Permanent magnet synchronous motor vector control method and system based on current source inverter

Abstract

The invention relates to a permanent magnet synchronous motor technology, in particular to a permanent magnet synchronous motor vector control method and system based on a current source type inverter. Constructing a self-adaptive harmonic elimination method model, defining a reference signal, obtaining a weight matrix of the reference signal at the current moment based on a given angular velocity and a tracking error of the angular velocity of the rotor of the permanent magnet synchronous motor at the current moment, a self-adaptive gain constant and the reference signal at the current moment; and respectively calculating the error compensation information of the d-axis current and voltage and the q-axis current and voltage at the current moment, and correcting the d-axis current and voltage and the q-axis current and voltage at the current moment based on the error compensation information of the d-axis current and voltage and the q-axis current and voltage at the current moment. Through a novel error correction method, current and voltage compensation measurement errors are corrected, so that the rotation pulsation of the motor is eliminated, and the three-phase current is symmetrically balanced.

Description

Technical Field

[0001] The present invention relates to permanent magnet synchronous motor technology, and in particular to a permanent magnet synchronous motor vector control method and system based on a current source inverter. Background Art

[0002] With the development of modern industry, especially in the fields of aerospace, new energy vehicles, etc., higher requirements are put forward for the high power rating and reliability of multi-phase motors. In order to meet the current needs, multi-phase motors have also been developed to continue to operate when the motor or inverter fails. Permanent magnet synchronous motors are excited by permanent magnets. Compared with other motors, they have a simpler structure and greatly reduce excitation losses, which has received a good response in the market.

[0003] According to the inverter topology and working mode, it is divided into two categories: voltage source type and current source type. Compared with the voltage source inverter, for the motor load, the voltage and current waveforms obtained by the output capacitor of the current source inverter have less harmonic content. At the same time, the current source inverter is a boost structure. For the load, it can have a wider speed regulation range and a wider constant torque zone; and because the DC side of the current source inverter is an energy storage inductor, once the load is short-circuited, the inductor can suppress the rapid rise of current and better protect the circuit. Previously limited by power devices and other aspects, with the breakthrough and innovation of related technologies, the attention of current source inverters in the market has greatly increased. At present, the main control methods of motors are divided into three categories: direct torque control, model predictive control and vector control. Compared with the first two, vector control is to transform the stator current in the ABC coordinate system into the dq coordinate system, and then decompose the stator current into excitation and torque components according to the same direction and radial direction of the rotor flux, maintain the constant excitation component, control the torque component, and then control the rotation of the motor. It has the characteristics of high precision and wide speed regulation range.

[0004] In order to obtain excellent servo performance, the permanent magnet synchronous motor system controlled by the current source inverter uses sensors to sample the control current and voltage. In fact, the working environment under objective conditions, the nonlinear problems of the circuit, etc. will cause current and voltage measurement errors, especially affected by temperature, and temperature drift will cause the measurement error to increase. The current and voltage measurement errors include bias error and proportional error. The existing technology generally uses additional sensors to estimate or correct other measurement data, or directly estimates and adjusts the bias and proportional coefficients of the current measurement value. Although it is effective in correcting the current and voltage measurement errors, it needs to add additional sensors, or depends on motor parameters, or the audit operation process is very complicated, resulting in delays in the correction of current and voltage measurement errors, thereby affecting the stability and accuracy of the motor control system and reducing the actual operation effect and efficiency of the motor. Summary of the invention

[0005] To this end, the technical problem to be solved by the present invention is to overcome the need to add additional sensors when correcting current and voltage measurement errors, or to rely on motor parameters, or the audit calculation process is very complicated, resulting in delays in the correction of current and voltage measurement errors, thereby affecting the stability and accuracy of the motor control system and reducing the actual operating effect and efficiency of the motor.

[0006] In order to solve the above technical problems, the present invention provides a permanent magnet synchronous motor vector control method based on a current source inverter, comprising the following steps: Obtain the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment, and transform the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment into the d-axis current and voltage and the q-axis current and voltage in the dq rotating coordinate system; An adaptive harmonic elimination method model is constructed, and the bias error compensation information and proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment are calculated respectively by using the adaptive harmonic elimination method model, including: defining a reference signal, wherein the reference signal comprises a cosine component signal and a sine component signal; Based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, a weight matrix of the reference signal at the current moment is obtained; Based on the current reference signal and the corresponding weight matrix, the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated respectively; Wherein, when the reference signal is a first reference signal, the bias error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; when the reference signal is a second reference signal, the proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; Based on the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment, respectively correct the d-axis current, voltage and the q-axis current, voltage at the current moment to obtain the corrected d-axis current, voltage and the q-axis current, voltage; The d-axis current given value is adjusted by the first PI controller after the difference between the corrected d-axis current, and the initial d-axis voltage is output; the q-axis current given value is adjusted by the second PI controller after the difference between the corrected q-axis current, and the initial q-axis voltage is output; The initial d-axis voltage is adjusted by a third PI controller after the difference between the corrected d-axis voltage, and the d-axis control voltage is output; the initial q-axis voltage is adjusted by a fourth PI controller after the difference between the corrected q-axis voltage, and the q-axis control voltage is output; After coordinate transformation of the d-axis control voltage and the q-axis control voltage, the switching sequence of the current source inverter is obtained based on the space vector modulation algorithm, and the permanent magnet synchronous motor is driven to operate through the current source inverter.

[0007] Preferably, the first reference signal is specifically: ,in, , , in, represents the first reference signal, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, k represents the time, t represents the sampling period, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, Indicates the stator electrical frequency of the permanent magnet synchronous motor.

[0008] Preferably, the second reference signal vector is specifically: ,in, , , in, represents the second reference signal, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, k represents the time, t represents the sampling period, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, Indicates the stator electrical frequency of the permanent magnet synchronous motor.

[0009] Preferably, based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, the weight matrix of the reference signal at the current moment is obtained, which includes: , , in, represents the weight matrix of the reference signal at the current moment, represents the corresponding weight of the cosine component signal in the reference signal at the current moment, represents the corresponding weight of the sinusoidal component signal in the reference signal at the current moment, and k represents the moment; It represents the tracking error between the given angular velocity at the current moment and the angular velocity of the permanent magnet synchronous motor rotor. Indicates the given angular velocity at the current moment, Indicates the current moment permanent magnet synchronous motor rotor angular velocity, represents the adaptive gain constant, represents the weight matrix corresponding to the reference signal at time k+1, represents the weight matrix corresponding to the reference signal at time k; represents the reference signal, , represents the cosine component signal of the reference signal, A signal representing the sinusoidal component of the reference signal.

[0010] Preferably, based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the d-axis current at the current moment is calculated, and the calculation formula is: , in, represents the bias error compensation information of the d-axis current at the current moment, k represents the moment, t represents the sampling period, Indicates the weight corresponding to the cosine component signal of the first reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the first reference signal at the current moment, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, , Indicates the stator electrical frequency of the permanent magnet synchronous motor; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the d-axis current at the current moment is calculated, and the calculation formula is: , in, Indicates the proportional error compensation information of the d-axis current at the current moment, Indicates the weight corresponding to the cosine component signal of the second reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the second reference signal at the current moment, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, ; Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the d-axis voltage at the current moment is calculated, and the calculation formula is: , in, Indicates the bias error compensation information of the d-axis voltage at the current moment; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the d-axis voltage at the current moment is calculated, and the calculation formula is: , in, Indicates the proportional error compensation information of the d-axis voltage at the current moment.

[0011] Preferably, based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the q-axis current at the current moment is calculated, and the calculation formula is: , in, represents the bias error compensation information of the q-axis current at the current moment, k represents the moment, t represents the sampling period, Indicates the weight corresponding to the cosine component signal of the first reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the first reference signal at the current moment, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, , Indicates the stator electrical frequency of the permanent magnet synchronous motor; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the q-axis current at the current moment is calculated, and the calculation formula is: , in, Indicates the proportional error compensation information of the q-axis current at the current moment, Indicates the weight corresponding to the cosine component signal of the second reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the second reference signal at the current moment, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, ; Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the q-axis voltage at the current moment is calculated, and the calculation formula is: , in, Indicates the bias error compensation information of the q-axis voltage at the current moment; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the q-axis voltage at the current moment is calculated, and the calculation formula is: , in, Indicates the proportional error compensation information of the q-axis voltage at the current moment.

[0012] Preferably, based on the error compensation information of the d-axis current and voltage at the current moment, the d-axis current and voltage at the current moment are corrected respectively to obtain the corrected d-axis current and voltage, and the correction formula is: , in, is the corrected d-axis current, is the corrected d-axis voltage, is the bias error compensation information of the d-axis current at the current moment, is the proportional error compensation information of the d-axis current at the current moment, is the bias error compensation information of the d-axis voltage at the current moment, It is the proportional error compensation information of the d-axis voltage at the current moment.

[0013] Preferably, based on the error compensation information of the q-axis current and voltage at the current moment, the q-axis current and voltage at the current moment are corrected respectively to obtain the corrected q-axis current and voltage, and the correction formula is: , in, is the corrected q-axis current, is the corrected q-axis voltage, is the bias error compensation information of the q-axis current at the current moment, is the proportional error compensation information of the q-axis current at the current moment, is the bias error compensation information of the q-axis voltage at the current moment, It is the proportional error compensation information of the q-axis voltage at the current moment.

[0014] Preferably, the obtaining of the three-phase current and the three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment, and the conversion of the three-phase current and the three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment into the d-axis current and voltage and the q-axis current and voltage in the dq rotating coordinate system, includes: The three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment are converted from the three-phase stationary coordinate system to the two-phase stationary coordinate system through Clark transformation, and the α-axis current and voltage and the β-axis current and voltage in the two-phase stationary coordinate system are obtained; The α-axis current, voltage and β-axis current, voltage in the two-phase stationary coordinate system are converted into the dq rotating coordinate system through Park transformation, and the d-axis current, voltage and q-axis current, voltage in the dq rotating coordinate system at the current moment are obtained.

[0015] The present invention also provides a permanent magnet synchronous motor vector control system based on error correction, comprising: A data acquisition module is used to acquire the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment, and transform the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment into the d-axis current and voltage and the q-axis current and voltage in the dq rotating coordinate system; The error compensation information calculation module is used to construct an adaptive harmonic elimination method model, and use the adaptive harmonic elimination method model to calculate the bias error compensation information and proportional error compensation information of the d-axis current, voltage and q-axis current, voltage at the current moment, respectively, including: defining a reference signal, wherein the reference signal comprises a cosine component signal and a sine component signal; Based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, a weight matrix of the reference signal at the current moment is obtained; Based on the current reference signal and the corresponding weight matrix, the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated respectively; Wherein, when the reference signal is a first reference signal, the bias error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; when the reference signal is a second reference signal, the proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; A correction module is used to correct the d-axis current, voltage and q-axis current, voltage at the current moment based on the error compensation information of the d-axis current, voltage and q-axis current, voltage at the current moment, respectively, to obtain the corrected d-axis current, voltage and q-axis current, voltage; An initial voltage acquisition module is used to adjust the difference between the given value of the d-axis current and the corrected d-axis current through a first PI controller to output an initial d-axis voltage, and to adjust the difference between the given value of the q-axis current and the corrected q-axis current through a second PI controller to output an initial q-axis voltage; A control voltage acquisition module is used to adjust the initial d-axis voltage and the corrected d-axis voltage by a third PI controller to output a d-axis control voltage, and to adjust the initial q-axis voltage and the corrected q-axis voltage by a fourth PI controller to output a q-axis control voltage; The motor control module is used to obtain the switching sequence of the current source inverter based on the space vector modulation algorithm after the coordinate transformation of the d-axis control voltage and the q-axis control voltage, and drive the permanent magnet synchronous motor to operate through the current source inverter.

[0016] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The present invention discloses a permanent magnet synchronous motor vector control method and system based on a current source inverter, constructs an adaptive harmonic elimination method model, defines a reference signal, obtains a weight matrix of the reference signal at the current moment based on the tracking error between a given angular velocity and the permanent magnet synchronous motor rotor angular velocity at the current moment, an adaptive gain constant and the reference signal at the current moment, respectively calculates the error compensation information of the d-axis current, voltage and q-axis current, voltage at the current moment based on the reference signal at the current moment and the corresponding weight matrix, and corrects the d-axis current, voltage and q-axis current, voltage at the current moment based on the error compensation information of the d-axis current, voltage and q-axis current, voltage at the current moment. No motor parameters and redundant sensors are required, and only relatively concise calculations are required to obtain the bias error compensation information and proportional error compensation information of the d-axis current, voltage and q-axis current, voltage, thereby eliminating motor speed pulsation and three-phase current fluctuation, increasing the response speed of the motor, and improving the performance and reliability of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein: Figure 1 It is a structural diagram of a permanent magnet synchronous motor vector control method based on a current source inverter and a model of an adaptive harmonic elimination method in the system of the present invention.

[0018] Figure 2 It is a structural block diagram of a permanent magnet synchronous motor vector control method and system based on a current source inverter of the present invention.

[0019] Figure 3 The present invention is a permanent magnet synchronous motor vector control method based on a current source inverter and the waveforms of the permanent magnet synchronous motor before and after the d-axis and q-axis current compensation in the system, wherein: Figure 3 A in the figure represents the waveform before and after d-axis current compensation. Figure 3 B in FIG. 1 represents the waveform before and after q-axis current compensation.

[0020] Figure 4 The present invention is a permanent magnet synchronous motor vector control method based on a current source inverter and the waveforms of the permanent magnet synchronous motor d-axis and q-axis voltages before and after compensation in the system, wherein: Figure 4 C in the figure represents the waveform before and after d-axis voltage compensation. Figure 4D in FIG. 1 represents the waveform before and after q-axis voltage compensation.

[0021] Figure 5 The present invention discloses a permanent magnet synchronous motor vector control method based on a current source inverter and waveforms of the permanent magnet synchronous motor before and after three-phase current compensation in the system.

[0022] Figure 6 The present invention discloses a permanent magnet synchronous motor vector control method based on a current source inverter and waveforms before and after speed compensation of the permanent magnet synchronous motor in the system.

[0023] Figure 7 It is a schematic diagram of a three-phase stationary coordinate system, a two-phase stationary coordinate system and a two-phase rotating coordinate system in a permanent magnet synchronous motor vector control method and system based on a current source inverter of the present invention.

[0024] Figure 8 The present invention discloses a permanent magnet synchronous motor vector control method based on a current source inverter and a current space vector distribution diagram in the system.

[0025] Fig. 9 The present invention is a permanent magnet synchronous motor vector control method based on a current source inverter and a sector in the system Schematic diagram of space vector synthesis.

[0026] Fig.10 The present invention discloses a permanent magnet synchronous motor vector control method based on a current source inverter and a structural diagram of the current source inverter in the system.

[0027] Fig.11 The present invention is a flowchart of the steps of a permanent magnet synchronous motor vector control method based on a current source inverter.

[0028] Fig.12 It is a system structure diagram of a permanent magnet synchronous motor vector control method based on a current source inverter of the present invention. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0030] Reference Figure 2 and Fig.11 As shown, the first embodiment of the present invention provides a permanent magnet synchronous motor vector control method based on a current source inverter, comprising the following steps: Step S1: obtaining the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment, and transforming the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment into the d-axis current and voltage and the q-axis current and voltage in the dq rotating coordinate system; like Figure 7 As shown, Figure 7 It is a schematic diagram of a three-phase stationary coordinate system, a two-phase stationary coordinate system and a two-phase rotating coordinate system.

[0031] Among them, the three types of coordinate systems are described as follows: Three-phase stationary coordinate system: ABC are the axial directions of the three-phase stator windings, with a difference of 120° electrical angle; Two-phase stationary coordinate system: the α-axis coincides with the A-axis, and the β-axis leads the α-axis by 90° electrical angle counterclockwise; Two-phase rotating coordinate system: the rotor magnetic pole axis is the d-axis, and the q-axis is perpendicular to the d-axis.

[0032] The three-phase current and three-phase voltage of the permanent magnet synchronous motor at the current moment are collected by the sensor, and the collected three-phase current and three-phase voltage of the permanent magnet synchronous motor are converted from the three-phase stationary coordinate system to the two-phase stationary coordinate system through Clark transformation, so as to obtain the α-axis current and voltage and the β-axis current and voltage of the two-phase stationary coordinate system; The α-axis current, voltage and β-axis current and voltage of the two-phase stationary coordinate system are converted into the dq rotating coordinate system through Park transformation, and the d-axis current, voltage and q-axis current, voltage in the dq rotating coordinate system at the current moment are obtained.

[0033] Clark transformation of three-phase current: ,

[0034] in, Respectively represent the A phase current, B phase current and C phase current, They represent the α-axis current and β-axis current of the two-phase stationary coordinate system respectively.

[0035] Park transformation of α-axis current and β-axis current: ,

[0036] in, It represents the angle between the d-axis and the A-phase stator winding; The three-phase three-wire circuit topology usually uses sensors to measure current and voltage. In fact, the measured value is not equal to the actual value, which is generally affected by the proportional error. and DC bias error Influence.

[0037] , Generally, only two phases are needed for current and voltage measurement. The remaining phases need to be measured and calculated by combining the measured values ​​with Kirchhoff's law. The values ​​of the d-axis current and voltage and the q-axis current and voltage are obtained by coordinate transformation: , in, is the d-axis current error value, is the q-axis current error value, is the d-axis voltage error value, is the q-axis voltage error value, is the d-axis current measurement value, is the q-axis current measurement value, is the d-axis voltage measurement value, is the q-axis current measurement value, is the actual value of the d-axis current, is the actual value of q-axis current, is the actual value of d-axis voltage, is the actual value of the q-axis voltage.

[0038] The error expressions of d-axis current, voltage and q-axis current, voltage are as follows: , , in, is the rotor electrical angle, is the angle between the d-axis and the A-axis, is the electrical angle, is the stator electrical frequency, is the rotor angular velocity.

[0039] Assuming that only the bias error is considered, the error expressions of the d-axis current and voltage and the q-axis current and voltage are: , , in, is the offset error value of the d-axis current, is the bias error value of the q-axis current, is the bias error value of the d-axis voltage, is the bias error value of the q-axis voltage. In steady state, the given current and voltage are basically equal to the measured values, and the torque error will also be proportional to the stator electrical frequency. Shock.

[0040] Assuming that only the proportional error is considered, the expressions of the current and voltage of phases A and B are: , , The proportional error expression of d-axis current, voltage and q-axis current, voltage is: , in, is the proportional error value of the d-axis current, is the proportional error value of the q-axis current, is the proportional error value of the d-axis voltage, is the proportional error value of the q-axis voltage, is the A phase current proportional error coefficient, is the B phase current proportional error coefficient.

[0041] By analyzing the proportional error, it can be found that the error torque caused will cause electromagnetic torque oscillation, and its frequency is twice the stator frequency .

[0042] Based on the above analysis of bias error and proportional error, the present invention designs an adaptive harmonic elimination method model, which does not require motor parameters and redundant sensors, but only requires relatively simple calculations. It corrects the measurement error through current and voltage compensation, thereby eliminating motor rotation pulsation, making the three-phase current symmetrically balanced, increasing the response speed of the motor, and improving the performance and reliability of the motor.

[0043] Step S2: construct an adaptive harmonic elimination method model, and use the adaptive harmonic elimination method model to calculate the bias error compensation information and proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment, respectively, including: defining a reference signal, wherein the reference signal comprises a cosine component signal and a sine component signal; Preferably, the first reference signal is specifically: ,in, , , in, represents the first reference signal, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, k represents the time, t represents the sampling period, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, Indicates the stator electrical frequency of the permanent magnet synchronous motor.

[0044] Preferably, the second reference signal vector is specifically: ,in, , , in, represents the second reference signal, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, k represents the time, t represents the sampling period, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, Indicates the stator electrical frequency of the permanent magnet synchronous motor.

[0045] Based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, a weight matrix of the reference signal at the current moment is obtained; Preferably, based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, the weight matrix of the reference signal at the current moment is obtained, which includes: , , in, represents the weight matrix of the reference signal at the current moment, represents the corresponding weight of the cosine component signal in the reference signal at the current moment, represents the corresponding weight of the sinusoidal component signal in the reference signal at the current moment, and k represents the moment; It represents the tracking error between the given angular velocity at the current moment and the angular velocity of the permanent magnet synchronous motor rotor. Indicates the given angular velocity at the current moment, Indicates the current moment permanent magnet synchronous motor rotor angular velocity, represents the adaptive gain constant, represents the weight matrix corresponding to the reference signal at time k+1, represents the weight matrix corresponding to the reference signal at time k; represents the reference signal, , represents the cosine component signal of the reference signal, A signal representing the sinusoidal component of the reference signal.

[0046] Based on the current reference signal and the corresponding weight matrix, the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated respectively; Wherein, when the reference signal is a first reference signal, the bias error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; when the reference signal is a second reference signal, the proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the d-axis current at the current moment is calculated, and the calculation formula is: , in, represents the bias error compensation information of the d-axis current at the current moment, k represents the moment, t represents the sampling period, Indicates the weight corresponding to the cosine component signal of the first reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the first reference signal at the current moment, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, , Indicates the stator electrical frequency of the permanent magnet synchronous motor; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the d-axis current at the current moment is calculated, and the calculation formula is: , in, Indicates the proportional error compensation information of the d-axis current at the current moment, Indicates the weight corresponding to the cosine component signal of the second reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the second reference signal at the current moment, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, ; Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the d-axis voltage at the current moment is calculated, and the calculation formula is: , in, Indicates the bias error compensation information of the d-axis voltage at the current moment; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the d-axis voltage at the current moment is calculated, and the calculation formula is: , in, Indicates the proportional error compensation information of the d-axis voltage at the current moment.

[0047] Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the q-axis current at the current moment is calculated, and the calculation formula is: , in, represents the bias error compensation information of the q-axis current at the current moment, k represents the moment, t represents the sampling period, Indicates the weight corresponding to the cosine component signal of the first reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the first reference signal at the current moment, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, , Indicates the stator electrical frequency of the permanent magnet synchronous motor; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the q-axis current at the current moment is calculated, and the calculation formula is: , in, Indicates the proportional error compensation information of the q-axis current at the current moment, Indicates the weight corresponding to the cosine component signal of the second reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the second reference signal at the current moment, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, ; Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the q-axis voltage at the current moment is calculated, and the calculation formula is: , in, Indicates the bias error compensation information of the q-axis voltage at the current moment; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the q-axis voltage at the current moment is calculated, and the calculation formula is: , in, Indicates the proportional error compensation information of the q-axis voltage at the current moment.

[0048] Based on the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment, the d-axis current, voltage and the q-axis current, voltage at the current moment are corrected respectively to obtain the corrected d-axis current, voltage and the q-axis current, voltage. The correction formula is: , in, is the corrected d-axis current, is the corrected q-axis current, is the corrected d-axis voltage, is the corrected q-axis voltage; is the bias error compensation information of the d-axis current at the current moment, is the proportional error compensation information of the d-axis current at the current moment, is the bias error compensation information of the d-axis voltage at the current moment, is the proportional error compensation information of the d-axis voltage at the current moment, is the bias error compensation information of the q-axis current at the current moment, is the proportional error compensation information of the q-axis current at the current moment, is the bias error compensation information of the q-axis voltage at the current moment, It is the proportional error compensation information of the q-axis voltage at the current moment.

[0049] Step S4: the d-axis current given value is adjusted by the first PI controller after the difference between the corrected d-axis current, and the initial d-axis voltage is output; the q-axis current given value is adjusted by the second PI controller after the difference between the corrected q-axis current, and the initial q-axis voltage is output; Step S5: the initial d-axis voltage is adjusted by a third PI controller after the difference between the corrected d-axis voltage, and the d-axis control voltage is output; the initial q-axis voltage is adjusted by a fourth PI controller after the difference between the corrected q-axis voltage, and the q-axis control voltage is output; Step S6: After coordinate transformation of the d-axis control voltage and the q-axis control voltage, a switching sequence of the current source inverter is obtained based on a space vector modulation algorithm, and the permanent magnet synchronous motor is driven to operate by the current source inverter.

[0050] like Fig.10 As shown, Fig.10 The structure diagram of the current source inverter is shown in Figure 1. The H-bridge on the front drive side controls the conduction state of the switch tube, and indirectly controls the bus current by controlling the output voltage to keep the bus current at a predetermined value. The power switch and the diode are connected in series on the inverter bridge arm to ensure unidirectional current flow. The three-phase filter capacitor is connected on the output side of the inverter to filter out the harmonic components of the switching frequency and its integer multiples, and provide commutation capability for the current. The voltage of the filter capacitor is With three-phase current is the measured value.

[0051] As shown in Table 1, Table 1 shows the corresponding relationship between the switching state and the vector of the current source inverter: Table 1

[0052] Six non-zero vectors The relationship with the three-phase current is: , The zero vector is 0; like Figure 8 As shown, Figure 8 is the current space vector distribution diagram. The non-zero vector is evenly divided into six sectors. Assuming that the output current is a sine wave, its amplitude is , angular velocity Correspondingly, the space vector of the three-phase current has an amplitude of , angular velocity Rotating in space, assuming (Current vector) and the angle between phase A , the current vector is rotating in the inscribed circle of the hexagon composed of six non-zero quantities.

[0053] In the space vector modulation algorithm, when the expected output is a three-phase sinusoidal symmetrical current, the sector where the space current reference vector is located can be calculated by the three-phase reference current angle In order to facilitate the calculation and reduce the calculation pressure, the symbol function is introduced to help quickly calculate the sector where the space current reference vector is located. The number of sectors S: , in, is the reference current of phase A, is the reference current of phase B, is the C phase reference current; The sign function is derived based on the position of the three-phase current in the sector. For example, if the A phase current is in the upper half, and the B and C phase currents are in the lower half, through the sign function and the position information of these reference currents, it can be concluded that the specific sector where the spatial current reference vector is located is sector .

[0054] like Fig. 9 As shown, Fig. 9 For sectors Synthetic diagram of the internal current vector, which can be expressed by Vector synthesis, set the corresponding action time , the relationship is as follows, , To understand the above relationship, we need ,exist With the help of the coordinate system, the action time is calculated and the current vector is decomposed into The coordinate system is decomposed into , model is ; , , According to the following formula, the vector action time of the remaining five sectors can be calculated, and then the non-zero vector action time in the six sectors can be derived. The non-zero vector action time corresponding to each sector is expressed as express.

[0055] , In the second embodiment of the present invention, a corresponding permanent magnet synchronous motor vector control model driven by a current source inverter with error correction is built based on MATLAB, and simulation parameters are set. The above-mentioned permanent magnet synchronous motor vector control method based on a current source inverter is used to perform error correction. The compensation start time is 0.5s. The simulation parameters include: bus current , Motor Inductance , moment of inertia 、Number of motor pole pairs , Motor resistance 、Filter capacitor , sampling period , bus inductance .

[0056] like Figure 3 , 4 , 5 and 6, Figure 3 It represents the waveform of the permanent magnet synchronous motor d-axis and q-axis current before and after compensation, where: Figure 3 A in the figure represents the waveform before and after d-axis current compensation. Figure 3 B in the figure represents the waveform before and after q-axis current compensation. Figure 4 It represents the waveforms before and after the d-axis and q-axis voltage compensation, where: Figure 4 C in the figure represents the waveform before and after d-axis voltage compensation. Figure 4 D in the figure represents the waveform before and after q-axis voltage compensation. Figure 5 It represents the waveform of the permanent magnet synchronous motor before and after three-phase current compensation. Figure 6 Represents the waveform before and after permanent magnet synchronous motor speed compensation.

[0057] according to Figure 3 , 4As shown in Figures 5 and 6, it is found that the waveform pulsation amplitudes of the d-axis current and voltage and the q-axis current and voltage are very large before 0.5s. This is because the error in the sensor measurement affects the PI regulation, and also makes the three-phase current unbalanced. In terms of speed, the up and down fluctuations are large and cannot converge. After the compensation intervention, the compensation current and voltage generated by the adaptive harmonic elimination method model begin to correct the impact of the error on the d-axis current and voltage and the q-axis current and voltage. At the same time, the imbalance of the three-phase current is also continuously improved with compensation until it begins to be symmetrical in the steady state, and the speed can also completely converge to the set speed, where the set speed is 500, which can verify the effectiveness of the control method.

[0058] refer to Fig.12 , Embodiment 3 of the present invention further provides a permanent magnet synchronous motor vector control system based on error correction, comprising: The data acquisition module 10 is used to obtain the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment, and transform the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment into the d-axis current and voltage and the q-axis current and voltage in the dq rotating coordinate system; The error compensation information calculation module 20 is used to construct an adaptive harmonic elimination method model, and use the adaptive harmonic elimination method model to calculate the bias error compensation information and proportional error compensation information of the d-axis current, voltage and q-axis current, voltage at the current moment, respectively, including: defining a reference signal, wherein the reference signal comprises a cosine component signal and a sine component signal; Based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, a weight matrix of the reference signal at the current moment is obtained; Based on the current reference signal and the corresponding weight matrix, the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated respectively; Wherein, when the reference signal is a first reference signal, the bias error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; when the reference signal is a second reference signal, the proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; The correction module 30 is used to correct the d-axis current, voltage and q-axis current, voltage at the current moment based on the error compensation information of the d-axis current, voltage and q-axis current, voltage at the current moment, respectively, to obtain the corrected d-axis current, voltage and q-axis current, voltage; An initial voltage acquisition module 40 is used to adjust the difference between the given d-axis current value and the corrected d-axis current through a first PI controller to output an initial d-axis voltage, and to adjust the difference between the given q-axis current value and the corrected q-axis current through a second PI controller to output an initial q-axis voltage; A control voltage acquisition module 50 is used to adjust the difference between the initial d-axis voltage and the corrected d-axis voltage through a third PI controller to output a d-axis control voltage, and to adjust the difference between the initial q-axis voltage and the corrected q-axis voltage through a fourth PI controller to output a q-axis control voltage; The motor control module 60 is used to obtain a switching sequence of a current source inverter based on a space vector modulation algorithm after coordinate transformation of a d-axis control voltage and a q-axis control voltage, and drive the permanent magnet synchronous motor to operate through the current source inverter.

[0059] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt 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 codes.

[0060] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0061] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0062] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0063] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A permanent magnet synchronous motor vector control method based on a current source inverter, characterized in that: The following steps are involved: Obtain the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment, and transform the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment into the d-axis current and voltage and the q-axis current and voltage in the dq rotating coordinate system; An adaptive harmonic elimination method model is constructed, and the bias error compensation information and proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment are calculated respectively by using the adaptive harmonic elimination method model, including: defining a reference signal, wherein the reference signal comprises a cosine component signal and a sine component signal; Based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, a weight matrix of the reference signal at the current moment is obtained; Based on the current reference signal and the corresponding weight matrix, the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated respectively; Wherein, when the reference signal is a first reference signal, the bias error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; when the reference signal is a second reference signal, the proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; Based on the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment, respectively correct the d-axis current, voltage and the q-axis current, voltage at the current moment to obtain the corrected d-axis current, voltage and the q-axis current, voltage; The d-axis current given value is adjusted by the first PI controller after the difference between the corrected d-axis current, and the initial d-axis voltage is output; the q-axis current given value is adjusted by the second PI controller after the difference between the corrected q-axis current, and the initial q-axis voltage is output; The initial d-axis voltage is adjusted by a third PI controller after the difference between the corrected d-axis voltage, and the d-axis control voltage is output; the initial q-axis voltage is adjusted by a fourth PI controller after the difference between the corrected q-axis voltage, and the q-axis control voltage is output; After coordinate transformation of the d-axis control voltage and the q-axis control voltage, the switching sequence of the current source inverter is obtained based on the space vector modulation algorithm, and the permanent magnet synchronous motor is driven to operate through the current source inverter.

2. The method for vector control of a permanent magnet synchronous motor based on a current source inverter according to claim 1, characterized in that: The first reference signal is specifically: ,in, , , in, represents the first reference signal, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, k represents the time, t represents the sampling period, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, Indicates the stator electrical frequency of the permanent magnet synchronous motor.

3. The method for vector control of a permanent magnet synchronous motor based on a current source inverter according to claim 1, characterized in that: The second reference signal vector is specifically: ,in, , , in, represents the second reference signal, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, k represents the time, t represents the sampling period, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, Indicates the stator electrical frequency of the permanent magnet synchronous motor.

4. The method for vector control of a permanent magnet synchronous motor based on a current source inverter according to claim 1, characterized in that: Based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, the weight matrix of the reference signal at the current moment is obtained, including: , ， in, represents the weight matrix of the reference signal at the current moment, represents the corresponding weight of the cosine component signal in the reference signal at the current moment, represents the corresponding weight of the sinusoidal component signal in the reference signal at the current moment, and k represents the moment; It represents the tracking error between the given angular velocity at the current moment and the angular velocity of the permanent magnet synchronous motor rotor. Indicates the given angular velocity at the current moment, Indicates the current moment permanent magnet synchronous motor rotor angular velocity, represents the adaptive gain constant, represents the weight matrix corresponding to the reference signal at time k+1, represents the weight matrix corresponding to the reference signal at time k; represents the reference signal, , represents the cosine component signal of the reference signal, A signal representing the sinusoidal component of the reference signal.

5. The method for vector control of a permanent magnet synchronous motor based on a current source inverter according to claim 1, characterized in that: Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the d-axis current at the current moment is calculated, and the calculation formula is: , in, represents the bias error compensation information of the d-axis current at the current moment, k represents the moment, t represents the sampling period, Indicates the weight corresponding to the cosine component signal of the first reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the first reference signal at the current moment, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, , Indicates the stator electrical frequency of the permanent magnet synchronous motor; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the d-axis current at the current moment is calculated, and the calculation formula is: ， in, Indicates the proportional error compensation information of the d-axis current at the current moment, Indicates the weight corresponding to the cosine component signal of the second reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the second reference signal at the current moment, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, ; Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the d-axis voltage at the current moment is calculated, and the calculation formula is: ， in, Indicates the bias error compensation information of the d-axis voltage at the current moment; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the d-axis voltage at the current moment is calculated, and the calculation formula is: ， in, Indicates the proportional error compensation information of the d-axis voltage at the current moment.

6. The method for vector control of a permanent magnet synchronous motor based on a current source inverter according to claim 1, characterized in that: Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the q-axis current at the current moment is calculated, and the calculation formula is: ， in, represents the bias error compensation information of the q-axis current at the current moment, k represents the moment, t represents the sampling period, Indicates the weight corresponding to the cosine component signal of the first reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the first reference signal at the current moment, represents the cosine component signal of the first reference signal, represents the sinusoidal component signal of the first reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the first reference signal, , Indicates the stator electrical frequency of the permanent magnet synchronous motor; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the q-axis current at the current moment is calculated, and the calculation formula is: ， in, Indicates the proportional error compensation information of the q-axis current at the current moment, Indicates the weight corresponding to the cosine component signal of the second reference signal at the current moment, represents the weight corresponding to the sinusoidal component signal of the second reference signal at the current moment, represents the cosine component signal of the second reference signal, represents the sinusoidal component signal of the second reference signal, represents the angular frequency of the cosine component signal and the sine component signal of the second reference signal, ; Based on the first reference signal at the current moment and its corresponding weight matrix, the bias error compensation information of the q-axis voltage at the current moment is calculated, and the calculation formula is: ， in, Indicates the bias error compensation information of the q-axis voltage at the current moment; Based on the second reference signal at the current moment and its corresponding weight matrix, the proportional error compensation information of the q-axis voltage at the current moment is calculated, and the calculation formula is: ， in, Indicates the proportional error compensation information of the q-axis voltage at the current moment.

7. The method for vector control of a permanent magnet synchronous motor based on a current source inverter according to claim 1, characterized in that: Based on the error compensation information of the d-axis current and voltage at the current moment, the d-axis current and voltage at the current moment are corrected respectively to obtain the corrected d-axis current and voltage. The correction formula is: ， in, is the corrected d-axis current, is the corrected d-axis voltage, is the bias error compensation information of the d-axis current at the current moment, is the proportional error compensation information of the d-axis current at the current moment, is the bias error compensation information of the d-axis voltage at the current moment, It is the proportional error compensation information of the d-axis voltage at the current moment.

8. The method for vector control of a permanent magnet synchronous motor based on a current source inverter according to claim 1, characterized in that: Based on the error compensation information of the q-axis current and voltage at the current moment, the q-axis current and voltage at the current moment are corrected respectively to obtain the corrected q-axis current and voltage. The correction formula is: ， in, is the corrected q-axis current, is the corrected q-axis voltage, is the bias error compensation information of the q-axis current at the current moment, is the proportional error compensation information of the q-axis current at the current moment, is the bias error compensation information of the q-axis voltage at the current moment, It is the proportional error compensation information of the q-axis voltage at the current moment.

9. The method for vector control of a permanent magnet synchronous motor based on a current source inverter according to claim 1, characterized in that: The method of obtaining the three-phase current and the three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment, and transforming the three-phase current and the three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment into the d-axis current and voltage and the q-axis current and voltage in the dq rotating coordinate system, includes: The three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment are converted from the three-phase stationary coordinate system to the two-phase stationary coordinate system through Clark transformation, and the α-axis current and voltage and the β-axis current and voltage in the two-phase stationary coordinate system are obtained; The α-axis current, voltage and β-axis current, voltage in the two-phase stationary coordinate system are converted into the dq rotating coordinate system through Park transformation, and the d-axis current, voltage and q-axis current, voltage in the dq rotating coordinate system at the current moment are obtained.

10. A permanent magnet synchronous motor vector control system based on error correction, characterized in that: include: A data acquisition module is used to acquire the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment, and transform the three-phase current and three-phase voltage of the permanent magnet synchronous motor in the three-phase stationary coordinate system at the current moment into the d-axis current and voltage and the q-axis current and voltage in the dq rotating coordinate system; The error compensation information calculation module is used to construct an adaptive harmonic elimination method model, and use the adaptive harmonic elimination method model to calculate the bias error compensation information and proportional error compensation information of the d-axis current, voltage and q-axis current, voltage at the current moment, respectively, including: defining a reference signal, wherein the reference signal comprises a cosine component signal and a sine component signal; Based on the given angular velocity and the tracking error of the permanent magnet synchronous motor rotor angular velocity at the current moment, the adaptive gain constant and the reference signal at the current moment, a weight matrix of the reference signal at the current moment is obtained; Based on the current reference signal and the corresponding weight matrix, the error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated respectively; Wherein, when the reference signal is a first reference signal, the bias error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; when the reference signal is a second reference signal, the proportional error compensation information of the d-axis current, voltage and the q-axis current, voltage at the current moment is calculated; A correction module is used to correct the d-axis current, voltage and q-axis current, voltage at the current moment based on the error compensation information of the d-axis current, voltage and q-axis current, voltage at the current moment, respectively, to obtain the corrected d-axis current, voltage and q-axis current, voltage; An initial voltage acquisition module is used to adjust the difference between the given value of the d-axis current and the corrected d-axis current through a first PI controller to output an initial d-axis voltage, and to adjust the difference between the given value of the q-axis current and the corrected q-axis current through a second PI controller to output an initial q-axis voltage; A control voltage acquisition module is used to adjust the initial d-axis voltage and the corrected d-axis voltage by a third PI controller to output a d-axis control voltage, and to adjust the initial q-axis voltage and the corrected q-axis voltage by a fourth PI controller to output a q-axis control voltage; The motor control module is used to obtain the switching sequence of the current source inverter based on the space vector modulation algorithm after the coordinate transformation of the d-axis control voltage and the q-axis control voltage, and drive the permanent magnet synchronous motor to operate through the current source inverter.

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