. Due to the complexity of the motor operating conditions, the voltage and current applied to the motor by the motor control system are constantly changing, so it is necessary to determine the harmonic phase and harmonic amplitude one by one.

[0053] When implementing vibration suppression control in the electrical aspect of the motor, the selection of the parameters of the injected harmonic current is crucial. Selecting appropriate parameters can effectively reduce torque ripple, reduce the torque fluctuation of the motor, and thus reduce the vibration noise of the motor; injecting incorrect harmonic current may prevent the correct suppression of motor torque fluctuation, or even increase the motor torque fluctuation, resulting in the opposite effect.

[0054] In this embodiment, the phase and amplitude of the harmonic current to be injected are determined respectively. For example, in one implementation, first determine the harmonic phase with the minimum noise according to the vibration noise, then determine the harmonic amplitude with the minimum vibration noise, and determine the target harmonic current command to be injected according to the harmonic phase and harmonic amplitude. In another implementation, first determine the harmonic amplitude with the minimum noise according to the vibration noise, then determine the harmonic phase with the minimum noise according to the noise, and then determine the target harmonic current command to be injected.

[0055] In other implementations, determine the harmonic phase through the vibration noise, and then adjust the harmonic amplitude based on this harmonic phase. Specifically, determine the target harmonic current command to be injected according to the harmonic amplitude with the minimum vibration noise at this harmonic phase; it is also possible to determine the harmonic amplitude through the vibration noise, and then determine the harmonic phase with the minimum vibration noise based on this harmonic amplitude to determine the target harmonic current command to be injected.

[0056] Step S300: Use the harmonic phase and the harmonic amplitude as the target harmonic current command to control the motor to generate vibration suppression torque.

[0057] Optionally, the step of using the harmonic phase and the harmonic amplitude as the target harmonic current command to control the motor to generate vibration suppression torque includes:

[0058] Perform proportional - integral - resonant control according to the target harmonic current command to obtain the target harmonic voltage command.

[0059] Control the motor to generate the vibration suppression torque according to the target harmonic voltage command.

[0060] In one embodiment, determine the target harmonic current command to be injected according to the harmonic phase and harmonic amplitude, superimpose the target harmonic current command and the fundamental current, perform a difference calculation with the motor current feedback value, input the difference into a proportional-integral-resonant controller for proportional-integral-resonant control to obtain the target harmonic voltage command. After IPark transformation, convert the target harmonic voltage command from the voltage components in the rotating dq coordinate system to the voltage components in the stationary αβ coordinate system. After SVPWM modulation, control the IGBT tubes to achieve the control of the motor. Injecting the target harmonic current command can be used to cancel the torque ripple caused by the harmonic of the motor body flux linkage, thereby reducing the vibration of the motor during operation and reducing the vibration noise. After determining the vibration suppression torque of the motor according to the target harmonic voltage command, detect the position and speed of the motor, determine the torque / fundamental current distribution strategy for the next cycle according to the detection results, determine the new torque and fundamental current according to the difference between the detection results and the target position and target speed, and determine the new target harmonic current command according to the fundamental phase and fundamental amplitude of the new fundamental current to achieve the current loop and speed loop control.

[0061] Optionally, as Figure 2 shown, determining the harmonic phase corresponding to the minimum vibration noise based on the fundamental amplitude includes:

[0062] Step S110, determine the fundamental amplitude according to the acquired fundamental current.

[0063] Step S111, determine the holding amplitude of the harmonic current to be injected according to the fundamental amplitude, and increase the phase of the harmonic current to be injected from the initial phase to a preset phase.

[0064] Step S112, perform noise simulation on the harmonic current to be injected at the holding amplitude, and use the phase corresponding to the minimum vibration noise during the simulation process as the harmonic phase.

[0065] In one embodiment, the fundamental current is obtained, and the amplitude of the fundamental current is determined as the fundamental amplitude. The holding amplitude of the harmonic current to be injected is determined according to the determined fundamental amplitude. The phase of the harmonic current to be injected is changed, and simulations are performed for different phases to obtain the vibration noise at different phases. The phase corresponding to the minimum vibration noise is used as the harmonic phase. For example, when the harmonic current to be injected is the 5th harmonic current, the amplitude of this harmonic current is maintained at 8% of the fundamental amplitude to find the phase with the minimum noise at this amplitude. The phase of the 5th harmonic current (i.e., the harmonic current to be injected in this embodiment) is increased from the initial phase to the preset phase, and the vibration noise generated at different phases under the holding amplitude is simulated. In this embodiment, when the phase is the first phase, the vibration noise is the minimum, so the first phase is used as the harmonic phase and the first phase is used as the phase of the target harmonic current command.

[0066] Optionally, when the harmonic current to be injected is the 5th harmonic current, the value of the holding amplitude is 4% - 28% of the fundamental amplitude.

[0067] Optionally, the determining the holding amplitude of the harmonic current to be injected according to the fundamental amplitude and increasing the phase of the harmonic current to be injected from the initial phase to the preset phase includes:

[0068] Reducing the fundamental amplitude to the holding amplitude by a preset ratio.

[0069] Incrementing the initial phase successively to the preset phase by a preset phase increment.

[0070] In one embodiment, since the magnitude of the holding amplitude is related to the harmonic order of the harmonic current to be injected, the holding amplitude is determined according to the fundamental amplitude and the harmonic order by a preset ratio. After determining the holding amplitude, the holding amplitude remains unchanged, and the phase of the harmonic current to be injected is changed from the initial phase to the preset phase. For example, the phase increment can be 30°, that is, the phase increased each time is 30°. The initial phase is incremented by 30° successively, and the vibration noise at each phase is measured until it is increased to the preset phase.

[0071] Optionally, the initial phase includes the phase where the phase difference between the harmonic current to be injected and the fundamental phase is 0;

[0072] The preset phase includes the phase where the phase difference between the harmonic current to be injected and the fundamental phase is the preset maximum value.

[0073] In one embodiment, the initial phase and the preset phase are determined by the fundamental wave phase. For example, the initial phase is in phase with the fundamental wave phase. If the phase difference between the preset phase and the fundamental wave phase is 330°, then when incrementing successively, the amplitude of the harmonic current to be injected is kept unchanged, and the phase of the harmonic current to be injected is incremented starting from the fundamental wave phase, with each increment being 30°, until the phase difference from the fundamental wave phase reaches 330°. Measure the vibration noise after each increment, and take the phase with the minimum vibration noise as the harmonic phase.

[0074] In one embodiment, as Figure 3 shown, the abscissa in the figure is the phase difference (unit: °) between the phase of the harmonic current to be injected and the fundamental wave phase, and the ordinate is the sound pressure level (unit: dB) of the vibration noise. The complete harmonic phase measurement method includes: obtaining the fundamental wave amplitude and the fundamental wave phase of the fundamental wave current. When the harmonic current to be injected is the 5th harmonic current, set the amplitude of the 5th harmonic current to be injected to 8% of the fundamental wave amplitude, increment the phase of the 5th harmonic current from the fundamental wave phase to a phase difference of 330°, with each increment being 30°, and measure the vibration noise (unit: sound pressure dB) of each phase respectively. In this embodiment, the phase with the minimum vibration noise is the phase with a phase difference of 150° from the fundamental wave phase. When the 5th harmonic current leads the fundamental wave current phase by 150°, the noise is the minimum, and this phase is taken as the harmonic phase.

[0075] Optionally, the value of the preset phase increment includes [20°, 40°].

[0076] In one embodiment, when the preset phase increment is 20°, the preset phase is 340°; when the preset phase increment is 40°, the preset phase is 320°.

[0077] Optionally, as Figure 4 shown, determining the harmonic amplitude corresponding to the minimum vibration noise based on the fundamental wave phase includes:

[0078] Step S210, determining the fundamental wave phase according to the fundamental wave current.

[0079] Step S211, determining the holding phase of the harmonic current to be injected according to the fundamental wave phase, and increasing the amplitude of the harmonic current to be injected from the initial amplitude to the preset amplitude.

[0080] Step S212, performing noise simulation on the harmonic current to be injected at the holding phase, and taking the amplitude corresponding to the minimum vibration noise during the simulation process as the harmonic amplitude.

[0081] In one embodiment, the phase of the fundamental current is determined as the fundamental phase, the phase difference from the fundamental phase is fixed, the amplitude of the harmonic current to be injected is changed, and simulations are performed for different amplitudes to obtain the vibration noise at different amplitudes. The amplitude corresponding to the minimum vibration noise is taken as the harmonic amplitude. For example, the phase of the harmonic current to be injected is fixed to remain unchanged, the amplitude of the harmonic current to be injected is increased from the initial amplitude to the preset amplitude, that is, the amplitude of the harmonic current to be injected is increased from the preset minimum amplitude to the preset maximum amplitude, and the vibration noise corresponding to each amplitude is simulated. When the vibration noise at the first amplitude is the minimum, the first amplitude is taken as the harmonic amplitude.

[0082] Optionally, determining the holding phase of the harmonic current to be injected according to the fundamental phase, and increasing the amplitude of the harmonic current to be injected from the initial amplitude to the preset amplitude includes:

[0083] Determining the holding phase according to the phase difference between the fundamental phase and the harmonic current to be injected, or taking the harmonic phase as the holding phase.

[0084] Incrementing the initial amplitude to the preset amplitude successively by a preset amplitude increment.

[0085] In one embodiment, the step of measuring the harmonic amplitude can be before or after the step of measuring the harmonic phase. When the step of measuring the harmonic amplitude is before the step of measuring the harmonic phase, the holding phase is determined according to the phase difference between the fundamental phase and the harmonic current to be injected, the phase is kept unchanged at the preset phase difference, and the amplitude is incremented from the initial amplitude to the preset amplitude successively to measure the vibration noise at different amplitudes. When the step of measuring the harmonic amplitude is after the step of measuring the harmonic phase, the harmonic phase obtained in step S100 is taken as the holding phase, and on the basis of the unchanged phase, the amplitude is incremented from the initial amplitude to the preset amplitude successively.

[0086] Optionally, the value of the amplitude increment is [1%, 3%], that is, each time the fundamental amplitude is incremented by 1% - 3%. The value of the initial amplitude is [3%, 5%], that is, the initial amplitude is set to 3% - 5% of the fundamental amplitude. The value of the preset amplitude is [20%, 30%], that is, the maximum value of the amplitude is 20% - 30% of the fundamental amplitude.

[0087] In one embodiment, such as Figure 5As shown in the figure, the abscissa in the figure is the ratio of the amplitude of the harmonic current to be injected to the fundamental wave amplitude, and the ordinate is the sound pressure level of the vibration noise (unit: dB). The amplitude increment is 2%, the initial amplitude is 4%, and the preset amplitude is 26%. Then the complete measurement steps of the harmonic amplitude are as follows: Obtain the fundamental wave current and determine the fundamental wave amplitude. In this embodiment, the steps of measuring the harmonic amplitude are after the steps of measuring the harmonic phase. When the harmonic phase value is 150°, keep the phase fixed at 150° unchanged, gradually increase the amplitude of the harmonic current to be injected from 4% to 26% in increments of 2% each time, and measure the vibration noise corresponding to each amplitude. The amplitude corresponding to the measured minimum vibration noise is 14%, then 14% of the fundamental wave amplitude is used as the harmonic amplitude. Set the phase to be 150° ahead of the fundamental wave current phase, and use 14% of the fundamental wave amplitude as the target harmonic current command for the 5th harmonic current to control the motor to generate a vibration suppression torque.

[0088] Optionally, the harmonic phase includes the 5th harmonic phase and the 7th harmonic phase; the harmonic amplitude includes the 5th harmonic amplitude and the 7th harmonic amplitude.

[0089] In one embodiment, since the motor is a three-phase motor, due to the non-linear characteristics of the non-linear components, odd-order current harmonics are generated in the circuit, and 3 and multiples of 3 current harmonics are not generated. Therefore, the 5th current harmonic and the 7th current harmonic are corrected, and the harmonic phase and harmonic amplitude of the 5th current harmonic and the 7th current harmonic are measured respectively. In other embodiments, to ensure a relatively small vibration noise, the harmonic phase and harmonic amplitude of the 11th current harmonic and the 13th current harmonic are also measured.

[0090] Another embodiment of the present invention provides a motor vibration suppression control device, including:

[0091] A phase adjustment module, configured to determine the harmonic phase corresponding to the minimum vibration noise based on the fundamental wave amplitude;

[0092] An amplitude adjustment module, configured to determine the harmonic amplitude corresponding to the minimum vibration noise based on the fundamental wave phase;

[0093] An instruction module, configured to use the harmonic phase and the harmonic amplitude as the target harmonic current instruction to control the motor to generate a vibration suppression torque.

[0094] As Figure 6 shown, another embodiment of the present invention provides an electronic device 600, including a memory 602 and a processor 601;

[0095] The memory 602 is used to store a computer program;

[0096] The processor 601 is configured to implement the above-mentioned motor vibration suppression control method when executing the computer program.

[0097] As shown Figure 7 in the following figure, another embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the motor vibration suppression control method described above is implemented.

[0098] Now, an electronic device that can be a server or a client of the present invention will be described. It is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device is intended to represent various forms of digital electronic computer devices, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0099] The electronic device includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0100] A computer system can include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is generated by computer programs running on the respective computers and having a client-server relationship with each other.

[0101] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units. They can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention. In addition, the functional units in the various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0102] Although the present invention is disclosed as above, the scope of protection of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the scope of protection of the present invention.

Claims

1. A motor vibration suppression control method, characterized in that, Including: Based on the fundamental wave amplitude, determining the harmonic phase corresponding to the minimum vibration noise, including: determining the fundamental wave amplitude according to the acquired fundamental wave current; determining the holding amplitude of the harmonic current to be injected according to the fundamental wave amplitude, increasing the phase of the harmonic current to be injected from the initial phase to a preset phase; under the holding amplitude, performing noise simulation on the harmonic current to be injected, and taking the phase corresponding to the minimum vibration noise during the simulation process as the harmonic phase; Based on the fundamental wave phase, determining the harmonic amplitude corresponding to the minimum vibration noise, including: determining the fundamental wave phase according to the fundamental wave current; determining the holding phase of the harmonic current to be injected according to the fundamental wave phase, increasing the amplitude of the harmonic current to be injected from the initial amplitude to a preset amplitude; under the holding phase, performing noise simulation on the harmonic current to be injected, and taking the amplitude corresponding to the minimum vibration noise during the simulation process as the harmonic amplitude; Taking the harmonic phase and the harmonic amplitude as the target harmonic current command to control the motor to generate a vibration suppression torque.

2. The motor vibration suppression control method according to claim 1, wherein The step of taking the harmonic phase and the harmonic amplitude as the target harmonic current command to control the motor to generate a vibration suppression torque includes: Performing proportional-integral-resonant control according to the target harmonic current command to obtain a target harmonic voltage command; Controlling the motor to generate the vibration suppression torque according to the target harmonic voltage command.

3. The motor vibration suppression control method according to claim 1, wherein The step of determining the holding amplitude of the harmonic current to be injected according to the fundamental wave amplitude and increasing the phase of the harmonic current to be injected from the initial phase to a preset phase includes: Reducing the fundamental wave amplitude to the holding amplitude by a preset ratio; Incrementing the initial phase to the preset phase successively by a preset phase increment.

4. The motor vibration suppression control method according to claim 3, wherein, The initial phase includes the phase where the difference between the harmonic current to be injected and the fundamental wave phase is 0; The preset phase includes the phase where the difference between the harmonic current to be injected and the fundamental wave phase is a preset maximum value.

5. The motor vibration suppression control method according to claim 1, characterized in that, The step of determining the holding phase of the harmonic current to be injected according to the fundamental wave phase and increasing the amplitude of the harmonic current to be injected from the initial amplitude to a preset amplitude includes: Determining the holding phase according to the phase difference between the fundamental wave phase and the harmonic current to be injected, or taking the harmonic phase as the holding phase; Incrementing the initial amplitude to the preset amplitude successively by a preset amplitude increment.

6. The motor vibration suppression control method according to claim 1, characterized in that The harmonic phase includes the 5th harmonic phase and the 7th harmonic phase; the harmonic amplitude includes the 5th harmonic amplitude and the 7th harmonic amplitude.

7. A motor vibration suppression control device, characterized in that, Including: A phase modulation module, configured to determine the harmonic phase corresponding to the minimum vibration noise based on the fundamental wave amplitude, including: determining the fundamental wave amplitude according to the acquired fundamental wave current; determining the holding amplitude of the harmonic current to be injected according to the fundamental wave amplitude, increasing the phase of the harmonic current to be injected from the initial phase to a preset phase; under the holding amplitude, performing noise simulation on the harmonic current to be injected, and taking the phase corresponding to the minimum vibration noise during the simulation process as the harmonic phase; An amplitude modulation module, configured to determine the harmonic amplitude corresponding to the minimum vibration noise based on the fundamental wave phase, includes: determining the fundamental wave phase according to the fundamental wave current; determining the holding phase of the harmonic current to be injected according to the fundamental wave phase, and increasing the amplitude of the harmonic current to be injected from an initial amplitude to a preset amplitude; performing noise simulation on the harmonic current to be injected at the holding phase, and taking the amplitude corresponding to the minimum vibration noise during the simulation process as the harmonic amplitude; An instruction module, configured to use the harmonic phase and the harmonic amplitude as a target harmonic current instruction to control the motor to generate a vibration suppression torque.

8. An electronic device, characterized in that, It includes a memory and a processor; The memory is configured to store a computer program; The processor is configured to, when executing the computer program, implement the motor vibration suppression control method according to any one of claims 1-6.

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