Motor control apparatus and motor control method for sine wave filter

Abstract

The invention discloses motor control equipment and a motor control method for a sine wave filter. The motor control method comprises the following steps: compensating a current feedback vector output by a driver through a filter state compensator to obtain a motor current feedback signal; a motor current feedback signal and a given signal are synchronously input to a motor controller for operation, a motor stator voltage given vector is obtained and output to a filter state compensator for further processing, and a driver output given voltage vector is obtained and serves as a voltage signal to control the bus voltage of the sine filter. According to the method, only the direct-current bus voltage and the three-phase output current of the driver are collected, the problem of hardware compatibility does not exist, the motor is controlled to run along with the given signal through external filter state compensation, high current control response bandwidth can be achieved, resonance is avoided, and stable running of the motor is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor control device and a motor control method for a sine wave filter. Background Art

[0002] In motor drive applications, sine wave filters can maximize the attenuation of high-order harmonics in the motor terminal voltage excitation and reduce the parasitic effects caused by them, such as voltage reflection caused by long cables, core loss and motor temperature rise caused by current harmonics; therefore, they are widely used in long cable electric submersible pumps, high-speed low-harmonic fans and other occasions.

[0003] From the perspective of system transfer function, the sinusoidal filter introduces a second-order filtering link between the driver and the motor. The control object of the driver is also changed from the first-order winding dynamics to the third-order dynamics including the filter dynamics, and the dynamics include an inherent resonance point (the frequency is determined by the filter inductance, filter capacitance and motor inductance); accordingly, the motor control method must be adjusted to adapt to the complexity of the control object.

[0004] Reference (J.Salomaki, Sensorless Control of Induction Motor Drives Equipped With Inverter Output Filter, IEEE Transactions on Industrial Electronics, vol.53, no.4, pp.1188-1197, 2006) applies the cascade control principle to sinusoidal wave drive and proposes a three-loop cascade filter state compensation method. However, the control structure of this method is complex and the regulator parameters are too many. Reference (A.Sapin, Modeling, Simulation, and Test of a Three-Level Voltage-Source Inverter With Output LC Filter and Direct Torque Control, IEEE Transactions on Industry Applications, vol.43, no.2, pp.469-475, 2007) measures the capacitance state through an external sensor to achieve resonance suppression and filter state compensation. However, the disadvantage is that the standard hardware solution needs to be adjusted. Reference (Position Sensorless Open Loop Control for Motor Drives with Output Filter and Transformer, US2014312811, Rockwell, 2014) further improved the existing technology and adopted a simple standard motor drive control structure, but the current loop gain needs to be greatly reduced to ensure control stability. At the same time, since the filter state is not reasonably compensated, the motor cannot run at a given operating point. Therefore, the existing technology cannot achieve high-performance control of the motor state based on a general platform and a standard motor control core. Summary of the invention

[0005] The embodiments of the present invention provide a motor control device and a motor control method for a sine wave filter, aiming to solve the problem of poor control stability existing in the application method for motor control in the prior art.

[0006] In a first aspect, an embodiment of the present invention discloses a motor control device for a sine wave filter, wherein the motor control device includes a motor controller and a filter state compensator, a power supply, a driver, a sine filter and a load motor are electrically connected in sequence, the motor control device is electrically connected to the driver to control the driver, and the three-phase output of the sine filter is connected to the three-phase input of the motor;

[0007] The first signal input end of the motor controller is used to input a given signal, the second signal input end of the motor controller is used to input a motor stator current feedback signal, and the signal output end of the motor controller is used to output a motor stator voltage given signal; the motor controller includes a motor state controller and a motor state controller; one input end of the motor state controller serves as the first signal input end of the motor controller; the second signal output end of the filter state compensator and the other input end of the motor state controller; the output end of the motor state controller is connected to the signal output end of the motor controller, the other input end of the motor state model circuit is respectively connected to the signal output end of the motor controller and the second signal output end of the filter state compensator, and the signal output end of the motor state model circuit is connected to another input end of the motor state controller;

[0008] The filter state compensator includes a first logic operator, a second logic operator, a third logic operator, a resonance suppression circuit, a filter inductor voltage drop compensation circuit and a filter capacitor current compensation circuit;

[0009] The signal output end of the motor controller is connected to an input end of the first logic operator, and the output end of the resonance suppression circuit is connected to another input end of the first logic operator; the output end of the first logic operator is simultaneously connected to an input end of the second logic operator, an input end of the resonance suppression circuit and an input end of the filter capacitor current compensation circuit; the output end of the filter inductor voltage drop compensation circuit is connected to another input end of the second logic operator;

[0010] The state signal input end of the filter inductor voltage drop compensation circuit and the state signal input end of the filter capacitor current compensation circuit are both electrically connected to the output end of the motor state model circuit in the motor controller;

[0011] The output current feedback of the driver is connected to the input end of the filter inductor voltage drop compensation circuit and one input end of the third logic operator; the output end of the filter capacitor current compensation circuit is connected to the other input end of the resonance suppression circuit and the other input end of the third logic operator, and the output end of the third logic operator is connected to the second signal input end of the motor controller;

[0012] The output terminal of the second logic operator outputs a voltage signal to control the bus voltage of the sine filter.

[0013] In a second aspect, an embodiment of the present invention further discloses a motor control method for a sine wave filter, wherein the method is applied to a motor control device for a sine wave filter as described in the first aspect above, wherein the motor control device comprises a motor controller and a filter state compensator, a power supply, a driver, a sine filter and a load motor are electrically connected in sequence, and the motor control device is electrically connected to the driver to control the driver;

[0014] The motor control method comprises:

[0015] The current feedback vector output by the driver is compensated by the filter state compensator to obtain a motor current feedback signal;

[0016] The motor current feedback signal and the given signal are synchronously input to the motor controller, and the motor controller performs calculations to obtain the motor stator voltage given vector and outputs it to the filter state compensator; the given signal includes a torque given signal and a flux given signal;

[0017] The first logic operator combines the motor stator voltage given vector with the resonance suppression voltage vector output by the resonance suppression circuit in the filter state compensator to obtain a filter capacitor voltage given vector and outputs it to the second logic operator;

[0018] The second logic operator superimposes the filter capacitor voltage given vector and the filter inductance voltage drop vector output by the filter inductance voltage drop compensation circuit to obtain the driver output given voltage vector as the voltage signal;

[0019] The three-phase input voltage of the sine filter is controlled by the voltage signal to control the operation of the motor.

[0020] The embodiment of the present application discloses a motor control device and a motor control method for a sine wave filter, the motor control method comprising: the current feedback vector output by the driver is compensated by the filter state compensator to obtain a motor current feedback signal; the motor current feedback signal and a given signal are synchronously input to the motor controller for operation, and the motor stator voltage given vector is output to the filter state compensator for further processing to obtain the driver output given voltage vector, which is used as a voltage signal to control the input voltage of the sine filter. The above-mentioned motor control device only collects the driver DC bus voltage and three-phase output current, and there is no hardware compatibility problem. The motor is controlled to run based on a given signal through external filter state compensation, which can achieve a higher current control response bandwidth, while avoiding resonance to ensure stable operation of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0022] Figure 1 A method flow chart of a motor control method provided by an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of an application scenario of the motor control method provided by an embodiment of the present invention;

[0024] Figure 3 A circuit structure diagram of a motor control device provided by an embodiment of the present invention;

[0025] Figure 4 A structural diagram of a filter capacitor current compensation circuit provided by an embodiment of the present invention;

[0026] Figure 5 A structural diagram of a resonance suppression circuit provided by an embodiment of the present invention;

[0027] Figure 6 An equivalent circuit diagram of a resonance suppression circuit provided by an embodiment of the present invention;

[0028] Figure 7 A structural diagram of a filter inductor voltage drop compensation circuit provided in an embodiment of the present invention;

[0029] Figure 8 This is an application effect diagram of the motor control device provided by an embodiment of the present invention.

[0030] Figure numerals: 1, power supply; 2, driver; 3, motor control device; 30, sine filter; 40, load motor; 10, motor controller; 11, motor state controller; 12, motor state model circuit; 20, filter state compensator; S1, first logic operator; S2, second logic operator; S3, third logic operator; 21, resonance suppression circuit; 22, filter inductor voltage drop compensation circuit; 23, filter capacitor current compensation circuit; P1, first phase conversion module; X1, first product module; X2, second product module; G1, high-pass filter; X3, third product module; S4, fourth logic operator; X4, fourth product module; P2, second phase conversion module; X5, fifth product module; X6, sixth product module; L1, filter inductor; C1, filter capacitor. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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. 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.

[0032] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0033] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0034] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0035] The embodiment of the present invention discloses a motor control method for a sine wave filter, which is applied to a motor control device 3, wherein the motor control device 3 includes a motor controller 10 and a filter state compensator 20, such as Figure 2 As shown, the power supply 1, the driver 2, the sine filter 30 and the load motor 40 are electrically connected in sequence, and the motor control device 3 is electrically connected to the driver 2 to control the driver 2. Figure 3As shown, the three-phase outputs of the sine filter 30 are respectively connected to the three-phase inputs of the load motor 40; the first signal input end of the motor controller 10 is used to input a given signal, the second signal input end of the motor controller 10 is used to input a motor stator current feedback signal, and the signal output end of the motor controller 10 is used to output a motor stator voltage given signal; the motor controller 10 includes a motor state controller 11 and a motor state model circuit 12; one input end of the motor state controller 11 serves as the first signal input end of the motor controller 10; the second signal output end of the filter state compensator 20 is connected to another input end of the motor state controller 11; the output end of the motor state controller 11 is connected to the signal output end of the motor controller 10, the other input end of the motor state model circuit 12 is respectively connected to the signal output end of the motor controller 10 and the second signal output end of the filter state compensator 20, and the signal output end of the motor state model circuit 12 is connected to another input end of the motor state controller 11.

[0036] The filter state compensator 20 includes a first logic operator S1, a second logic operator S2, a third logic operator S3, a resonance suppression circuit 21, a filter inductor voltage drop compensation circuit 22 and a filter capacitor current compensation circuit 23; wherein the first logic operator S1 and the second logic operator S2 are both adders, and the third logic operator S3 is a subtractor. The signal output end of the motor controller 10 is connected to an input end of the first logic operator S1, and the output end of the resonance suppression circuit 21 is connected to another input end of the first logic operator S1; the output end of the first logic operator S1 is simultaneously connected to an input end of the second logic operator S2, an input end of the resonance suppression circuit 21 and an input end of the filter capacitor current compensation circuit 23; the output end of the filter inductor voltage drop compensation circuit 22 is connected to the second logic operator S1, and the output end of the resonance suppression circuit 21 is connected to the other input end of the first logic operator S1. S 2; the state signal input end of the filter inductor voltage drop compensation circuit 22 and the state signal input end of the filter capacitor current compensation circuit 23 are both electrically connected to the estimated parameter output end of the motor controller 10; the current detector arranged on the driver 2 is connected to the input end of the filter inductor voltage drop compensation circuit 22 and an input end of the third logic operator S3; the output end of the filter capacitor current compensation circuit 23 is connected to the other input end of the resonance suppression circuit 21 and the other input end of the third logic operator S3, and the output end of the third logic operator S3 is connected to the second signal input end of the motor controller 10; the output end of the third logic operator S3 is used to output the motor stator current feedback signal; the output end of the second logic operator S2 outputs the driver voltage setting signal to the driver 2 to control the voltage of the load motor.

[0037] like Figure 1 As shown, the motor control method includes steps S110 to S150.

[0038] S110, the current feedback vector output by the driver is compensated by the filter state compensator to obtain a motor current feedback signal.

[0039] Get the current feedback vector I of the driver output o , the current feedback vector I of the driver output o After compensation by the filter state compensator, the motor current feedback signal I is obtained. s . Motor current feedback signal I s The motor controller calculates the given voltage vector U and outputs the given voltage vector U. s * , where the given signal includes the torque given signal T e * And flux given signal Ψ s * The motor stator voltage given vector U s * and resonance suppression voltage vector U damp After combination, the filter capacitor voltage given vector U is obtained. c * , filter capacitor voltage given vector U c * and the filter inductance voltage drop vector U fl After superposition, the driver output given voltage vector U can be obtained. o * The drive outputs a given voltage vector U o * The three-phase input voltage of the sine filter can be controlled as a voltage signal, thereby realizing the controlled operation of the motor.

[0040] In a more specific embodiment, the method for obtaining the motor current feedback signal includes: multiplying the filter capacitor capacitance by the motor stator frequency output from the output end of the motor state model circuit to obtain a product result; multiplying the vector of the filter capacitor voltage given vector after rotation transformation by the product result to obtain a capacitor current fundamental wave vector estimate; deducting the capacitor current fundamental wave vector estimate from the current feedback vector output by the driver to obtain the motor current feedback signal.

[0041] The first product module is used to calculate the filter capacitor capacity C f and the motor stator frequency ω sThe first phase conversion module is used to give the filter capacitor voltage vector U c * Perform a rotation transformation j, and multiply the vector obtained after the rotation transformation j by the above product result through the second product module to obtain the capacitor current fundamental wave vector estimation value I fc , the capacitor current fundamental wave vector estimation value I fc The current feedback vector I o Deduct from the motor current feedback signal I s .

[0042] S120, synchronously input the motor current feedback signal and the given given signal into the motor controller, and the motor controller performs calculations to obtain the motor stator voltage given vector and outputs it to the filter state compensator; the given signal includes a torque given signal and a flux given signal.

[0043] S130, the first logic operator combines the motor stator voltage given vector with the resonance suppression voltage vector output by the resonance suppression circuit in the filter state compensator to obtain a filter capacitor voltage given vector and output it to the second logic operator.

[0044] S140. The second logic operator superimposes the filter capacitor voltage given vector and the filter inductance voltage drop vector output by the filter inductance voltage drop compensation circuit to obtain a driver output given voltage vector as the voltage signal.

[0045] S150. Control the three-phase input voltage of the sine filter by using the voltage signal to control the operation of the motor.

[0046] The embodiment of the present invention discloses a motor control device for a sine wave filter, and the motor control device 3 applies the motor control method for a sine wave filter as described in the above embodiment. The motor control device 3 includes a motor controller 10 and a filter state compensator 20, a power supply 1, a driver 2, a sine filter 30 and a load motor 40 are electrically connected in sequence, the motor control device 3 is electrically connected to the driver 2 to control the driver 2, and the motor controller 10 is composed of a motor state controller 11 and a motor state model circuit 12. The filter state compensator 20 is composed of a resonance suppression circuit 21, a filter inductor voltage drop compensation circuit 22 and a filter capacitor current compensation circuit 23, and its main working process is to obtain the current feedback vector I output by the driver o , the current feedback vector I of the driver output o After compensation by the filter state compensator, the motor current feedback signal I is obtained. s . Motor current feedback signal I sThe motor controller calculates the given voltage vector U and outputs the given voltage vector U. s * , where the given signal includes the torque given parameter T e * And the flux given parameter Ψ s * The motor stator voltage given vector U s * and resonance suppression voltage vector U damp After combination, the filter capacitor voltage given vector U is obtained. c * , filter capacitor voltage given vector U c * and the filter inductance voltage drop vector U fl After superposition, the driver output given voltage vector U can be obtained. o * The drive outputs a given voltage vector U o * The three-phase input voltage of the sine filter can be controlled as a voltage signal, thereby realizing the controlled operation of the motor.

[0047] In a more specific embodiment, Figure 4 As shown, the filter capacitor current compensation circuit 23 includes a first phase conversion module P1, a first product module X1 and a second product module X2; the input end of the first phase conversion module P1 serves as the input end of the filter capacitor current compensation circuit 23; one input end of the first product module X1 serves as the state signal input end of the filter capacitor current compensation circuit 23, and the other input end is used to input the capacity of the filter capacitor C1; the output end of the first phase conversion module P1 and the output end of the first product module X1 are respectively connected to the two input ends of the second product module X2, and the output end of the second product module X2 serves as the output end of the filter capacitor current compensation circuit 23.

[0048] The first product module X1 is used to calculate the filter capacitor capacity C f and the motor stator frequency ω s The first phase conversion module is used to give the filter capacitor voltage vector U c * Perform a rotation transformation j, and multiply the vector obtained after the rotation transformation j by the above product result through the second product module to obtain the capacitor current fundamental wave vector estimation value I fc , the capacitor current fundamental wave vector estimation value I fc The current feedback vector I oDeduct from the motor current feedback signal I s .

[0049] Specifically, the rotation transformation j outputs the x-axis component of the transformation vector as the y-axis component, and inverts the y-axis component of the transformation vector and outputs it as the x-axis component, which can be expressed by the following formula (1):

[0050]

[0051] Specifically, the motor stator frequency ω s Estimated by the motor state model circuit in the motor controller. The motor current feedback signal I obtained after compensation by the filter state compensator s The given signal is used as the given and feedback of the motor controller. After the motor state model circuit in the motor controller and the motor state controller calculate, the motor stator voltage given vector U is output. s * .

[0052] Specifically, Figure 5 As shown, the resonance suppression circuit 21 includes a high-pass filter G1, a third product module X3, a fourth logic operator S4 and a fourth product module X4; one input end of the high-pass filter G1 is used as an input end of the resonance suppression circuit 21 connected to the first logic operator S1, and the other input end of the high-pass filter G1 is used to input the filter cutoff frequency; the output end of the high-pass filter G1 is connected to an input end of the third product module X3, and the other input end of the third product module X3 is used to input the capacity of the filter capacitor C1; the output end of the third product module X3 is connected to an input end of the fourth logic operator S4, and the other input end of the fourth logic operator S4 is used as an input end of the resonance suppression circuit 21 connected to the filter capacitor current compensation circuit 23; the output end of the fourth logic operator S4 is connected to an input end of the fourth product module X4, and the other input end of the fourth product module X4 is used to input the resonance suppression resistance value, and the output end of the fourth product module X4 is used as the output end of the resonance suppression circuit 21. Wherein, the fourth logic operator S4 is a subtractor.

[0053] Specifically, the filter capacitor voltage given vector U c * After filtering by a high-pass filter, the filter output is obtained. The filter output and the filter capacitor capacity C f After multiplication, the dynamic capacitor current vector I containing high-frequency harmonics is obtained. c , I c and the capacitor current fundamental vector estimate I fc The high-frequency capacitive current component is obtained by subtracting the resonance suppression resistance value Rdamp After multiplication, the high-frequency resonance suppression voltage vector U is output damp .

[0054] Among them, the dynamic capacitor current vector I containing high-frequency current harmonics c The estimation model is shown in formula (2), which is the low-pass filtering result of the capacitor voltage differential model. The filter cutoff frequency α h The sampling frequency is selected to be 0.25-0.33 times to eliminate the influence of switching harmonics and sampling quantization noise.

[0055]

[0056] like Figure 6 As shown, the high-frequency (mainly resonant frequency) component in the capacitor current is generated by the high-frequency component in the driver output voltage excitation; if a damping resistor (also known as a resonance suppression resistor) R is connected in series on the filter capacitor branch for high-frequency excitation damp It can effectively attenuate the capacitor current resonance generated by the excitation, while keeping the fundamental excitation filter circuit unchanged, so the fundamental dynamics will not be affected in any way. Figure 6 The equivalent circuit diagram shown is analogous to the control perspective. Figure 6 The circuit topology in is equivalent to compensating the corresponding damping resistor voltage drop according to the harmonic components of the capacitor current. The specific process is shown in formula (3).

[0057] U damp =R damp (I c -I fc ) (3);

[0058] In formula (3), the dynamic capacitor current vector I c and the capacitor current fundamental vector estimate I fc The difference is the capacitance current vector in the resonant frequency section, and the damping resistance R damp The selection of is based on the characteristic impedance of the sinusoidal filter, and its determination process can be expressed by formula (4):

[0059]

[0060] In formula (4), the intensity of resonance suppression can be adjusted by changing the resonance suppression factor k, and the value range of the resonance suppression factor k is 0-3. f is the filter capacitor capacity, L f is the inductance of the filter inductor. Figure 5 The high-frequency resonance suppression voltage vector U shown damp With the stator voltage given vector U s * After the combination, the filter capacitor voltage given vector U is obtained c* .

[0061] In a more specific embodiment, Figure 7 As shown, the filter inductor voltage drop compensation circuit 22 includes a second phase conversion module P2, a fifth product module X5 and a sixth product module X6; the input end of the two phase conversion modules serves as the input end of the filter inductor voltage drop compensation circuit 22; one input end of the fifth product module X5 serves as the state signal input end of the filter inductor voltage drop compensation circuit 22, and the other input end is used to input the inductance of the filter inductor L1; the output end of the second phase conversion module P2 and the output end of the fifth product module X5 are respectively connected to the two input ends of the sixth product module X6, and the output end of the sixth product module X6 serves as the output end of the filter inductor voltage drop compensation circuit 22.

[0062] Filter inductance L f and the motor stator frequency ω s After the product operation, the product result and the current feedback vector I o The filter inductance voltage drop vector U can be obtained by multiplying the vectors after the rotation transformation j. fl Specifically, the definition of the rotation transformation j is the same as that of equation (1). Figure 7 The filter inductance voltage drop vector U is shown fl And the filter capacitor voltage given vector U c * After combination, the final driver output voltage vector U o * .

[0063] Specifically, the sine filter 30 is composed of three-phase input and output lines, a three-phase filter inductor L1, and a three-phase filter capacitor C1; the three-phase filter inductor L1 is connected in series between the input and output lines, one end of the three-phase filter capacitor C1 is connected to the three-phase output line, and the other end is short-circuited to form a star connection point.

[0064] Figure 8 The figure shows the Bode diagram of the motor current open-loop response during the process of controlling the motor using this solution. The control bandwidth is about 150Hz, the gain margin is about -10dB, the phase margin is about 65°, the current response is fast and the stability is high; the amplitude response in the resonant frequency band near 600Hz has no obvious peaks, indicating that there is no resonance risk; the gain attenuation rate above 600Hz is significantly increased compared to that below 600Hz, indicating that the significant filtering effect of high-order harmonics above the resonant frequency band is still retained. Based on the above actual application effect diagram, it is shown that the above motor control device has a higher current control response bandwidth, and can avoid resonance and retain the attenuation and suppression effect on high-order voltage harmonics, which greatly improves the stability of motor control.

[0065] The present invention discloses a motor control device and a motor control method for a sine wave filter, the motor control method comprising: the current feedback vector output by the driver is compensated by a filter state compensator to obtain a motor current feedback signal; the motor current feedback signal and a given signal are synchronously input to a motor controller for operation, and a motor stator voltage given vector is obtained and output to a filter state compensator for further processing to obtain a driver output given voltage vector, which is used as a voltage signal to control the three-phase input voltage of the sine filter. The above-mentioned motor control device only collects the driver DC bus voltage and the three-phase output current, and there is no hardware compatibility problem. The motor is controlled to run based on a given signal through external filter state compensation, and a higher current control response bandwidth can be achieved, while avoiding resonance to ensure stable operation of the motor.

[0066] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A motor control method for a sine wave filter, applied to a motor control device, wherein the motor control device comprises a motor controller and a filter state compensator, a power supply, a driver, a sine filter and a load motor are electrically connected in sequence, and the motor control device is electrically connected to the driver to control the driver, characterized in that: The motor control method comprises: The current feedback vector output by the driver is compensated by a filter state compensator to obtain a motor current feedback signal; The motor current feedback signal and the given signal are synchronously input to the motor controller, and the motor controller performs calculations to obtain the motor stator voltage given vector and outputs it to the filter state compensator; the given signal includes a torque given parameter and a flux given parameter; The first logic operator combines the motor stator voltage given vector with the resonance suppression voltage vector output by the resonance suppression circuit in the filter state compensator to obtain a filter capacitor voltage given vector and outputs it to the second logic operator; The second logic operator superimposes the filter capacitor voltage given vector and the filter inductance voltage drop vector output by the filter inductance voltage drop compensation circuit to obtain the driver output given voltage vector as the voltage signal; The bus voltage of the sine filter is controlled by the voltage signal to control the operation of the motor.

2. The motor control method for a sine wave filter according to claim 1, characterized in that: The method for obtaining the motor current feedback signal includes: The filter capacitor capacity is multiplied by the motor stator frequency outputted from the output end of the motor state model circuit to obtain a product result; Multiplying the vector after the rotation transformation of the given filter capacitor voltage vector by the product result to obtain an estimated value of the capacitor current fundamental wave vector; The capacitor current fundamental wave vector estimation value is deducted from the current feedback vector output by the driver to obtain the motor current feedback signal.

3. A motor control device for a sine wave filter, characterized in that: The motor control device applies the motor control method for a sine wave filter as described in any one of claims 1-2, the motor control device includes a motor controller and a filter state compensator, the power supply, the driver, the sine filter and the load motor are electrically connected in sequence, the motor control device is electrically connected to the driver to control the driver, and the two busbars of the sine filter are respectively connected to the two poles of the motor; The first signal input end of the motor controller is used to input a given signal, the second signal input end of the motor controller is used to input a motor stator current feedback signal, and the signal output end of the motor controller is used to output a motor stator voltage given signal; the motor controller includes a motor state controller and a motor state controller; one input end of the motor state controller serves as the first signal input end of the motor controller; the second signal output end of the filter state compensator and the other input end of the motor state controller; the output end of the motor state controller is connected to the signal output end of the motor controller, the other input end of the motor state model circuit is respectively connected to the signal output end of the motor controller and the second signal output end of the filter state compensator, and the signal output end of the motor state model circuit is connected to another input end of the motor state controller; The filter state compensator includes a first logic operator, a second logic operator, a third logic operator, a resonance suppression circuit, a filter inductor voltage drop compensation circuit and a filter capacitor current compensation circuit; The signal output end of the motor controller is connected to an input end of the first logic operator, and the output end of the resonance suppression circuit is connected to another input end of the first logic operator; the output end of the first logic operator is simultaneously connected to an input end of the second logic operator, an input end of the resonance suppression circuit and an input end of the filter capacitor current compensation circuit; the output end of the filter inductor voltage drop compensation circuit is connected to another input end of the second logic operator; The state signal input end of the filter inductor voltage drop compensation circuit and the state signal input end of the filter capacitor current compensation circuit are both electrically connected to the output end of the motor state model circuit in the motor controller; The current detector provided on the driver is connected to the input end of the filter inductor voltage drop compensation circuit and an input end of the third logic operator; the output end of the filter capacitor current compensation circuit is connected to the other input end of the resonance suppression circuit and the other input end of the third logic operator, and the output end of the third logic operator is connected to the second signal input end of the motor controller; the output end of the third logic operator is used to output the motor stator current feedback signal; The output terminal of the second logic operator outputs a voltage signal to control the three-phase input voltage of the sine filter.

4. The motor control device for a sine wave filter according to claim 3, characterized in that: The first logic operator and the second logic operator are both adders, and the third logic operator is a subtractor.

5. The motor control device for a sine wave filter according to claim 3 or 4, characterized in that: The filter capacitor current compensation circuit includes a first phase conversion module, a first product module and a second product module; The input end of the first phase conversion module is used as the input end of the filter capacitor current compensation circuit; one input end of the first product module is used as the state signal input end of the filter capacitor current compensation circuit, and the other input end is used to input the filter capacitor capacity; The output end of the first phase conversion module and the output end of the first product module are respectively connected to the two input ends of the second product module, and the output end of the second product module serves as the output end of the filter capacitor current compensation circuit.

6. The motor control device for a sine wave filter according to claim 3 or 4, characterized in that: The resonance suppression circuit includes a high-pass filter, a third product module, a fourth logic operator and a fourth product module; One input end of the high-pass filter is used as an input end of the resonance suppression circuit connected to the first logic operator, and the other input end of the high-pass filter is used to input the filter cutoff frequency; The output end of the high-pass filter is connected to an input end of the third product module, and the other input end of the third product module is used to input the capacity of the filter capacitor; The output end of the third product module is connected to an input end of the fourth logic operator, and the other input end of the fourth logic operator serves as an input end of the resonance suppression circuit connected to the filter capacitor current compensation circuit; the output end of the fourth logic operator is connected to an input end of the fourth product module, and the other input end of the fourth product module is used to input the resonance suppression resistance value, and the output end of the fourth product module serves as the output end of the resonance suppression circuit.

7. The motor control device for a sine wave filter according to claim 6, characterized in that: The fourth logic operator is a subtraction operator.

8. The motor control device for a sine wave filter according to claim 3 or 4, characterized in that: The filter inductor voltage drop compensation circuit includes a second phase conversion module, a fifth product module and a sixth product module; The input end of the two-phase conversion module is used as the input end of the filter inductor voltage drop compensation circuit; one input end of the fifth product module is used as the state signal input end of the filter inductor voltage drop compensation circuit, and the other input end is used to input the filter inductor inductance; The output end of the second phase conversion module and the output end of the fifth product module are respectively connected to the two input ends of the sixth product module, and the output end of the sixth product module serves as the output end of the filter inductor voltage drop compensation circuit.

9. The motor control device for a sine wave filter according to claim 3 or 4, characterized in that: The sine filter is composed of three-phase input and output lines, three-phase filter inductors, and three-phase filter capacitors; the three-phase filter inductors are connected in series between the input and output lines, one end of the three-phase filter capacitor is connected to the three-phase output line, and the other ends are short-circuited to form a star connection point.

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