A motor adaptive vector control method and system based on flux control

Abstract

The present invention relates to a motor adaptive vector control method and system based on flux control, belonging to the field of motor control technology. The method includes: detecting the voltage and current signals of the motor through a detection circuit, and converting them into voltage data and current data through an analog-to-digital converter; constructing a reference model and an adjustable model, calculating the voltage data and current data to obtain performance indicators and flux values, and calculating the corresponding deviations; outputting a current control signal through a speed regulator, and performing coordinate transformation on the current control signal to obtain the rotor flux direction angle; calculating the rotor position through the motor rotor radian characteristics and the rotor flux direction angle, obtaining the real-time motor speed through a speed observer according to the rotor position, and adjusting the input current of the motor according to the real-time motor speed; selecting the corresponding voltage vector to adjust the input voltage of the motor according to the performance indicators in the sector of the space vector pulse width modulation. Accurate speed control of the motor is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and in particular relates to a motor adaptive vector control method and system based on flux control. Background Art

[0002] Flux control technology is one of the important technologies in the field of motor control. It changes the magnetic field strength by adjusting the motor's excitation current (Id), thereby achieving flux regulation of the motor. This method is widely used in induction motors and permanent magnet synchronous motors, and can achieve field orientation and torque control. Vector control technology (Field-Oriented Control, FOC) decomposes the stator current of the AC motor into excitation current and torque current, achieving decoupled control of flux and torque, and improving the control accuracy and stability of the motor.

[0003] With the development of electric vehicles and industrial automation, axial flux motors have gradually gained attention due to their advantages such as high specific power and high torque density. For example, the application of axial flux motors in electric vehicles can effectively solve problems such as lightweight, torque density and driving range. In addition, adaptive control technology has also been widely used in motor control. The adaptive algorithm automatically adjusts the controller parameters to adapt to system changes, improving the system's anti-disturbance performance and control accuracy.

[0004] In practical applications, changes in motor parameters (such as resistance, inductance, etc.) can have adverse effects on the performance of vector control systems. For example, parameter changes can lead to inaccurate speed estimation, which in turn affects the stability and accuracy of the system. To solve this problem, researchers proposed a method based on model reference adaptive system (MRAS) to improve the robustness of the system by online identification and adaptive adjustment of parameters.

[0005] At extremely low speeds and zero speed, traditional vector control systems are prone to instability. This is because the excitation current error of the motor increases, causing the system to be unable to effectively maintain stability. To solve this problem, researchers proposed a new feedback gain matrix and speed adaptive law design method to improve the stability of the system.

[0006] Although adaptive control algorithms can improve the performance and robustness of the system, their design and implementation are relatively complex and computationally demanding. For example, in speed sensorless vector control, real-time estimation of speed and rotor position is required, which requires complex adaptive laws and identification algorithms. In addition, the sensitivity of adaptive control algorithms to parameter adjustments will also affect their practical application effects.

[0007] In complex environments, motor control systems are susceptible to various interferences that affect their performance. For example, in electric vehicles, motor control systems need to operate stably in harsh environments such as high temperature and high humidity, which places higher requirements on adaptive control algorithms.

[0008] The motor adaptive vector control method and system based on flux control have broad application prospects and technical advantages at this stage, but they also face problems such as parameter changes, low-speed stability, algorithm complexity and environmental interference. Future research needs to further optimize the adaptive control algorithm and improve the robustness and stability of the system to meet the needs of practical applications. Summary of the invention

[0009] In order to solve the above problems existing in the prior art, the present invention provides a motor adaptive vector control method and system based on flux control.

[0010] The purpose of the present invention can be achieved through the following technical solutions:

[0011] A motor adaptive vector control method based on flux control, comprising:

[0012] S1: Detecting the voltage and current signals of the motor through a detection circuit, and converting the voltage signal and the current signal into voltage data and current data through an analog-to-digital converter;

[0013] S2: constructing a reference model and an adjustable model, calculating the voltage data by using the reference model to obtain a performance index, calculating the current data by using the adjustable model to obtain a flux value, and obtaining a deviation according to the flux value and the performance index;

[0014] S3: Outputting a current control signal according to the deviation through a controller, converting the current control signal into a two-phase current, changing the stationary coordinate system of the two-phase current into a rotating coordinate system, and obtaining a rotor flux direction angle corresponding to the current control signal according to the rotating coordinate system;

[0015] S4: Calculate the rotor position through the motor rotor radian characteristics and the rotor flux direction angle, obtain the real-time motor speed through the speed observer according to the rotor position, inversely transform the two-phase current into a three-phase current, and adjust the input current of the motor through the actuator according to the control signal corresponding to the three-phase current; select the corresponding voltage vector to adjust the input voltage of the motor in the sector of the space vector pulse width modulation according to the performance index.

[0016] Specifically, the speed regulator includes a flux component PI regulator and a torque component PI regulator.

[0017] Specifically, the flux component PI regulator and the torque component PI regulator use zero-pole cancellation, the flux component PI regulator keeps the current in the direction of the rotor magnetic pole constant, and the torque component PI regulator makes the current in the direction of the rotor movement reach a set value. The transfer functions of the flux component PI regulator and the torque component PI regulator are:

[0018] ,

[0019] ,

[0020] Among them, μ d , e d , K pd , K id are the control quantity of the rotor pole direction current, error signal, proportional gain, integral gain, μ q , e q , K pq , K iq They are respectively the control quantity of the current in the rotor movement direction, the error signal, the proportional gain and the integral gain.

[0021] Specifically, the magnetic flux component PI regulator and the torque component PI regulator adopt a decoupling control strategy to independently control the magnetic flux component and the torque component respectively.

[0022] Specifically, the current control signal is a three-phase current, the stationary coordinate system is a coordinate system composed of three-phase stationary vertical components, and the rotating coordinate system is a two-phase synchronous rotating coordinate system through Clarke transformation and Park transformation.

[0023] Specifically, the space vector pulse width modulation converts the action time of the voltage vector into a comparison value of a comparator, writes the comparison value into a register and generates a PWM pulse, and generates an actual three-phase voltage output through the PWM pulse.

[0024] Specifically, the reference model calculates the flux linkage by integrating the back electromotive force based on the voltage model of the motor, and the output of the reference model is the rated back electromotive force line effective value of the motor divided by the rated current effective value and the number of pole pairs; the adjustable model is based on the current model and includes the rotor resistance of the motor, and the output flux linkage value of the adjustable model is generated by dividing the back electromotive force amplitude by the electrical angular frequency.

[0025] An adaptive control system of a motor adaptive vector control method based on flux control, comprising: an external input signal acquisition module, a precise optimization module, a speed PI adjustment module, and a control output module:

[0026] The external input signal acquisition module is used to detect the voltage and current signals of the motor through the detection circuit, and convert the voltage signal and the current signal into voltage data and current data through the analog-to-digital converter;

[0027] The precise optimization module is used to construct a reference model and an adjustable model, calculate the voltage data through the reference model to obtain a performance index, calculate the current data through the adjustable model to obtain a flux value, and obtain a deviation according to the flux value and the performance index;

[0028] Outputting a current control signal according to the deviation through a controller, converting the current control signal into a two-phase current, changing the stationary coordinate system of the two-phase current into a rotating coordinate system, and obtaining a rotor flux direction angle corresponding to the current control signal according to the rotating coordinate system;

[0029] The control output module is used to calculate the rotor position through the motor rotor radian characteristics and the rotor flux direction angle, and obtain the real-time motor speed through the speed observer according to the rotor position, inversely transform the two-phase current into a three-phase current, and adjust the input current of the motor according to the control signal corresponding to the three-phase current through the actuator; according to the performance index in the sector of the space vector pulse width modulation, select the corresponding voltage vector to adjust the input voltage of the motor.

[0030] The beneficial effects of the present invention are:

[0031] During the PI regulation process, the three-phase voltage is converted into a two-phase voltage to reduce the calculation complexity, and the rotating coordinate system is converted into a stationary coordinate system to simplify the motor control algorithm; the motor speed is monitored in real time by a speed observer, and the motor's back electromotive force or current signal is analyzed to ensure that the motor can accurately control its speed; based on sensorless vector control, the asynchronous motor can achieve decoupling and accurate control of torque and flux, effectively solving the control problems of high-order, nonlinear, and strongly coupled, and to a certain extent improving the system's load capacity and dynamic and static performance.

[0032] Among them, μ d , e d , K pd , K id are the control quantity of the rotor pole direction current, error signal, proportional gain, integral gain, μ q , e q , K pq , K iq They are respectively the control quantity of the current in the rotor movement direction, the error signal, the proportional gain and the integral gain.

[0033] Specifically, the magnetic flux component PI regulator and the torque component PI regulator adopt a decoupling control strategy to independently control the magnetic flux component and the torque component respectively.

[0034] Specifically, the current control signal is a three-phase current, the stationary coordinate system is a coordinate system composed of three-phase stationary vertical components, and the rotating coordinate system is a two-phase synchronous rotating coordinate system through Clarke transformation and Park transformation.

[0035] Specifically, the space vector pulse width modulation converts the action time of the voltage vector into a comparison value of a comparator, writes the comparison value into a register and generates a PWM pulse, and generates an actual three-phase voltage output through the PWM pulse.

[0036] Specifically, the reference model calculates the flux linkage by integrating the back electromotive force based on the voltage model of the motor, and the output of the reference model is the rated back electromotive force line effective value of the motor divided by the rated current effective value and the number of pole pairs; the adjustable model is based on the current model and includes the rotor resistance of the motor, and the output flux linkage value of the adjustable model is generated by dividing the back electromotive force amplitude by the electrical angular frequency.

[0037] An adaptive control system of a motor adaptive vector control method based on flux control, comprising: an external input signal acquisition module, a precise optimization module, a speed PI adjustment module, and a control output module:

[0038] The external input signal acquisition module is used to detect the voltage and current signals of the motor through the detection circuit, and convert the voltage signal and the current signal into voltage data and current data through the analog-to-digital converter;

[0039] The precise optimization module is used to construct a reference model and an adjustable model, calculate the voltage data through the reference model to obtain a performance index, calculate the current data through the adjustable model to obtain a flux value, and obtain a deviation according to the flux value and the performance index;

[0040] Outputting a current control signal according to the deviation through a controller, converting the current control signal into a two-phase current, changing the stationary coordinate system of the two-phase current into a rotating coordinate system, and obtaining a rotor flux direction angle corresponding to the current control signal according to the rotating coordinate system;

[0041] The control output module is used to calculate the rotor position through the motor rotor radian characteristics and the rotor flux direction angle, and obtain the real-time motor speed through the speed observer according to the rotor position, inversely transform the two-phase current into a three-phase current, and adjust the input current of the motor according to the control signal corresponding to the three-phase current through the actuator; according to the performance index in the sector of the space vector pulse width modulation, select the corresponding voltage vector to adjust the input voltage of the motor.

[0042] The beneficial effects of the present invention are:

[0043] During the PI regulation process, the three-phase voltage is converted into a two-phase voltage to reduce the calculation complexity, and the rotating coordinate system is converted into a stationary coordinate system to simplify the motor control algorithm; the motor speed is monitored in real time by a speed observer, and the motor's back electromotive force or current signal is analyzed to ensure that the motor can accurately control its speed; based on sensorless vector control, the asynchronous motor can achieve decoupling and accurate control of torque and flux, effectively solving the control problems of high-order, nonlinear, and strongly coupled, and to a certain extent improving the system's load capacity and dynamic and static performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0045] Figure 1 A schematic flow chart of a motor adaptive vector control method based on flux control according to the present invention;

[0046] Figure 2 This is a schematic diagram of the PI control structure. DETAILED DESCRIPTION

[0047] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0048] See also Figure 1 , a motor adaptive vector control method based on flux control, comprising:

[0049] S1: Detecting the voltage and current signals of the motor through a detection circuit, and converting the voltage signal and the current signal into voltage data and current data through an analog-to-digital converter;

[0050] S2: constructing a reference model and an adjustable model, calculating the voltage data by using the reference model to obtain a performance index, calculating the current data by using the adjustable model to obtain a flux value, and obtaining a deviation according to the flux value and the performance index;

[0051] S3: Outputting a current control signal according to the deviation through a controller, converting the current control signal into a two-phase current, changing the stationary coordinate system of the two-phase current into a rotating coordinate system, and obtaining a rotor flux direction angle corresponding to the current control signal according to the rotating coordinate system;

[0052] S4: Calculate the rotor position through the motor rotor radian characteristics and the rotor flux direction angle, obtain the real-time motor speed through the speed observer according to the rotor position, inversely transform the two-phase current into a three-phase current, and adjust the input current of the motor through the actuator according to the control signal corresponding to the three-phase current; select the corresponding voltage vector to adjust the input voltage of the motor in the sector of the space vector pulse width modulation according to the performance index.

[0053] In this embodiment, Figure 2 As shown, the motor control system consists of a power electronic drive device, an asynchronous motor, a rotor flux observer, a controller, etc., wherein the rotor flux observer consists of a voltage model and a current model, wherein the voltage model is used for the reference model, and the current model is used for the adjustable model, and when the flux value estimated by the adjustable model is consistent with the flux value observed by the reference model, it is determined that the predicted speed is consistent with the actual speed; the controller adopts a vector control system based on PI regulation to adaptively control the adjustable model, and mainly includes two control links, namely, a speed control loop and a current control loop, wherein the speed loop gives the desired speed, and passes through a loop formed by a speed regulator and a speed negative feedback; the speed loop outputs the desired current to the current loop, and passes through a loop formed by a current regulator and a current negative feedback; the output signal of the current loop controller is transformed by Park to obtain the voltage in a two-phase stationary coordinate system, and the space vector pulse width modulation algorithm SVPWM is used to calculate the control signal of the inverter, and the corresponding three-phase voltage signal is output through the inverter, and the voltage signal is applied to the stator winding of the motor, thereby realizing the speed regulation of the asynchronous motor. The driving power circuit is composed of a rectifier circuit, a filter circuit and an intelligent power module IPM inverter circuit, while the control circuit uses the TMS320F28335 DSP as the core board, with a programmed control algorithm, and also contains detection circuits, isolation circuits, etc. When the system is running, the voltage and current signals are transmitted to the A / D sampling module of the DSP through the detection circuit, and are used as feedback for the current inner loop after vector transformation. The generated SVPWM control signal is isolated by an optocoupler to drive the IPM inverter module to output the voltage required by the asynchronous motor; an error feedback item is added to the controller, with the minimum speed error as the goal, so that the speed tracking error tends to 0, and proportional error and integral error feedback items are added to the error feedback item. The error control objective function can be expressed as:

[0054] ,

[0055] Among them, i qw (k) is the error feedback correction term, iq (k-1) is the equivalent current of the motor q axis at time k-1, N is the prediction step size, ϕ(k) is the pseudo partial derivative of the motor position, λ is the speed loop control weight coefficient, n w (k+g) is the expected motor speed at time k+g, n(k) is the actual speed, c p is the weighting coefficient of the proportional error feedback term, c i is the weighted coefficient of the integral error feedback term, e(k) and e(k-1) are the errors between the expected output value and the actual output value of the motor at time k and k-1;

[0056] The introduction of the proportional error feedback term can immediately control the system and make the controlled quantity change in the direction of reducing the error. The introduction of the integral error feedback term is to reduce the steady-state error of the system, make the controlled system have a smoother transition process, and improve the stability of the system.

[0057] Specifically, the speed regulator includes a flux component PI regulator and a torque component PI regulator.

[0058] Specifically, the flux component PI regulator and the torque component PI regulator use zero-pole cancellation, the flux component PI regulator keeps the current in the direction of the rotor magnetic pole constant, and the torque component PI regulator makes the current in the direction of the rotor movement reach a set value. The transfer functions of the flux component PI regulator and the torque component PI regulator are:

[0059] ,

[0060] ,

[0061] in, μ d , e d , K pd , K id They are respectively the control amount of the rotor pole direction current, error signal, proportional gain, and integral gain. μ q , e q , K pq , K iq They are respectively the control quantity of the current in the rotor movement direction, the error signal, the proportional gain and the integral gain.

[0062] Specifically, the magnetic flux component PI regulator and the torque component PI regulator adopt a decoupling control strategy to independently control the magnetic flux component and the torque component respectively.

[0063] Specifically, the current control signal is a three-phase current, the stationary coordinate system is a coordinate system composed of three-phase stationary vertical components, and the rotating coordinate system is a two-phase synchronous rotating coordinate system through Clarke transformation and Park transformation.

[0064] Specifically, the space vector pulse width modulation converts the action time of the voltage vector into a comparison value of a comparator, writes the comparison value into a register and generates a PWM pulse, and generates an actual three-phase voltage output through the PWM pulse.

[0065] Specifically, the reference model calculates the flux linkage by integrating the back electromotive force based on the voltage model of the motor, and the output of the reference model is the rated back electromotive force line effective value of the motor divided by the rated current effective value and the number of pole pairs; the adjustable model is based on the current model and includes the rotor resistance of the motor, and the output flux linkage value of the adjustable model is generated by dividing the back electromotive force amplitude by the electrical angular frequency.

[0066] An adaptive control system of a motor adaptive vector control method based on flux control, comprising: an external input signal acquisition module, a precise optimization module, a speed PI adjustment module, and a control output module:

[0067] The external input signal acquisition module is used to detect the voltage and current signals of the motor through the detection circuit, and convert the voltage signal and the current signal into voltage data and current data through the analog-to-digital converter;

[0068] The precise optimization module is used to construct a reference model and an adjustable model, calculate the voltage data through the reference model to obtain a performance index, calculate the current data through the adjustable model to obtain a flux value, and obtain a deviation according to the flux value and the performance index;

[0069] Outputting a current control signal according to the deviation through a controller, converting the current control signal into a two-phase current, changing the stationary coordinate system of the two-phase current into a rotating coordinate system, and obtaining a rotor flux direction angle corresponding to the current control signal according to the rotating coordinate system;

[0070] The control output module is used to calculate the rotor position through the motor rotor radian characteristics and the rotor flux direction angle, and obtain the real-time motor speed through the speed observer according to the rotor position, inversely transform the two-phase current into a three-phase current, and adjust the input current of the motor according to the control signal corresponding to the three-phase current through the actuator; according to the performance index in the sector of the space vector pulse width modulation, select the corresponding voltage vector to adjust the input voltage of the motor.

[0071] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0072] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0073] The program code included on the computer readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages-such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through 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 (for example, using an Internet service provider to connect through the Internet).

[0074] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A motor adaptive vector control method based on flux control, characterized in that: include: S1: Detect the voltage and current signals of the motor through the detection circuit, and convert the voltage and current signals of the motor into voltage data and current data through the analog-to-digital converter; S2: constructing a reference model and an adjustable model, calculating the voltage data by using the reference model to obtain a performance index, calculating the current data by using the adjustable model to obtain a flux value, and obtaining a deviation according to the flux value and the performance index; S3: Outputting a current control signal according to the deviation through a controller, converting the current control signal into a two-phase current, changing the stationary coordinate system of the two-phase current into a rotating coordinate system, and obtaining a rotor flux direction angle corresponding to the current control signal according to the rotating coordinate system; The speed regulator includes a flux component PI regulator and a torque component PI regulator. The flux component PI regulator and the torque component PI regulator use zero-pole cancellation to keep the current in the direction of the rotor magnetic pole constant, and the torque component PI regulator makes the current in the direction of the rotor movement reach a set value. The transfer functions of the flux component PI regulator and the torque component PI regulator are: ， ， Among them, μ d , e d , K pd , K id are the control quantity of the rotor pole direction current, error signal, proportional gain, integral gain, μ q , e q , K pq , K iq They are respectively the control quantity of the current in the rotor motion direction, the error signal, the proportional gain, and the integral gain; S4: Calculate the rotor position through the motor rotor radian characteristics and the rotor flux direction angle, obtain the real-time motor speed through the speed observer according to the rotor position, inversely transform the two-phase current into a three-phase current, and adjust the input current of the motor through the actuator according to the control signal corresponding to the three-phase current; select the corresponding voltage vector to adjust the input voltage of the motor in the sector of the space vector pulse width modulation according to the performance index.

2. The method according to claim 1, characterized in that The magnetic flux component PI regulator and the torque component PI regulator adopt a decoupling control strategy to independently control the magnetic flux component and the torque component respectively.

3. The method according to claim 1, characterized in that: The current control signal is a three-phase current, the stationary coordinate system is a coordinate system composed of three-phase stationary vertical components, and the rotating coordinate system is a two-phase synchronous rotating coordinate system through Clarke transformation and Park transformation.

4. The method according to claim 1, characterized in that: The space vector pulse width modulation converts the action time of the voltage vector into a comparison value of a comparator, writes the comparison value into a register and generates a PWM pulse, and generates an actual three-phase voltage output through the PWM pulse.

5. The method according to claim 1, characterized in that The reference model calculates the flux linkage by integrating the back electromotive force based on the voltage model of the motor, and the output of the reference model is the rated back electromotive force line effective value of the motor divided by the rated current effective value and the number of pole pairs; the adjustable model is based on the current model and includes the rotor resistance of the motor, and the output flux linkage value of the adjustable model is generated by dividing the back electromotive force amplitude by the electrical angular frequency.

6. An adaptive control system using the motor adaptive vector control method based on flux control according to claim 1, characterized in that: include: External input signal acquisition module, precision optimization module, speed PI adjustment module, control output module: The external input signal acquisition module is used to detect the voltage signal and the current signal of the motor through the detection circuit, and convert the voltage signal and the current signal into voltage data and current data through the analog-to-digital converter; The precise optimization module is used to construct a reference model and an adjustable model, calculate the voltage data through the reference model to obtain a performance index, calculate the current data through the adjustable model to obtain a flux value, and obtain a deviation according to the flux value and the performance index; Outputting a current control signal according to the deviation through a controller, converting the current control signal into a two-phase current, changing the stationary coordinate system of the two-phase current into a rotating coordinate system, and obtaining a rotor flux direction angle corresponding to the current control signal according to the rotating coordinate system; The control output module is used to calculate the rotor position through the motor rotor radian characteristics and the rotor flux direction angle, and obtain the real-time motor speed through the speed observer according to the rotor position, inversely transform the two-phase current into a three-phase current, and adjust the input current of the motor according to the control signal corresponding to the three-phase current through the actuator; according to the performance index in the sector of the space vector pulse width modulation, select the corresponding voltage vector to adjust the input voltage of the motor.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the motor adaptive vector control method based on flux control as described in any one of claims 1 to 5 is implemented.

8. A storage medium containing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the motor adaptive vector control method based on flux control as described in any one of claims 1 to 5.

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