A current compensator design method and compensation method for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor

Abstract

A current compensator design method and compensation method for suppressing voltage overshoot in the weak magnetic field area of ​​a permanent magnet synchronous motor, relating to the field of motor control. The invention solves the problem that in the existing voltage closed-loop weak magnetic field method, due to the existence of the voltage closed-loop, the weak magnetic field regulator starts to output a negative d-axis current only when the voltage vector amplitude exceeds the voltage limit, resulting in voltage overshoot in the dynamic process, thereby deteriorating the weak magnetic field dynamic performance. The method includes: replacing the traditional voltage amplitude closed-loop with a q-axis voltage closed-loop; constructing a current compensation closed-loop transfer function and performing frequency domain analysis to obtain a continuous domain form of a current compensator; discretizing the current compensator in the continuous domain; inputting the q-axis voltage error into the discretized current compensator to output a negative q-axis current compensation value. The method has the advantages of simple implementation and strong versatility, and can be used to improve the dynamic performance of weak magnetic field control of permanent magnet synchronous motors.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a current compensator design method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in electric vehicles and more electric aircraft due to their high power density and high efficiency. To increase the motor speed, a voltage closed-loop field weakening scheme is often used, which has the advantages of simplicity and strong robustness. Figure 1 This is a schematic diagram of the working area of ​​a permanent magnet synchronous motor. During weak magnetic operation, it is limited by the inverter voltage, current, and maximum torque per ampere (MTPA) curve. Figure 2 It is a classic permanent magnet synchronous motor weakening control framework, which uses a voltage closed loop to make the motor speed exceed the base speed limit. However, the voltage closed loop method has an inherent problem of voltage overshoot, which will deteriorate the dynamic performance in the weakening field area, so it needs to be suppressed.

[0003] The following problems exist in the traditional permanent magnet synchronous motor voltage closed-loop weak magnetic control system:

[0004] Due to the existence of the voltage closed loop, the field weakening regulator starts to output negative d-axis current only when the voltage vector amplitude exceeds the voltage limit, which is bound to cause voltage overshoot in the dynamic process, thereby deteriorating the field weakening dynamic performance. Summary of the invention

[0005] The present invention aims at the problem that in the existing voltage closed-loop magnetic weakening method, due to the existence of the voltage closed-loop, the magnetic weakening regulator starts to output a negative d-axis current only when the voltage vector amplitude exceeds the voltage limit, resulting in voltage overshoot in the dynamic process, thereby deteriorating the dynamic performance of magnetic weakening. A current compensator design method for suppressing voltage overshoot in the magnetic weakening region of a permanent magnet synchronous motor is proposed to alleviate the voltage overshoot in the dynamic process of magnetic weakening. The present invention is implemented by the following scheme:

[0006] A current compensator design method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor, the method comprising:

[0007] S1: Use q-axis voltage closed loop to replace the traditional voltage amplitude closed loop;

[0008] S2: Construct the current compensation closed-loop transfer function and perform frequency domain analysis to obtain the continuous domain form of the current compensator G cmp (s);

[0009] S3: Discretize the current compensator in the continuous domain;

[0010] S4: Input the q-axis voltage error into the discretized current compensator to output the negative q-axis current compensation value i q,cmp .

[0011] Furthermore, a preferred method is proposed, wherein step S1 comprises:

[0012]

[0013] Among them, u dc Indicates the inverter DC bus voltage, u d represents the d-axis voltage, u q,ref Indicates the q-axis voltage reference value.

[0014] Furthermore, a preferred method is proposed, in which the current compensation closed-loop transfer function in step S2 is:

[0015]

[0016] Among them, ω p Represents the bandwidth of the compensation closed loop, G cl (s) represents the current compensation closed-loop transfer function, and s represents the complex frequency.

[0017] Furthermore, a preferred method is proposed, in which the continuous domain form G of the current compensator in step S2 is cmp (s) is:

[0018]

[0019] Among them, ω c Represents the current loop bandwidth, L q represents the q-axis inductance, R s Represents the stator resistance.

[0020] Furthermore, a preferred method is proposed, wherein step S3 comprises:

[0021]

[0022] Among them, i q,cmp (k) represents the q-axis current compensation at time k, T s represents the switching frequency, u q,err (k) represents the q-axis voltage error at time k, L q represents the q-axis inductance, i q,cmp (k-1) represents the q-axis current compensation amount at time k-1.

[0023] Based on the same inventive concept, the present invention also proposes a current compensation method for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor. The method is implemented based on the current compensator described above, and the method includes:

[0024] During the operation of the motor, the q-axis voltage and current status of the motor are monitored in real time;

[0025] When it is detected that the q-axis voltage exceeds a predetermined threshold, a new compensation current is calculated by the current compensator;

[0026] Combine the current compensator with the motor control system to form a closed-loop control strategy.

[0027] Based on the same inventive concept, the present invention also proposes a current compensator design system for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor, the system comprising:

[0028] A replacement unit, used for replacing a conventional voltage amplitude closed loop with a q-axis voltage closed loop;

[0029] The current compensation value calculation unit is used to construct a q-axis current compensator, input the q-axis voltage error into the current compensator and output a negative q-axis current compensation value i q,cmp ;

[0030] The closed-loop unit is used to construct the current compensation closed-loop transfer function and perform frequency domain analysis to obtain the continuous domain form of the current compensator G cmp (s);

[0031] Discrete elements are used to discretize the current compensator in the continuous domain.

[0032] Based on the same inventive concept, the present invention also proposes a computer device, including a memory and a processor, wherein a computer program is stored in the memory. When the processor runs the computer program stored in the memory, the processor executes a current compensator design method for suppressing voltage overshoot in the weak magnetic field zone of a permanent magnet synchronous motor according to any one of the above-mentioned methods.

[0033] Based on the same inventive concept, the present invention also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a current compensator design method for suppressing voltage overshoot in the weak magnetic field area of ​​a permanent magnet synchronous motor as described in any of the above items are executed.

[0034] The present invention is beneficial in that:

[0035] The present invention proposes a current compensator design method for suppressing voltage overshoot in the weak magnetic field area of ​​a permanent magnet synchronous motor. By replacing the traditional voltage amplitude closed loop with a q-axis voltage closed loop, the present invention can adjust the q-axis current in real time after the voltage vector amplitude exceeds its limit, thereby effectively suppressing the voltage overshoot phenomenon. This design can improve the weak magnetic dynamic performance and ensure the stability of the system. In the compensation closed loop, the current compensator is constructed by frequency domain analysis, which can achieve a rapid response to the voltage error. Real-time feedback control can adjust the current compensation value more timely and improve the response speed and accuracy in the weak magnetic dynamic process. By constructing a compensation closed loop and a discrete design, the current compensator can have a certain robustness to system parameter changes and external disturbances, ensuring the stable operation of the system under different working conditions.

[0036] The current compensator design method for suppressing voltage overshoot in the weak magnetic field area of ​​a permanent magnet synchronous motor proposed in the present invention adopts a q-axis voltage closed loop to replace the traditional voltage amplitude closed loop design, which can simplify the control structure, reduce the implementation complexity, and also reduce the occupation of system resources, thereby improving the efficiency of the overall control system. By outputting a negative q-axis current compensation value, the dynamic response lag caused by voltage overshoot can be reduced, so that the dynamic performance of the permanent magnet synchronous motor in the weak magnetic field area can be optimized, and the adaptability of the motor in various application scenarios can be improved.

[0037] The present invention proposes a current compensator design method for suppressing voltage overshoot in the weak magnetic field area of ​​a permanent magnet synchronous motor, which can reduce energy loss during weak magnetic field regulation, alleviate voltage overshoot in the weak magnetic field dynamic process, and improve the overall energy efficiency of the motor.

[0038] A current compensation method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor proposed by the present invention can timely capture changes in the motor during operation, especially voltage overshoot in a weak magnetic field region, by real-time monitoring of the q-axis voltage and current state of the motor. When it is detected that the q-axis voltage exceeds a predetermined threshold, a new compensation current can be quickly calculated. This rapid response capability helps to reduce the duration of the voltage overshoot, thereby reducing potential damage to the motor. Further, the current compensator is combined with the motor control system to form a closed-loop control strategy, which helps to enhance the stability of the system. Through feedback control, the operating state of the motor can be effectively adjusted, the voltage fluctuation can be reduced, and the overall performance of the system can be improved. This strategy can adapt to changes under different working conditions, especially when the motor is in a weak magnetic field region, providing additional control guarantees to ensure that the motor can run smoothly. By calculating a new compensation current, the voltage overshoot can be effectively suppressed, the operating efficiency of the motor can be improved, and the energy loss can be reduced. Optimized current compensation can help the motor obtain better dynamic performance in the weak magnetic field region and ensure its efficient operation under different load conditions. During the operation of the motor, avoiding current fluctuations caused by voltage overshoot helps to improve the service life and reliability of the motor. Timely current compensation can effectively prevent overload caused by voltage overshoot and reduce the risk of failure of the motor and its drive system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of the working area of ​​the permanent magnet synchronous motor described in the background technology;

[0040] Figure 2 The framework diagram of the classic permanent magnet synchronous motor voltage closed-loop weak magnetic control described in the background technology;

[0041] Figure 3 This is a block diagram of the magnetic field weakening control of a permanent magnet synchronous motor after using a compensator as described in the first embodiment;

[0042] Figure 4 This is a block diagram of the q-axis voltage closed-loop permanent magnet synchronous motor flux weakening control according to the second embodiment;

[0043] Figure 5 This is a current compensation closed loop block diagram described in implementation mode 3;

[0044] Figure 6 A schematic diagram of the expected frequency characteristics of the current compensation closed-loop transfer function according to the third implementation mode;

[0045] Figure 7 A diagram showing the voltage overshoot suppression simulation result according to the tenth embodiment;

[0046] Figure 8 : is a comparison diagram of simulation results on the voltage plane according to the tenth embodiment, wherein: Figure 8 (a) is the traditional method, Figure 8 (b) is the method of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0048] Implementation method 1, see Figure 3 The present embodiment is described as follows. A current compensator design method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor is described in the present embodiment, and the method comprises:

[0049] S1: Use q-axis voltage closed loop to replace the traditional voltage amplitude closed loop;

[0050] S2: Construct the current compensation closed-loop transfer function and perform frequency domain analysis to obtain the continuous domain form of the current compensator G cmp (s);

[0051] S3: Discretize the current compensator in the continuous domain;

[0052] S4: Input the q-axis voltage error into the discretized current compensator to output the negative q-axis current compensation value i q,cmp .

[0053] The current compensator design method proposed in this embodiment replaces the traditional voltage amplitude closed loop with a q-axis voltage closed loop, and adjusts the q-axis current in real time after the voltage vector amplitude exceeds its limit, thereby effectively suppressing the voltage overshoot phenomenon. This design can improve the dynamic performance of weak magnetic field and ensure the stability of the system. In the compensation closed loop, the current compensator is constructed by frequency domain analysis, which can achieve a rapid response to the voltage error. Real-time feedback control can adjust the current compensation value more timely and improve the response speed and accuracy in the weak magnetic dynamic process. By constructing a compensation closed loop and a discrete design, the current compensator can have a certain robustness to system parameter changes and external disturbances, ensuring the stable operation of the system under different working conditions. The design of using a q-axis voltage closed loop to replace the traditional voltage amplitude closed loop can simplify the control structure, reduce the implementation complexity, and also reduce the occupation of system resources, thereby improving the efficiency of the overall control system. By outputting a negative q-axis current compensation value, the dynamic response lag caused by voltage overshoot can be reduced, so that the dynamic performance of the permanent magnet synchronous motor in the weak magnetic region can be optimized, and the adaptability of the motor in various application scenarios can be improved. The current compensator design method proposed in this embodiment can reduce energy loss during weak magnetic field regulation and improve the overall energy efficiency of the motor.

[0054] Implementation Method 2: See Figure 4 This embodiment is a further limitation of the current compensator design method for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor described in the first embodiment, and the step S1 includes:

[0055]

[0056] Among them, u dc Indicates the inverter DC bus voltage, u d represents the d-axis voltage, u q,ref Indicates the q-axis voltage reference value.

[0057] In this embodiment, the q-axis voltage closed loop is used to replace the traditional voltage amplitude closed loop, and its control block diagram is as follows: Figure 4 As shown, Figure 4 Medium e,ref Represents the reference value of the motor electrical angular velocity, ω e Represents the motor electrical angular velocity, u q Represents the q-axis voltage. Compared with the traditional voltage amplitude closed loop, this method can adjust the q-axis voltage in real time according to the actual needs of the motor, improving the flexibility and response speed of the control. Based on the DC bus voltage and d-axis voltage of the inverter, real-time monitoring and adjustment of the q-axis voltage can effectively reduce voltage overshoot and improve dynamic response, especially in the weak magnetic state. This design can prevent excessive voltage fluctuations in the motor, thereby improving the dynamic stability of the motor. By adopting the q-axis voltage closed loop, the design can be simplified in the voltage control strategy and the required control parameters can be reduced. This not only reduces the complexity of the control system, but also makes the system easier to implement and debug. Using the q-axis voltage reference value as the control input can more effectively utilize the output capacity of the inverter. Through precise voltage control, the working efficiency of the motor can be improved and energy loss can be reduced.

[0058] Implementation method three, see Figure 5 and Figure 6 This embodiment is a further limitation of the current compensator design method for suppressing voltage overshoot in the weak magnetic field area of ​​a permanent magnet synchronous motor described in the first embodiment, and the current compensation closed-loop transfer function in step S2 is:

[0059]

[0060] Among them, ω p Represents the bandwidth of the compensation closed loop, G cl (s) represents the current compensation closed-loop transfer function, and s represents the complex frequency.

[0061] Specific: Figure 5 The block diagram of the q-axis current compensation closed loop, where “ω c” refers to the current loop bandwidth. In addition, the q-axis current PI regulator G PI,q The transfer function of (s) can be written as formula (2), which is derived by the zero-pole cancellation of the current loop.

[0062]

[0063] Where: L q is the q-axis inductance, R s is the stator resistance.

[0064] The desired current compensation closed-loop transfer function is a first-order inertia link, and its frequency characteristics are as follows: Figure 6 As shown, its performance is only determined by the bandwidth. Assume that its bandwidth is ω p Therefore, the current compensation closed loop transfer function G cl (s) can be written as:

[0065]

[0066] In this embodiment, the transfer function of the current compensation closed loop is set, and the weak magnetic field area of ​​the permanent magnet synchronous motor is analyzed and designed in detail in the frequency domain. This method makes the optimization of dynamic performance more targeted, and can improve the stability and response speed of the permanent magnet synchronous motor within a specific frequency range. The set bandwidth can effectively adjust the response speed of the current compensator. Appropriate bandwidth design can ensure that the permanent magnet synchronous motor adapts quickly under various dynamic load conditions, thereby reducing the performance degradation of the motor caused by voltage overshoot. By reasonably designing the transfer function, the robustness of the permanent magnet synchronous motor to parameter changes and external interference can be improved.

[0067] By using the characteristics of the transfer function, the gain and phase characteristics of the compensator can be effectively designed, which significantly improves the accuracy of current compensation. This helps to more accurately adjust the output current and reduce voltage fluctuations in the weak magnetic state. The transfer function of the current compensation closed loop can be used in combination with other control algorithms to simplify the implementation of the control strategy. For example, more complex control requirements can be achieved by combining multiple control strategies to improve the flexibility and adaptability of the system.

[0068] Embodiment 4: This embodiment further defines the current compensator design method for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor described in Embodiment 3. The continuous domain form G of the current compensator in step S2 is cmp (s) is:

[0069]

[0070] Among them, ω c Represents the current loop bandwidth, L q represents the q-axis inductance, R sRepresents the stator resistance.

[0071] In order to achieve the required G cl (s), the open-loop transfer function must be a function with a cutoff frequency ω p Therefore, according to formula (2), formula (3) and Figure 5 , we can deduce the proposed compensator G cmp (s) is:

[0072]

[0073] From equation (4), we can see that the proposed compensator is essentially a low-pass filter. In addition, when the internal model decoupling structure is adopted, we can also get Figure 5 The current compensation closed loop is shown, so the proposed compensator is also applicable to the current loop of internal mode decoupling.

[0074] By designing a compensator, the voltage overshoot phenomenon caused by the weak magnetic field area can be effectively suppressed. In the weak magnetic field area, the inductance characteristics of the motor vary greatly. Appropriate current compensation can adjust the current waveform in real time to prevent the instantaneous increase of voltage.

[0075] Embodiment 5: This embodiment further limits the current compensator design method for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor described in embodiment 4, and step S3 includes:

[0076]

[0077] Among them, i q,cmp (k) represents the q-axis current compensation at time k, T s represents the switching frequency, u q,err (k) represents the q-axis voltage error at time k, L q represents the q-axis inductance, i q,cmp (k-1) represents the q-axis current compensation amount at time k-1.

[0078] Specifically, the first-order backward Euler method is used for discretization: s = (1-z -1 ) / T s , where T s is the switching frequency. If the main function runs to the kth loop in the program, then z -1 refers to the (k-1)th cycle. Assume u q,err is the error of the q-axis voltage (u q,err =u q,ref -u q ). After derivation, the real-time form of the proposed compensator is formula (5), and i q,cmpThe upper limit of must be clamped to 0, so that the q-axis current reference value is reduced only when a voltage overshoot occurs.

[0079]

[0080] Embodiment 6: A current compensation method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor described in this embodiment is implemented based on the current compensator described in embodiment 1, and the method includes:

[0081] During the operation of the motor, the q-axis voltage and current status of the motor are monitored in real time;

[0082] When it is detected that the q-axis voltage exceeds a predetermined threshold, a new compensation current is calculated by the current compensator;

[0083] Combine the current compensator with the motor control system to form a closed-loop control strategy.

[0084] The compensation method proposed in this embodiment can timely capture the changes of the motor during operation, especially the voltage overshoot in the weak magnetic field area, by real-time monitoring of the q-axis voltage and current state of the motor. When it is detected that the q-axis voltage exceeds the predetermined threshold, a new compensation current can be quickly calculated. This fast response capability helps to reduce the duration of the voltage overshoot, thereby reducing potential damage to the motor.

[0085] Furthermore, the current compensator is combined with the motor control system to form a closed-loop control strategy, which helps to enhance the stability of the system. Through feedback control, the operating state of the motor can be effectively adjusted, voltage fluctuations can be reduced, and the overall performance of the system can be improved. This strategy can adapt to changes under different working conditions, especially when the motor is in the weak magnetic field area, providing additional control guarantees to ensure that the motor can run smoothly.

[0086] By calculating the new compensation current, voltage overshoot can be effectively suppressed, the motor's operating efficiency can be improved, and energy loss can be reduced. Optimized current compensation can help the motor achieve better dynamic performance in the weak magnetic field area and ensure its efficient operation under different load conditions. During the operation of the motor, avoiding current fluctuations caused by voltage overshoot can help improve the service life and reliability of the motor. Timely current compensation can effectively prevent overload caused by voltage overshoot and reduce the risk of failure of the motor and its drive system.

[0087] Embodiment 7: A current compensator design system for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor according to this embodiment, the system comprises:

[0088] A replacement unit, used for replacing a conventional voltage amplitude closed loop with a q-axis voltage closed loop;

[0089] The current compensation value calculation unit is used to construct a q-axis current compensator, input the q-axis voltage error into the current compensator and output a negative q-axis current compensation value i q,cmp ;

[0090] The closed-loop unit is used to construct the current compensation closed-loop transfer function and perform frequency domain analysis to obtain the continuous domain form of the current compensator G cmp (s);

[0091] Discrete elements are used to discretize the current compensator in the continuous domain.

[0092] Embodiment 8. A computer device described in this embodiment is characterized in that it includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor runs the computer program stored in the memory, the processor executes a current compensator design method for suppressing voltage overshoot in the weak magnetic field area of ​​a permanent magnet synchronous motor according to any one of embodiments 1 to 6.

[0093] Implementation method nine, a computer-readable storage medium described in this implementation method, on which a computer program is stored, and when the computer program is executed by a processor, the steps of a current compensator design method for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor as described in any one of implementation methods one to six are executed.

[0094] Embodiment 10: This embodiment is a simulation verification of a current compensation method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor described in embodiment 6. This method is used to simulate and verify an actual three-phase permanent magnet synchronous motor towing test platform, and the rated power of the motor is 2.2kW. Figure 7 and Figure 8 The simulation results of the traditional method and the proposed method are compared. The motor accelerates from rest to 3000r / min. Figure 7 It can be seen that the voltage overshoot is reduced from 34.9V to 13.8V, a reduction of 60.5%. Figure 8 It can be seen that the dynamic voltage trajectory of the proposed method is smoother than that of the traditional method, which verifies its effectiveness.

[0095] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit its protection scope. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that after reading the present invention, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the pending claims of the invention.

Claims

1. A current compensator design method for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor, characterized in that: The method comprises: S1: Adoption q The shaft voltage closed loop replaces the voltage amplitude closed loop; S2: Construct the current compensation closed-loop transfer function and perform frequency domain analysis to obtain the continuous domain form of the current compensator G cmp ( s ); S3: Discretize the current compensator in the continuous domain; S4: q The shaft voltage error is input into the discretized current compensator and outputs a negative q Shaft current compensation value i q,cmp ; The current compensation closed-loop transfer function in step S2 is: in, ω p represents the bandwidth of the compensation closed loop, G cl ( s ) represents the current compensation closed-loop transfer function, s represents the complex frequency; The continuous domain form of the current compensator in step S2 G cmp ( s )for: in, ω c represents the current loop bandwidth, L q represent q Shaft inductance, R s Represents the stator resistance.

2. A current compensator design method for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor according to claim 1, characterized in that: The step S1 comprises: in, u dc Indicates the inverter DC bus voltage, u d express d Shaft voltage, u q,ref express q Shaft voltage reference value.

3. A current compensator design method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor according to claim 1, characterized in that: The step S3 comprises: in, i q,cmp ( k )represent k time q Shaft current compensation, T s represents the switching frequency, u q,err ( k )represent k time q Shaft voltage error, L q represent q Shaft inductance, i q,cmp ( k- 1) Representative k- 1 moment q Shaft current compensation amount.

4. A current compensation method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor, characterized in that: The method is implemented based on a current compensator design method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor according to claim 1, and the method comprises: During the operation of the motor, real-time monitoring of the motor q Shaft voltage and current status; When detected q When the shaft voltage exceeds a predetermined threshold, a new compensation current is calculated by the current compensator; Combine the current compensator with the motor control system to form a closed-loop control strategy.

5. A current compensator design system for suppressing voltage overshoot in the weak magnetic field region of a permanent magnet synchronous motor, characterized in that: The system comprises: Alternative unit for use with q The shaft voltage closed loop replaces the traditional voltage amplitude closed loop; Current compensation value calculation unit, used to build q The shaft current compensator q The shaft voltage error is input to the current compensator and the output is negative q Shaft current compensation value i q,cmp ; Closed-loop unit, used to construct the current compensation closed-loop transfer function and perform frequency domain analysis to obtain the continuous domain form of the current compensator G cmp ( s ); Discrete units for discretizing the current compensator in the continuous domain; The current compensation closed loop transfer function is: in, ω p represents the bandwidth of the compensation closed loop, G cl ( s ) represents the current compensation closed-loop transfer function, s represents the complex frequency; Continuous Domain Form of Current Compensator G cmp ( s )for: in, ω c represents the current loop bandwidth, L q represent q Shaft inductance, R s Represents the stator resistance.

6. A computer device, characterized in that: It includes a memory and a processor, wherein a computer program is stored in the memory. When the processor runs the computer program stored in the memory, the processor executes a current compensator design method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor according to any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of a current compensator design method for suppressing voltage overshoot in a weak magnetic field region of a permanent magnet synchronous motor as described in any one of claims 1 to 3.

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