Method and system for acquiring initial position of non-inductive motor based on high-frequency pulse

Abstract

The invention relates to a high-frequency pulse-based non-inductive motor initial position acquisition method and system, and the method comprises the steps: generating a high-frequency pulse square-wave voltage signal according to the PWM frequency of a motor system, generating a PWM pulse according to an estimated angle and the Ud voltage and Uq voltage of the high-frequency pulse square-wave voltage signal, and driving a permanent magnet synchronous motor; acquiring a three-phase current of the permanent magnet synchronous motor, and converting the three-phase current into a first current and a second current in a two-phase static coordinate system, thereby extracting an envelope signal of a high-frequency response current in the two-phase static coordinate system, and obtaining an estimated angle; converting the first current, the second current and the estimated angle into an Id current value under a synchronous rotating coordinate system; and comparing the Id current values with the estimated angle according to the Id current values under the forward and reverse high-frequency pulse square wave voltage signals so as to determine the angle value of the current initial position of the rotor. Compared with the prior art, the accurate angle value of the current initial position of the rotor can be obtained.

Description

Technical Field

[0001] The present invention relates to the field of permanent magnet synchronous motors, and in particular to a method and system for acquiring the initial position of an inductorless motor based on high-frequency pulses. Background Art

[0002] Permanent magnet synchronous motors have the characteristics of high power density and high torque-to-current ratio, and have been widely used in industrial sites, electric vehicles, household appliances and other fields. Position sensorless control technology can effectively reduce system size and cost and increase system reliability. The maximum starting torque generated by the motor is related to the accuracy of the initial position of the rotor. If the motor does not have an accurate starting angle position, it will cause starting jitter or even loss of control, and in extreme cases it will cause starting failure. Therefore, how to accurately identify the initial position of the rotor has become a research hotspot today. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a method and system for obtaining the initial position of an inductive motor based on high-frequency pulses, so as to accurately identify the initial position of the rotor.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A method for obtaining the initial position of an inductive motor based on high-frequency pulses comprises the following steps:

[0006] S1: Generate a high-frequency pulse square wave voltage signal according to the frequency of the motor system PWM, perform SVPWM space vector modulation according to the estimated angle and the Ud voltage and Uq voltage of the high-frequency pulse square wave voltage signal, obtain PWM pulses, and drive the permanent magnet synchronous motor;

[0007] S2: Collect the three-phase current of the permanent magnet synchronous motor and convert it into the first current and the second current in the two-phase stationary coordinate system, so as to extract the envelope signal of the high-frequency response current in the two-phase stationary coordinate system and obtain the estimated angle; perform PARK transformation on the first current, the second current and the estimated angle and convert them into the Id current value in the synchronous rotating coordinate system;

[0008] S3: Execute step S1 and step S2 respectively with a positive high-frequency pulse square wave voltage signal and a reverse high-frequency pulse square wave voltage signal to obtain the stabilized Id current value and the estimated angle, thereby comparing the Id current value to determine the angle value of the current rotor initial position according to the estimated angle.

[0009] Furthermore, the process of determining the angle value of the current initial position of the rotor is specifically as follows:

[0010] Execute steps S1 and S2 with a positive high-frequency pulse square wave voltage signal to obtain a stabilized current value Id and an estimated angle Theta;

[0011] Execute steps S1 and S2 with a reverse high-frequency pulse square wave voltage signal to obtain a stabilized current value Id. s and the estimated angle Theta s ;

[0012] When abs(Id)>abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta, where abs is calculated by taking the absolute value;

[0013] When abs(Id) <abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta + π.

[0014] Furthermore, the CLARK transformation is used to convert the three-phase current of the permanent magnet synchronous motor into the first current and the second current in the two-phase stationary coordinate system. The corresponding calculation expression is:

[0015] Iα=(Ia-0.5*(Ib+Ic))*2 / 3

[0016] Iβ=sqrt(3) / 2*(Ib-Ic)*2 / 3

[0017] Wherein, Iα is the first current, Iβ is the second current, Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Ic is the c-phase current of the permanent magnet synchronous motor.

[0018] Furthermore, the extraction calculation expression of the envelope signal is:

[0019] I_Cos=sig(Vh)*(Iα(K)-Iα(K-1)) / 2

[0020] I_Sin=sig(Vh)*(Iβ(K)-Iβ(K-1)) / 2

[0021] Wherein, I_Cos is the I_Cos signal in the envelope signal, I_Sin is the I_Sin signal in the envelope signal, sig is the sign function, Vh is the pulse voltage, Iα(K) is the current sampling value of the first current, and Iβ(K) is the current sampling value of the second current.

[0022] Furthermore, the calculation expression of the Id current value is:

[0023] Id=Ia*Cos(Theta)+(Ia+2Ib)*Sin(Theta) / 1.732

[0024] Where Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Theta is the estimated angle.

[0025] Furthermore, the high-frequency pulse square wave voltage signal is a Ud pulse square wave voltage with a duty cycle of 50% and a frequency of 3 kHz.

[0026] The present invention also provides a system for acquiring the initial position of an inductive motor based on high-frequency pulses, comprising:

[0027] A high-frequency pulse generating module is used to generate a high-frequency pulse square wave voltage signal according to the frequency of the motor system PWM;

[0028] The SVPWM module is used to perform SVPWM space vector modulation according to the estimated angle and the Ud voltage and Uq voltage of the high-frequency pulse square wave voltage signal to obtain a PWM pulse;

[0029] Permanent magnet synchronous motor for driving according to PWM pulses;

[0030] A CLARK operation module, used for converting the three-phase current value collected from the permanent magnet synchronous motor into a first current and a second current in a two-phase stationary coordinate system;

[0031] A PARK operation module, used for converting the first current and the second current in the two-phase stationary coordinate system and the estimated angle into an Id current value in the synchronous rotating coordinate system;

[0032] The HF module is used to extract the envelope signal of the high-frequency response current in the two-phase stationary coordinate system according to the first current and the second current in the two-phase stationary coordinate system to obtain an estimated angle;

[0033] The recording unit module is used to record the currently estimated angle and Id current value. After the high-frequency pulse generating module outputs the positive high-frequency pulse square wave voltage signal and the reverse high-frequency pulse square wave voltage signal respectively, the stabilized Id current values ​​are compared to determine the angle value of the current rotor initial position according to the estimated angle.

[0034] Furthermore, the high-frequency pulse generating module cyclically generates a positive high-frequency pulse square wave voltage signal and a reverse high-frequency pulse square wave voltage signal;

[0035] The recording unit module records the stabilized current value Id and the estimated angle Theta under the positive high-frequency pulse square wave voltage signal; and the stabilized current value Id under the reverse high-frequency pulse square wave voltage signal. sand the estimated angle Theta s ;

[0036] When abs(Id)>abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta, where abs is calculated by taking the absolute value;

[0037] When abs(Id) <abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta + π.

[0038] Furthermore, the calculation expression of the CLARK operation module is:

[0039] Iα=(Ia-0.5*(Ib+Ic))*2 / 3

[0040] Iβ=sqrt(3) / 2*(Ib-Ic)*2 / 3

[0041] Wherein, Iα is the first current, Iβ is the second current, Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Ic is the c-phase current of the permanent magnet synchronous motor;

[0042] The envelope signal calculation expression of the HF module is:

[0043] I_Cos=sig(Vh)*(Iα(K)-Iα(K-1)) / 2

[0044] I_Sin=sig(Vh)*(Iβ(K)-Iβ(K-1)) / 2

[0045] Wherein, I_Cos is the I_Cos signal in the envelope signal, I_Sin is the I_Sin signal in the envelope signal, sig is the sign function, Vh is the pulse voltage, Iα(K) is the current sampling value of the first current, and Iβ(K) is the current sampling value of the second current.

[0046] Furthermore, the calculation expression of the PARK operation module is:

[0047] Id=Ia*Cos(Theta)+(Ia+2Ib)*Sin(Theta) / 1.732

[0048] Where Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Theta is the estimated angle.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] (1) When the motor is in a stationary state, the present invention generates a high-frequency pulse square wave voltage signal, and drives the permanent magnet synchronous motor to work after the estimated angle and Ud and Uq pulse voltages are modulated by SVPWM space vector; the three-phase current of the motor is collected, and the three-phase currents Ia, Ib, and Ic are converted into Iα, Iβ, and Id currents through Clark and Park transformation. Through the HF module, the envelope of the high-frequency response current in the two-phase stationary coordinate system is extracted to obtain the estimated angle Theta;

[0051] By recording the angle Theta and Id current corresponding to the forward and reverse high-frequency pulse square wave voltage signals and performing comparative calculations, the precise angle value of the current rotor initial position can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic flow chart of a method for obtaining the initial position of an inductorless motor based on high-frequency pulses provided in an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of a high-frequency pulse injection process of a method for acquiring an initial position of an inductorless motor based on a high-frequency pulse provided in an embodiment of the present invention;

[0054] Figure 3 The present invention is a schematic structural diagram of a high-frequency pulse-based inductive motor initial position acquisition system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0056] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0058] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] Example 1

[0060] like Figure 1 As shown, this embodiment provides a method for obtaining the initial position of an inductive motor based on high-frequency pulses, which is characterized by comprising the following steps:

[0061] S1: Generate a high-frequency pulse square wave voltage signal according to the frequency of the motor system PWM, perform SVPWM space vector modulation according to the estimated angle and the Ud voltage and Uq voltage of the high-frequency pulse square wave voltage signal, obtain PWM pulses, and drive the permanent magnet synchronous motor;

[0062] S2: Collect the three-phase current of the permanent magnet synchronous motor and convert it into the first current and the second current in the two-phase stationary coordinate system, so as to extract the envelope signal of the high-frequency response current in the two-phase stationary coordinate system and obtain the estimated angle; perform PARK transformation on the first current, the second current and the estimated angle and convert them into the Id current value in the synchronous rotating coordinate system;

[0063] S3: Execute step S1 and step S2 respectively with a positive high-frequency pulse square wave voltage signal and a reverse high-frequency pulse square wave voltage signal to obtain the stabilized Id current value and the estimated angle, thereby comparing the Id current value to determine the angle value of the current rotor initial position according to the estimated angle.

[0064] In this embodiment, the implementation process of the above solution is specifically as follows:

[0065] When the motor is in a stationary state, the high-frequency pulse module injects a high-frequency pulse square wave voltage signal with a frequency of 3kHz and a duty cycle of 50% into the direct axis.

[0066] After the estimated angle Theta and the pulse voltages Ud and Uq are modulated by the SVPWM space vector, the three-phase current of the motor is collected, and the three-phase currents Ia, Ib, and Ic are converted into Iα, Iβ, and Id currents through Clark and Park transformation.

[0067] Clark transformation converts the three-phase current of the permanent magnet synchronous motor into the first current and the second current in the two-phase stationary coordinate system. The corresponding calculation expression is:

[0068] Iα=(Ia-0.5*(Ib+Ic))*2 / 3

[0069] Iβ=sqrt(3) / 2*(Ib-Ic)*2 / 3

[0070] Wherein, Iα is the first current, Iβ is the second current, Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Ic is the c-phase current of the permanent magnet synchronous motor.

[0071] The calculation expression of the Id current value obtained by Park transformation is:

[0072] Id=Ia*Cos(Theta)+(Ia+2Ib)*Sin(Theta) / 1.732

[0073] Where Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Theta is the estimated angle.

[0074] By extracting the envelope of the high-frequency response current in the two-phase stationary coordinate system, the estimated angle Theta is obtained. The calculation expression of the envelope extraction process is:

[0075] I_Cos=sig(Vh)*(Iα(K)-Iα(K-1)) / 2

[0076] I_Sin=sig(Vh)*(Iβ(K)-Iβ(K-1)) / 2

[0077] Wherein, I_Cos is the I_Cos signal in the envelope signal, I_Sin is the I_Sin signal in the envelope signal, sig is the sign function, Vh is the pulse voltage, Iα(K) is the current sampling value of the first current, and Iβ(K) is the current sampling value of the second current.

[0078] Record the Theta value and the maximum value of |Id| when Id is stable, then inject a high-frequency pulse square wave voltage signal of the same magnitude in the opposite direction, and record the Theta value and the maximum value of |Id| when d is stable again. By comparing the maximum value of |Id|, the precise angle value of the current rotor initial position can be obtained.

[0079] The process of determining the angle value of the current rotor initial position is as follows:

[0080] Execute steps S1 and S2 with a positive high-frequency pulse square wave voltage signal to obtain a stabilized current value Id and an estimated angle Theta;

[0081] Execute steps S1 and S2 with a reverse high-frequency pulse square wave voltage signal to obtain a stabilized current value Id. s and the estimated angle Theta s ;

[0082] When abs(Id)>abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta, where abs is calculated by taking the absolute value;

[0083] When abs(Id) <abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta + π.

[0084] According to a method for obtaining the initial position of an inductive motor based on high-frequency pulses according to claim 1, it is characterized in that the extraction calculation expression of the envelope signal is:

[0085] like Figure 2 The figure shows a flow chart of a method for acquiring the initial position of an inductive motor based on high-frequency pulses. At the beginning, the number of high-frequency pulse injections Count is set to zero. The injection direction is selected based on whether Count is zero. When injecting into the positive axis, Count should be zero; when injecting into the negative axis, Count should be 1. Then, the estimated angle Theta and the pulse voltages Ud and Uq are modulated by SVPWM space vectors, and the three-phase current of the motor is collected. The envelope of the high-frequency response is analyzed by the HF module to obtain the estimated angle Theta. The recording module records the current estimated angle Theta and the current id of the response, and after judging the final convergence, Count is assigned to 1, and the high-frequency pulse injection operation is repeated. After the high-frequency pulse injection operation with Count of 1 is completed, the final position ThetaInit is obtained by comparing the maximum value of |Id|.

[0086] Example 2

[0087] like Figure 3 As shown, this embodiment provides a system for acquiring the initial position of an inductive motor based on high-frequency pulses, comprising:

[0088] A high-frequency pulse generating module is used to generate a high-frequency pulse square wave voltage signal according to the frequency of the motor system PWM; in this embodiment, the high-frequency pulse generating module specifically generates a Ud pulse square wave voltage with a duty cycle of 50% and a frequency of 3kHz;

[0089] SVPWM module, used to perform SVPWM space vector modulation according to the estimated angle and the Ud voltage and Uq voltage of the high-frequency pulse square wave voltage signal to obtain PWM pulses (PWMA, PWMB, PWMC);

[0090] Permanent magnet synchronous motor for driving according to PWM pulses;

[0091] The CLARK operation module is used to convert the three-phase current value collected from the permanent magnet synchronous motor into a first current Iα and a second current Iβ in a two-phase stationary coordinate system; wherein: Iα=(Ia-0.5*(Ib+Ic))*2 / 3, Iβ=sqrt(3) / 2*(Ib-Ic)*2 / 3;

[0092] The PARK operation module is used to convert the first current Iα and the second current Iβ in the two-phase stationary coordinate system and the estimated angle into the Id current value in the synchronous rotating coordinate system. In this embodiment, the first current Iα and the second current Iβ and the estimated angle theta are subjected to PARK transformation to be converted into Id and Iq in the synchronous rotating coordinate system, wherein: Id = IA*Cos(Theta)+(IA+2IB)*Sin(Theta) / 1.732, Iq = -IA*Sin(Theta)+(IA+2IB)*Cos(Theta) / 1.732;

[0093] The HF module is used to extract the envelope signals I_Cos and I_Sin of the high-frequency response current in the two-phase stationary coordinate system according to the first current Iα and the second current Iβ in the two-phase stationary coordinate system to obtain the estimated angle; wherein: I_Cos=sig(Vh)*(Iα(K)-Iα(K-1)) / 2; I_Sin=sig(Vh)*(Iβ(K)-Iβ(K-1)) / 2;

[0094] The recording unit module is used to record the currently estimated angle and Id current value. After the high-frequency pulse generating module outputs the positive high-frequency pulse square wave voltage signal and the reverse high-frequency pulse square wave voltage signal respectively, the stabilized Id current values ​​are compared to determine the angle value of the current rotor initial position according to the estimated angle.

[0095] Specifically, the recording unit module records the current value Id of the current stage and the angle Theta estimated by the algorithm, that is, (Id1, Theta1), (Id2, Theta2), ...; after (Id, Theta) stabilizes, a high-frequency pulse is injected in the opposite direction, and the recording unit module records the current value Id of the current stage at the same time. s Theta with algorithm estimation s , that is (Id1 s , Theta1 s )、、(Id2 s , Theta2 s ),…; Wait(Id s , Theta s ) is stable, by comparing abs(Id) with abs(Id s) outputs the final initial position angle ThetaInit, where;

[0096] When abs(Id)>abs(Id s )hour:

[0097] ThetaInit = Theta;

[0098] When abs(Id) <abs(Id s )hour:

[0099] ThetaInit=Theta+π。

[0100] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for obtaining the initial position of an inductive motor based on high-frequency pulses, characterized in that: The following steps are involved: S1: Generate a high-frequency pulse square wave voltage signal according to the frequency of the motor system PWM, perform SVPWM space vector modulation according to the estimated angle and the Ud voltage and Uq voltage of the high-frequency pulse square wave voltage signal, obtain PWM pulses, and drive the permanent magnet synchronous motor; S2: Collect the three-phase current of the permanent magnet synchronous motor and convert it into the first current and the second current in the two-phase stationary coordinate system, so as to extract the envelope signal of the high-frequency response current in the two-phase stationary coordinate system and obtain the estimated angle; perform PARK transformation on the first current, the second current and the estimated angle and convert them into the Id current value in the synchronous rotating coordinate system; S3: Execute step S1 and step S2 respectively with a positive high-frequency pulse square wave voltage signal and a reverse high-frequency pulse square wave voltage signal to obtain the stabilized Id current value and the estimated angle, thereby comparing the Id current value to determine the angle value of the current rotor initial position according to the estimated angle.

2. The method for obtaining the initial position of an inductive motor based on high-frequency pulse according to claim 1, characterized in that: The process of determining the angle value of the current rotor initial position is specifically as follows: Execute steps S1 and S2 with a positive high-frequency pulse square wave voltage signal to obtain a stabilized current value Id and an estimated angle Theta; Execute steps S1 and S2 with a reverse high-frequency pulse square wave voltage signal to obtain a stabilized current value Id. s and the estimated angle Theta s ; When abs(Id)>abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta, where abs is calculated by taking the absolute value; When abs(Id) <abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta + π.

3. The method for obtaining the initial position of an inductive motor based on high-frequency pulse according to claim 1, characterized in that: The CLARK transformation is used to convert the three-phase current of the permanent magnet synchronous motor into the first current and the second current in the two-phase stationary coordinate system. The corresponding calculation expression is: Iα=(Ia-0.5*(Ib+Ic))*2 / 3 Iβ=sqrt(3) / 2*(Ib-Ic)*2 / 3 Wherein, Iα is the first current, Iβ is the second current, Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Ic is the c-phase current of the permanent magnet synchronous motor.

4. The method for obtaining the initial position of an inductive motor based on high-frequency pulse according to claim 1, characterized in that: The extraction calculation expression of the envelope signal is: I_Cos=sig(Vh)*(Iα(K)-Iα(K-1)) / 2 I_Sin=sig(Vh)*(Iβ(K)-Iβ(K-1)) / 2 Wherein, I_Cos is the I_Cos signal in the envelope signal, I_Sin is the I_Sin signal in the envelope signal, sig is the sign function, Vh is the pulse voltage, Iα(K) is the current sampling value of the first current, and Iβ(K) is the current sampling value of the second current.

5. The method for obtaining the initial position of an inductive motor based on high-frequency pulse according to claim 1, characterized in that: The calculation expression of the Id current value is: Id=Ia*Cos(Theta)+(Ia+2Ib)*Sin(Theta) / 1.732 Where Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Theta is the estimated angle.

6. The method for obtaining the initial position of an inductive motor based on high-frequency pulse according to claim 1, characterized in that: The high-frequency pulse square wave voltage signal is a Ud pulse square wave voltage with a duty cycle of 50% and a frequency of 3 kHz.

7. A system for acquiring the initial position of an inductive motor based on high-frequency pulses, characterized in that: include: A high-frequency pulse generating module is used to generate a high-frequency pulse square wave voltage signal according to the frequency of the motor system PWM; The SVPWM module is used to perform SVPWM space vector modulation according to the estimated angle and the Ud voltage and Uq voltage of the high-frequency pulse square wave voltage signal to obtain a PWM pulse; Permanent magnet synchronous motor for driving according to PWM pulses; A CLARK operation module, used for converting the three-phase current value collected from the permanent magnet synchronous motor into a first current and a second current in a two-phase stationary coordinate system; A PARK operation module, used for converting the first current and the second current in the two-phase stationary coordinate system and the estimated angle into an Id current value in the synchronous rotating coordinate system; The HF module is used to extract the envelope signal of the high-frequency response current in the two-phase stationary coordinate system according to the first current and the second current in the two-phase stationary coordinate system to obtain an estimated angle; The recording unit module is used to record the currently estimated angle and Id current value. After the high-frequency pulse generating module outputs the positive high-frequency pulse square wave voltage signal and the reverse high-frequency pulse square wave voltage signal respectively, the stabilized Id current values ​​are compared to determine the angle value of the current rotor initial position according to the estimated angle.

8. The high-frequency pulse-based inductive motor initial position acquisition system according to claim 7, characterized in that: The high-frequency pulse generating module cyclically generates a positive high-frequency pulse square wave voltage signal and a reverse high-frequency pulse square wave voltage signal; The recording unit module respectively records the stabilized current value Id and the estimated angle Theta under the positive high-frequency pulse square wave voltage signal; And the stabilized current value Id under the reverse high-frequency pulse square wave voltage signal s and the estimated angle Theta s ; When abs(Id)>abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta, where abs is calculated by taking the absolute value; When abs(Id) <abs(Id s ), the angle value of the current rotor initial position ThetaInit = Theta + π.

9. The high-frequency pulse-based inductive motor initial position acquisition system according to claim 7, characterized in that: The calculation expression of the CLARK operation module is: Iα=(Ia-0.5*(Ib+Ic))*2 / 3 Iβ=sqrt(3) / 2*(Ib-Ic)*2 / 3 Wherein, Iα is the first current, Iβ is the second current, Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Ic is the c-phase current of the permanent magnet synchronous motor; The envelope signal calculation expression of the HF module is: I_Cos=sig(Vh)*(Iα(K)-Iα(K-1)) / 2 I_Sin=sig(Vh)*(Iβ(K)-Iβ(K-1)) / 2 Wherein, I_Cos is the I_Cos signal in the envelope signal, I_Sin is the I_Sin signal in the envelope signal, sig is the sign function, Vh is the pulse voltage, Iα(K) is the current sampling value of the first current, and Iβ(K) is the current sampling value of the second current.

10. The high-frequency pulse-based inductive motor initial position acquisition system according to claim 7, characterized in that: The calculation expression of the PARK operation module is: Id=Ia*Cos(Theta)+(Ia+2Ib)*Sin(Theta) / 1.732 Where Ia is the a-phase current of the permanent magnet synchronous motor, Ib is the b-phase current of the permanent magnet synchronous motor, and Theta is the estimated angle.

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