Matrix motor decoupling control method and system with harmonic suppression capability

Abstract

The invention discloses a decoupling control method and system for a matrix motor with harmonic suppression capability, and belongs to the technical field of motor driving systems, and the method comprises the steps: building a matrix motor current loop mathematical model which considers a DC disturbance term and an AC disturbance term at the same time; based on the matrix motor current loop mathematical model, establishing a self-adaptive quasi-resonance extended state observer which simultaneously considers direct current disturbance observation and alternating current disturbance observation and performs self-adaptive adjustment on control parameters; the direct current and alternating current lumped disturbance of a matrix motor current loop is observed in real time through an adaptive quasi-resonance extended state observer; compensating the observed direct current and alternating current lumped disturbance in a forward controller of the current loop and obtaining a voltage control quantity; and controlling the matrix motor through a voltage vector space transformation and SVPWM modulation method according to the voltage control quantity. The method is improved and optimized based on an existing matrix motor vector control system, and the system does not need to be modified on a large scale.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor drive systems, and more specifically, relates to a matrix motor decoupling control method and system with harmonic suppression capability. Background Art

[0002] With the comprehensive and in-depth development of transportation electrification, especially the rapid development of transportation equipment electrification represented by new energy electric vehicles and multi-electric / all-electric aircraft, higher requirements are placed on the performance of motor systems. Electric vehicles and multi-electric / all-electric aircraft often use permanent magnet synchronous motors and their drive systems as power sources, so the improvement of the torque density of permanent magnet synchronous motor systems is an important technical development direction. At present, improvements based on the structure of the motor system and the improvement of the motor manufacturing process technology can improve the torque density of the motor system to a certain extent, such as the highly integrated technology of the motor and drive system (all-in-one assembly), the use of flat wire windings in the motor and new motor heat dissipation technologies, but these technologies have limited improvement on the torque density. Innovation in electromagnetic structure and electromagnetic principles is the way to fundamentally and significantly improve the torque density of the motor. The magnetic field modulation technology can use the high-order harmonics in the air gap magnetic field of the motor, which can significantly improve the torque density of the motor under the premise of the same volume, and has huge application potential.

[0003] The matrix motor is a type of magnetic field modulation motor. Its typical feature is that the stator and rotor are equipped with armature windings and permanent magnets at the same time. Through a certain slot-pole matching design, the stator and rotor can produce multiple magnetic field modulation effects, thereby generating a matrix-distributed torque component. Compared with the conventional permanent magnet synchronous motor with only one torque component, the multiple torque components of the matrix motor can be superimposed on the shaft and output in the same direction, thereby greatly improving the torque density. The excellent torque characteristics of the matrix motor need to be released through a suitable and high-performance control algorithm, but the matrix motor has a very complex electromagnetic relationship. It is a multivariable, strongly coupled, nonlinear system. There is a complex coupling relationship between the magnetic flux and voltage on the stator and rotor sides. These factors greatly restrict the precise control of the matrix motor current loop, and thus restrict the precise regulation of each torque component.

[0004] The coupling relationship of the matrix motor is specifically manifested in that when the vector control algorithm is applied to the matrix motor, the coupling terms including the mutual inductance and self-inductance of the stator and rotor windings, the flux component and the speed will interfere with the control of the current loop, causing the pulsation of the speed and torque. At the same time, due to the influence of the winding characteristics of the matrix motor itself, the phase current contains harmonics, and the harmonic components are fed back into the current loop, which is manifested as a periodic disturbance and aggravates the coupling. Conventional vector control decoupling methods, including feedforward decoupling, complex vector decoupling, deviation decoupling, internal model decoupling, etc., are offline decoupling methods based on the motor model, and their accuracy is directly related to the accuracy of the motor parameters. These methods are difficult to cope with the high complexity of the matrix motor parameters, especially the mutual inductance of the stator and rotor windings of the matrix motor, the double-sided flux and other parameters are difficult to obtain, and the aforementioned conventional decoupling methods cannot cope with the errors caused by the nonlinear factors of the motor parameters. Decoupling control based on intelligent algorithms has also been tried to be applied to vector decoupling control, such as neural network algorithms, support vector machine algorithms, and deep learning algorithms. Although these methods have low dependence on motor model information, they require high computing power for the controller, which increases the cost of the control system. In addition, the internal working mechanism is not easy to grasp, and the real-time performance and effectiveness are difficult to guarantee. Some decoupling methods regard the motor coupling term as a disturbance term, observe the disturbance term through an observer, and compensate for it. These methods do not consider the rich characteristics of matrix motor disturbance terms, especially the inability to handle the problem of matrix motor current harmonics, and have no adaptive performance on parameters, making the controller setting and debugging complex.

[0005] To sum up, the existing technology cannot meet the needs of matrix motor current loop decoupling control. In order to fundamentally improve the robustness of the matrix motor to parameter changes and disturbances, realize the decoupling control of the stator and rotor current components and torque components of the matrix motor, fully release the high torque density characteristics of the matrix motor, and realize true multi-torque component coordinated output operation, a new control technology suitable for matrix motor decoupling is urgently needed. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the present invention provides a matrix motor decoupling control method and system with harmonic suppression capability. The method is based on the improvement and optimization of the existing matrix motor vector control system, and does not require large-scale changes to the system. At the same time, the technologies used, such as the adaptive quasi-resonant extended state observer and SVPWM modulation method, are relatively mature and reliable, and are easy to implement and promote in practical applications.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: In a first aspect, the present invention provides a matrix motor decoupling control method with harmonic suppression capability, comprising: Establish a mathematical model of the matrix motor current loop that takes into account both DC and AC disturbance terms; Based on the mathematical model of matrix motor current loop, an adaptive quasi-resonant extended state observer is established, which takes into account both DC disturbance and AC disturbance observation and performs adaptive adjustment on control parameters. The DC and AC lumped disturbances of the matrix motor current loop are observed in real time by an adaptive quasi-resonant extended state observer. In the forward controller of the current loop, the observed DC and AC lumped disturbances are compensated and the voltage control quantity is obtained; The matrix motor is controlled according to the voltage control amount through voltage vector space transformation and SVPWM modulation method.

[0008] As a further improvement of the present invention, the establishment of a matrix motor current loop mathematical model that simultaneously considers the DC disturbance term and the AC disturbance term includes: Construct the time domain voltage equation of the matrix motor with five-phase windings on the stator and three-phase windings on the rotor in the stator-rotor dual dq rotating coordinate system; Based on the time-domain voltage equation, the time-domain voltage equation of the matrix motor considering parameter errors and unmodeled dynamics is constructed; The matrix motor time-domain voltage equation considering parameter errors and unmodeled dynamics is transformed to obtain the matrix motor current loop model considering DC disturbance terms. On the basis of the matrix motor current loop model considering the DC disturbance term, the AC disturbance term is considered to obtain the matrix motor current loop mathematical model considering both the DC disturbance term and the AC disturbance term.

[0009] As a further improvement of the present invention, the establishment of a matrix motor current loop mathematical model that simultaneously considers the DC disturbance term and the AC disturbance term specifically includes: Construct the time domain voltage equation of the matrix motor with five-phase windings on the stator and three-phase windings on the rotor in the stator-rotor dual dq rotating coordinate system:

[0010] The stator-rotor dual dq axis system includes the stator dq axis system and the rotor dq axis system, where the stator is five-phase. According to the vector space decoupling principle of the five-phase motor, the stator dq axis system also includes the stator fundamental wave space dq axis system and the stator third harmonic space dq axis system; where the parameter u ds1 represents the stator fundamental space d-axis voltage, u qs1 represents the stator fundamental space q-axis voltage, u ds3 represents the stator third harmonic space d-axis voltage, u qs3 represents the stator third harmonic space q-axis voltage, u dr represents the rotor d-axis voltage, u qr Indicates the rotor q-axis voltage; parameter i ds1 、iqs1 ,i ds3 、i qs3 、i dr and i qr Respectively represent the current of the six axes of the matrix motor. Parameter L ds1 , L qs1 , L ds3 , L qs3 , L dr and L qr They represent the self-inductance of the six axes of the matrix motor, and the parameter M sr Represents the mutual inductance between the stator winding and the rotor winding of the matrix motor. Parameter R s and R r Respectively represent the phase resistance of the stator and rotor of the matrix motor. ω es and ω er are the electrical angular velocities of the stator and rotor of the matrix motor, ψ ms1 , ms3 and ψ mr They represent the stator flux fundamental amplitude, stator flux third harmonic amplitude and rotor flux fundamental amplitude of the matrix motor respectively; The time-domain voltage equation of the matrix motor considering parameter errors and unmodeled dynamics is:

[0011] In the matrix motor time-domain voltage equation considering parameter errors and unmodeled dynamics, the parameter ΔR j (j=d s1 ,q s1 , d s3 , q s3 , d r , q r ) represents the error value of each axis resistance, parameter ΔL j Indicates the error value of the inductance of each axis, parameter ΔD j represents the DC unmodeled dynamics of each axis; The matrix motor time domain voltage equation considering parameter errors and unmodeled dynamics is transformed to obtain the matrix motor current loop model considering DC disturbance terms as follows:

[0012] Among them, parameter b j = 1 / L j , parameter f j_dc Represents the DC disturbance term of each axis of the matrix motor; On the basis of the matrix motor current loop model considering the DC disturbance term, the AC disturbance term is considered, and the mathematical model of the matrix motor current loop considering both the DC disturbance term and the AC disturbance term is obtained as follows:

[0013] Among them, the parameter f j_ac represents the AC disturbance term of each axis of the matrix motor. The AC disturbance term of each axis can be respectively expressed by the nonlinear function g j (u j_ac , ψ j_ac , w j_ac , p j_ac ) is used to represent that the nonlinear function includes four independent variables, among which the independent variable parameter u j_ac It represents the AC disturbance caused by the nonlinearity of the inverter, and the independent variable parameter ψ j_ac It represents the AC disturbance caused by the flux harmonic, and the independent variable parameter w j_ac It represents the AC disturbance caused by the winding coefficient of the matrix motor, and the independent variable parameter p j_ac It characterizes the AC disturbance caused by the unmodeled dynamics of the AC.

[0014] As a further improvement of the present invention, the establishment of an adaptive quasi-resonant extended state observer that simultaneously considers DC disturbance and AC disturbance observation and adaptively adjusts control parameters includes: The mathematical model of the current loop of the six axes of the matrix motor is rewritten into the form of six sets of state equations, the DC disturbance term and the AC disturbance term are expressed in the form of lumped disturbance terms, and the six sets of state equations are expanded by one dimension:

[0015] Among them, the parameter f j_all represents the lumped disturbance term of the j-axis of the matrix motor, f j_all = f j_dc + f j_ac , parameter h ds1 、h qs1 、h ds3 、h qs3 、h dr 、h qr are the differential components of the lumped disturbance terms of the six axes of the matrix motor; According to the expanded state equation, an adaptive quasi-resonant expanded state observer is configured which has the ability to observe both DC disturbances and AC disturbances and can adaptively adjust control parameters. Its mathematical model is expressed as follows:

[0016] Among them, the parameters with the symbol ^ represent the observed values, j=d s1 When Indicates d s1 Observed value of shaft current, parameter u ds1 Indicates ds1 The voltage control amount of the axis; the d s1 Shaft voltage control value u ds1 Compared with the stator fundamental wave space d-axis voltage u mentioned above ds1 The same meaning. Parameter e j is the current observation error, p represents the differential operator, β1 and β2 represent the gain parameters of the observer, which are adjusted by the parameter adaptive algorithm, β1=2ω o and β2=ω o 2 is the gain calculation formula determined by the bandwidth method; ω o It is adjusted by the parameter adaptive algorithm; the observed value of the DC disturbance is equal to the product of the gain β2 and the current observation error value, which is then integrated after taking the negative value; x1 and x2 are intermediate variables used to calculate the observed value of the AC disturbance; K r is the resonance ratio parameter, ω c is the resonance bandwidth parameter, ω r is the resonant frequency; ω r is the current harmonic frequency that needs to be suppressed.

[0017] As a further improvement of the present invention, the ω o The mathematical formula is:

[0018] Where k is the proportional parameter; ω omin and ω omax They are ω o The minimum and maximum values ​​of the value range; The transfer function relationship between the AC disturbance observation value and the current observation error value is equivalent to the transfer function of the quasi-resonant controller. The transfer function of the quasi-resonant controller is expressed as:

[0019] The extended state observer has two input parameters and two output parameters. The input parameters are the current given value i and ds1 and voltage control quantity u ds1 , the output parameters are the current observation values and the overall perturbation observation The current error value e is obtained by subtracting the current observation value from the current given value input into the observer. j The current error value is multiplied by the gain β2 and then passes through an integrator to obtain the DC disturbance observation value. The product of the current error value and the gain β2 is the output of the AC disturbance observation value after passing through the quasi-resonant controller. , the sum of the DC disturbance observation value and the AC disturbance observation value is the overall disturbance observation value . Current error value e jAfter multiplying by the gain β1, add the voltage control amount u ds1 With gain b ds1 The product of Add, and then the output after a differentiator is the current observation value The adaptive adjustment of the gain parameters, β1 and β2, is performed through a parameter adaptive algorithm.

[0020] As a further improvement of the present invention, the real-time observation of the DC and AC lumped disturbances of the matrix motor current loop by the adaptive quasi-resonant extended state observer includes: The DC disturbance of each current loop of the matrix motor is observed simultaneously through the adaptive quasi-resonant extended state observer. and AC disturbances of a specific sub-frequency , the lumped disturbance observation value of each current loop It is equal to the sum of the DC disturbance observation value and the AC disturbance observation value of each axis.

[0021] As a further improvement of the present invention, the method of compensating the observed DC and AC lumped disturbances in the forward controller of the current loop and obtaining the voltage control quantity comprises: In decoupling control, the forward controller is a proportional gain, K p The input is the difference between the given reference current value of each axis and the current observation value output by the observer. The difference between the output of the forward controller and the total disturbance observation value of each axis output by the observer is the voltage control quantity u. j The voltage control quantity is the control quantity based on the dual dq coordinate system of the matrix motor.

[0022] As a further improvement of the present invention, the matrix motor is controlled according to the voltage control amount through voltage vector space transformation and SVPWM modulation method, including: Voltage control variable u of matrix motor in double dq coordinate system ds1 、u qs1 ,u ds3 、u qs3 、u dr and u qr The voltage control quantity in the stationary coordinate system is obtained through vector space transformation; the voltage control quantity in the stationary coordinate system is respectively input into the SVPWM module to generate a pulse width modulation wave, and the pulse width modulation wave controls the eight-phase inverter to control the matrix motor.

[0023] In a second aspect, a matrix motor decoupling control system with harmonic suppression capability comprises: The first building module is used to build a matrix motor current loop mathematical model that takes into account both DC disturbance terms and AC disturbance terms; The second establishment module is used to establish an adaptive quasi-resonant extended state observer based on the matrix motor current loop mathematical model, which simultaneously considers DC disturbance and AC disturbance observation and performs adaptive adjustment on control parameters; An observation module is used to observe the DC and AC lumped disturbances of the matrix motor current loop in real time through an adaptive quasi-resonant extended state observer; A compensation module, used for compensating the observed DC and AC lumped disturbances in the forward controller of the current loop and obtaining a voltage control quantity; A control module is used to control the matrix motor according to the voltage control amount through voltage vector space transformation and SVPWM modulation method.

[0024] In a third aspect, a matrix motor decoupling control system with harmonic suppression capability comprises: The speed regulator adopts a PI controller, whose input is the difference between the given reference speed and the actual speed, and whose output is the equivalent lumped q-axis reference current; The stator / rotor q-axis current distribution module takes the equivalent lumped q-axis reference current as input and distributes the lumped q-axis reference current to the stator q s1 Shaft and rotor q r axis, thereby adjusting the ratio of the matrix motor stator and rotor output; the output is the stator q s1 Shaft reference current and rotor q r Axis reference current; The decoupling controller measures and compensates the DC disturbance and AC disturbance observed by the adaptive quasi-resonant extended state observer to the output of the forward controller, and then outputs the voltage control quantity; The rotor anti-Park transformation module converts the voltage control quantity under the rotor dq axis system into the rotor α r -β r Voltage control quantity under the shaft system; Stator anti-Park transformation module, stator d s1 -q s1 -d s3 -q s3 The voltage control quantity under the shaft system is converted into stator α s1 -β s1 -α s3 -β s3 Voltage control quantity under the shaft system.

[0025] SVPWM module, which performs vector pulse width modulation calculations and outputs control signals for controlling the gates of inverter power devices; Inverter, voltage source inverter; A speed and angular position measuring device, for measuring the speed and angular position signals of the matrix motor; Clarke Park transformation module completes the Clarke and Park transformation of the rotor three-phase current and the stator five-phase current. The input is the rotor three-phase current and the stator five-phase current, and the output is the rotor d r ,q r Shaft current feedback value and stator d s1 ,q s1 ,d s3 ,q s3 Shaft current feedback value.

[0026] In a fourth aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the matrix motor decoupling control method with harmonic suppression capability when executing the computer program.

[0027] In a fifth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the matrix motor decoupling control method with harmonic suppression capability is implemented.

[0028] In a sixth aspect, the present invention provides a computer program product, wherein the computer program product includes computer instructions, and the computer instructions instruct a computer to execute the matrix motor decoupling control method with harmonic suppression capability.

[0029] The beneficial effects of the present invention compared with the prior art are as follows: This method achieves good decoupling of the matrix motor control system by observing and compensating the current loop coupling term as a disturbance. This helps to eliminate the coupling phenomenon in the current loop and improve the dynamic performance and steady-state accuracy of the system. The adaptive quasi-resonant extended state observer can observe the AC disturbance caused by current harmonics and effectively compensate for it. This helps to suppress the generation and propagation of current harmonics, reduce the vibration and noise of the motor, and improve the operation quality and reliability of the motor. The observer has an adaptive adjustment function and can automatically adjust the control parameters according to the system state and control requirements. This helps to improve the robustness and adaptability of the system, so that it can maintain good control performance under different working conditions. This method is based on the existing matrix motor vector control system for improvement and optimization, and does not require large-scale changes to the system. At the same time, the technologies used, such as the adaptive quasi-resonant extended state observer and SVPWM modulation method, are relatively mature and reliable, and are easy to implement and promote in practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is an introduction to the drawings of the embodiments of the present invention or the related technical solutions in the prior art. It should be understood that the drawings described below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. Figure 1 is a flow chart of a matrix motor decoupling control method with harmonic suppression capability provided in an embodiment of the present application; Figure 2 It is a structural diagram of an adaptive quasi-resonant extended state observer with DC and AC disturbance observation capabilities provided in an embodiment of the present application; Figure 3 It is a schematic diagram of a framework of a matrix motor decoupling control system with harmonic suppression capability provided in an embodiment of the present application; Figure 4 : is a steady-state performance comparison diagram of the traditional current loop PI controller and the decoupling control method proposed in the present invention under the same load and given speed conditions, wherein (a) is the stator phase current waveform under the control of the traditional PI method, (b) is the rotor phase current waveform under the control of the traditional PI method, (c) is the stator phase current waveform under the control of the method proposed in the present invention, (d) is the rotor phase current waveform under the control of the method proposed in the present invention, (e) is the stator phase current harmonic analysis comparison of the two methods, and (f) is the rotor phase current harmonic analysis comparison of the two methods; Figure 5 It is a module establishment diagram of a matrix motor decoupling control system with harmonic suppression capability provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limitations of the present invention. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0032] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0033] The present invention provides a matrix motor decoupling control method with harmonic suppression capability, comprising: S1, establish a mathematical model of the matrix motor current loop that takes into account both DC disturbance terms and AC disturbance terms; S2, based on the mathematical model of the matrix motor current loop, an adaptive quasi-resonant extended state observer is established which takes into account both DC disturbance and AC disturbance observation and performs adaptive adjustment on the control parameters; S3, real-time observation of DC and AC lumped disturbances of the matrix motor current loop through an adaptive quasi-resonant extended state observer; S4, compensating the observed DC and AC lumped disturbances in the forward controller of the current loop and obtaining the voltage control quantity; S5, controlling the matrix motor according to the voltage control amount through voltage vector space transformation and SVPWM modulation method.

[0034] The principle of this method is: Establishing the mathematical model of the matrix motor current loop: This step is the basis of the method, which aims to establish a mathematical model of the current loop that can simultaneously consider the DC disturbance term and the AC disturbance term. The model needs to accurately reflect the dynamic characteristics of the matrix motor, including the relationship between its current, voltage, flux, etc., and the impact of the disturbance term on the system.

[0035] Constructing an adaptive quasi-resonant extended state observer: Based on the above mathematical model, an adaptive quasi-resonant extended state observer is constructed. This observer can not only observe the DC disturbance in the current loop in real time, but also observe the AC disturbance caused by current harmonics. At the same time, the observer also has an adaptive adjustment function, which can automatically adjust the control parameters according to the system state and control requirements to improve the observation accuracy and stability.

[0036] Real-time observation of disturbances and compensation: The DC and AC lumped disturbances in the matrix motor current loop are observed in real time through the adaptive quasi-resonant extended state observer. Then, the observed disturbances are compensated in the forward controller of the current loop. The purpose of this step is to eliminate the impact of the disturbance on the system performance and achieve precise control of the current loop.

[0037] Voltage vector space transformation and SVPWM modulation: Based on the compensated voltage control quantity, the matrix motor is controlled through voltage vector space transformation and SVPWM (space vector pulse width modulation) modulation method. This step converts the voltage control quantity into a voltage vector that the motor can execute, and achieves precise voltage output through the SVPWM modulation method to drive the motor to operate.

[0038] Based on the idea of ​​disturbance observation and suppression, the present invention constructs an observer in the current loop of the matrix motor vector control system, regards the current loop coupling term as a disturbance, observes and compensates it. This observer can not only observe the DC disturbance, but also observe the AC disturbance caused by the current harmonic. After compensating the disturbance to the current loop, the matrix motor control system can achieve good decoupling.

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0040] One aspect of the present invention provides a matrix motor decoupling control method with harmonic suppression capability, the flow chart of which is as follows: Figure 1 As shown, the specific steps include: S1, establish a mathematical model of the matrix motor current loop that takes into account both DC disturbance terms and AC disturbance terms; The specific construction process is: 1) This embodiment is illustrated by an example in which the stator has five-phase windings and the rotor has three-phase windings, but it is not limited to being applied to a matrix motor in which the stator has five-phase windings and the rotor has three-phase windings. Other phase windings can be adaptively adjusted, which is also within the scope of the present invention.

[0041] The time domain voltage equation of a matrix motor with a stator having a five-phase winding and a rotor having a three-phase winding in the stator-rotor dual dq rotating coordinate system can be expressed as:

[0042] The stator-rotor dual dq axis system includes the stator dq axis system and the rotor dq axis system. The stator is five-phase. According to the vector space decoupling principle of the five-phase motor, the stator dq axis system also includes the stator fundamental wave space dq axis system and the stator third harmonic space dq axis system. Therefore, in this example, the time domain voltage equation of the matrix motor is established in six axes. Among them, the parameter u ds1 represents the stator fundamental space d-axis voltage, u qs1 represents the stator fundamental space q-axis voltage, u ds3 represents the stator third harmonic space d-axis voltage, u qs3 represents the stator third harmonic space q-axis voltage, u dr represents the rotor d-axis voltage, u qr represents the rotor q-axis voltage. Parameter i ds1 、i qs1 ,i ds3 、i qs3 、i dr and i qrRespectively represent the current of the six axes of the matrix motor. Parameter L ds1 , L qs1 , L ds3 , L qs3 , L dr and L qr They represent the self-inductance of the six axes of the matrix motor, and the parameter M sr Represents the mutual inductance between the stator winding and the rotor winding of the matrix motor. Parameter R s and R r Respectively represent the phase resistance of the stator and rotor of the matrix motor. ω es and ω er are the electrical angular velocities of the stator and rotor of the matrix motor, ψ ms1 , ms3 and ψ mr They respectively represent the stator flux fundamental amplitude, the stator flux third harmonic amplitude and the rotor flux fundamental amplitude of the matrix motor.

[0043] 2) The time-domain voltage equation of the matrix motor is an ideal voltage equation. The parameters used in the matrix motor, such as inductance and resistance, are all ideal parameters. In fact, the matrix motor voltage equation should include motor parameter errors and unmodeled dynamics. It should be noted that parameter errors and unmodeled dynamics are DC quantities and do not include AC quantities. The meaning of DC quantities is that the value is a constant rather than a periodically changing value. The time-domain voltage equation of the matrix motor considering parameter errors and unmodeled dynamics can be expressed as:

[0044] In the matrix motor time-domain voltage equation considering parameter errors and unmodeled dynamics, the parameter ΔR j (j=d s1 , q s1 ,d s3 , q s3 , d r , q r ) represents the error value of each axis resistance, parameter ΔL j Indicates the error value of the inductance of each axis, parameter ΔD j Represents the DC unmodeled dynamics of each axis.

[0045] 3) The matrix motor time domain voltage equation considering parameter errors and unmodeled dynamics is transformed to obtain the matrix motor current loop model considering DC disturbance terms as follows:

[0046] Among them, parameter b j = 1 / L j , parameter f j_dc Represents the DC disturbance term of each axis of the matrix motor.

[0047] 4) Based on the matrix motor current loop model considering the DC disturbance term, the AC disturbance term is considered, and the mathematical model of the matrix motor current loop considering both the DC disturbance term and the AC disturbance term is obtained as follows:

[0048] Among them, the parameter f j_ac It represents the AC disturbance term of each axis of the matrix motor. The AC disturbance term of each axis can be expressed by the nonlinear function g j (u j_ac , ψ j_ac , w j_ac , p j_ac ) to indicate that the nonlinear function includes four independent variables, among which the independent variable parameter u j_ac It represents the AC disturbance caused by the nonlinearity of the inverter, and the independent variable parameter ψ j_ac It represents the AC disturbance caused by the flux harmonic, and the independent variable parameter w j_ac It represents the AC disturbance caused by the winding coefficient of the matrix motor, and the independent variable parameter p j_ac It characterizes the AC disturbance caused by the unmodeled dynamics of the AC.

[0049] In the mathematical model of the matrix motor current loop that considers both DC disturbance terms and AC disturbance terms, the DC disturbance terms of each axis of the matrix motor contain current values ​​other than the axis. During the operation of the motor, the current of each axis will be affected by the change of the current of other axes. The AC disturbance terms of each axis of the matrix motor will cause current distortion and contain high-order harmonics, which will affect the performance of the matrix motor current loop. The influence of DC disturbance terms and AC disturbance terms can be summarized as a current loop coupling. The DC disturbance term can also be expressed as a DC coupling term, and the AC disturbance term can also be expressed as an AC coupling term. The meanings of these two expressions are the same.

[0050] S2, establish an adaptive quasi-resonant extended state observer that has the ability to observe both DC disturbances and AC disturbances and can adaptively adjust control parameters; The specific establishment process of the adaptive quasi-resonant extended state observer (AQRESO) is as follows: 1) Rewrite the mathematical model of the current loop of the six axes of the matrix motor into the form of six sets of state equations, express the DC disturbance term and AC disturbance term in the form of lumped disturbance terms, and expand the six sets of state equations by one dimension:

[0051] Among them, the parameter f j_allrepresents the lumped disturbance term of the j-axis of the matrix motor, f j_all = f j_dc + f j_ac , parameter h ds1 、h qs1 、h ds3 、h qs3 、h dr 、h qr They are the differential components of the lumped disturbance terms of the six axes of the matrix motor.

[0052] 2) According to the expanded state equation, an adaptive quasi-resonant expanded state observer is configured, which has the ability to observe both DC disturbances and AC disturbances and can adaptively adjust the control parameters. Its mathematical model can be expressed as:

[0053] Among them, all parameters with the symbol ^ represent observed values. For example, the parameter (j=d s1 d s1 Observed value of shaft current. Parameter u j (j=d s1 d s1 The controlled amount of shaft voltage. s1 Shaft voltage control value u ds1 Compared with the stator fundamental wave space d-axis voltage u mentioned above ds1 The same meaning. Parameter e j is the current observation error, p represents the differential operator, β1 and β2 represent the gain parameters of the observer, which are adjusted by the parameter adaptive algorithm, β1=2ω o and β2=ω o 2 is the gain calculation formula determined by the bandwidth method.

[0054] The observed value of the DC disturbance is equal to the product of the gain β2 and the current observation error value, which is then integrated after taking the negative value; the parameters x1 and x2 are intermediate variables used to calculate the observed value of the AC disturbance; K r is the resonance ratio parameter, ω c is the resonance bandwidth parameter, ω r is the resonant frequency; ω r Set to the current harmonic frequency that needs to be suppressed.

[0055] ω o It is adjusted by the parameter adaptive algorithm, and the mathematical formula of the algorithm is:

[0056] Where k is a proportional parameter, and for example, k can be set to 0.15. It should be noted that due to the strong robustness of the adaptive algorithm itself, the adjustment flexibility of parameter k is relatively strong. omin and ω omax They are ω o The minimum and maximum values ​​in the possible range.

[0057] ω r It should be set to the current harmonic frequency that needs to be suppressed. It should be noted that the observed value of the AC disturbance can be equivalently considered to be extracted from the current observation error value through a quasi-resonant controller, and the transfer function relationship between the AC disturbance observation value and the current observation error value can be equivalent to the transfer function of the quasi-resonant controller. The transfer function of the quasi-resonant controller can be expressed as:

[0058] Figure 2 The structure diagram of the adaptive quasi-resonant extended state observer established through the above process is given, which describes the stator fundamental wave d of the matrix motor. s1 The observer of the axis, the observers of the other axes and Figure 2 The observers described in are exactly the same in structure, only the parameter values ​​are different. The extended state observer has two input parameters and two output parameters. The input parameters are the current given value i and ds1 and voltage control quantity u ds1 , the output parameters are the current observation values and the overall perturbation observation The current error value e is obtained by subtracting the current observation value from the current given value input into the observer. j The current error value is multiplied by the gain β2 and then passes through an integrator to obtain the DC disturbance observation value. The product of the current error value and the gain β2 is the output of the AC disturbance observation value after passing through the quasi-resonant controller. , the sum of the DC disturbance observation value and the AC disturbance observation value is the overall disturbance observation value . Current error value e j After multiplying by the gain β1, add the voltage control amount u ds1 With gain b ds1 The product of Add, and then the output after a differentiator is the current observation value The adaptive adjustment of the gain parameters, β1 and β2, is performed through a parameter adaptive algorithm.

[0059] S3, real-time observation of DC and AC lumped disturbances of the matrix motor current loop through an observer; Through the adaptive quasi-resonant extended state observer, the DC disturbance of each current loop of the matrix motor can be observed simultaneously. and AC disturbances of a specific sub-frequency , the total disturbance observation value of each current loop It is equal to the sum of the DC disturbance observation value and the AC disturbance observation value of each axis.

[0060] S4, compensating the observed DC and AC lumped disturbances in the forward controller of the current loop and obtaining the voltage control quantity; Please refer to Figure 3 The decoupling controller part in the forward controller is a proportional gain, with K p The input is the difference between the given reference current value of each axis and the current observation value output by the observer. The difference between the output of the forward controller and the total disturbance observation value of each axis output by the observer is the voltage control variable u j It should be noted that the voltage control quantity is the control quantity based on the dual dq coordinate system of the matrix motor.

[0061] S5, controlling the matrix motor according to the voltage control quantity through voltage vector space transformation and SVPWM modulation method.

[0062] Please refer to Figure 3 , the voltage control quantity u of the matrix motor in the dual dq coordinate system ds1 、u qs1 ,u ds3 、u qs3 、u dr and u qr The voltage control quantity u in the stationary coordinate system is obtained by vector space transformation αs1 ,u βs1 ,u αs3 ,u βs3 ,u αr ,u βr The voltage control quantity in the stationary coordinate system is input into the 3-phase SVPWM module and the 5-phase SVPWM module respectively to generate a pulse width modulation wave, which controls the eight-phase inverter to control the matrix motor.

[0063] Another aspect of the present invention provides a matrix motor decoupling control system with harmonic suppression capability, such as Figure 3 The matrix motor decoupling control system with harmonic suppression capability includes: Speed ​​regulator,The speed regulator adopts PI controller, whose input is the difference between the given reference speed and the actual speed, and the output is the equivalent lumped q-axis reference current.

[0064] The stator / rotor q-axis current distribution module has an input of the equivalent lumped q-axis reference current. The function of the current distribution module is to distribute the lumped q-axis reference current to the stator q s1 Shaft and rotor q r axis, thereby adjusting the ratio of the matrix motor stator and rotor output. The output of the current distribution module is the stator q s1 Shaft reference current and rotor q r It should be noted that, in this embodiment, the matrix motor has a low salient pole ratio, and the d-axis inductance and q-axis inductance of the stator and rotor are equal. s1 Axis, d r Axis and d s3 The id=0 control strategy is adopted for all axes. In this embodiment, the contribution of the third harmonic space current of the five-phase stator of the matrix motor to the torque is not considered. Therefore, for q s3 The given value of the shaft current is 0. It should be noted that in other embodiments of the present invention, this current control strategy can be adjusted.

[0065] Decoupling controller, the decoupling controller completes the decoupling of the current loop, specifically, it measures and compensates the DC disturbance and AC disturbance observed by the adaptive quasi-resonant extended state observer to the output of the forward controller, and then outputs the voltage control quantity. Figure 3 It is represented as "AQRESO" in the figure, and its internal structure is as follows Figure 2 shown.

[0066] The rotor anti-Park transformation module can convert the voltage control quantity under the rotor dq axis system into the rotor α r -β r Voltage control quantity under the shaft system.

[0067] The stator anti-Park transformation module can transform the stator d s1 -q s1 -d s3 -q s3 The voltage control quantity under the shaft system is converted into stator α s1 -β s1 -α s3 -β s3 Voltage control quantity under the shaft system.

[0068] The SVPWM module can perform three-phase or five-phase vector pulse width modulation calculations and output control signals to control the gates of the inverter power devices.

[0069] An inverter, a voltage source inverter having bridge arms; for example a voltage source inverter having eight bridge arms.

[0070] The stator has five phases and the rotor has three phases. This embodiment is a matrix motor.

[0071] The speed and angular position measuring device can measure the speed and angular position signals of the matrix motor.

[0072] Clarke Park transformation module completes the Clarke and Park transformation of the rotor three-phase current and the stator five-phase current. The input is the rotor three-phase current and the stator five-phase current, and the output is the rotor d r ,q r Shaft current feedback value and stator d s1 ,q s1 d s3 ,q s3 Shaft current feedback value.

[0073] In order to better illustrate the effectiveness of the method proposed in the present invention in decoupling the matrix motor current loop and its ability to suppress the harmonics of the matrix motor current, the present invention experimentally compares the traditional PI control method of the current loop with the proposed decoupling method. The experimental comparison verifies as follows: Under the same load and given speed conditions, the steady-state performance comparison between the traditional current loop PI controller and the decoupling control method proposed in this invention is shown in Figure 2. Figure 4 As shown, according to Figure 4 It can be seen that after the current loop is decoupled and controlled by the method of the present invention, the harmonic content of the stator phase current and the rotor phase current of the matrix motor is greatly reduced, so that the steady-state performance of the current is improved, thereby improving the torque output performance of the matrix motor. In addition, after the method of the present invention is adopted, the amplitude of the harmonic current in the stator and rotor of the matrix motor is reduced, such as the 2nd and 4th harmonics of the stator current and the 2nd, 5th, and 7th harmonics of the rotor current. These harmonics have almost no contribution to the torque of the matrix motor, so the copper loss can be reduced on the basis of maintaining the torque output capacity of the matrix motor.

[0074] It can be seen that the present invention aims at the complex coupling of the stator and rotor current loop models of the matrix motor, and combines the characteristics of its DC coupling term and AC coupling term to propose a decoupling control method with harmonic suppression capability, which can improve the control performance of the matrix motor current loop. The adaptive quasi-resonant extended state observer proposed in the present invention can observe the DC disturbance and AC disturbance in the current loop of the matrix motor, and obtain the observation value of the lumped disturbance of the current loop. After compensating the disturbance observation value in the current loop, the coupling between the currents of each axis in the vector coordinate system of the matrix motor can be released, and the steady-state current performance can be improved. At the same time, the gain parameter of the observer has the ability of adaptive adjustment, which reduces the complexity of parameter setting and facilitates practical application. The decoupling method proposed in the present invention has a suppressive effect on the harmonics of the matrix motor current. After suppressing the harmonics, the copper loss of the matrix motor can be reduced on the basis of maintaining the torque output capacity. The proposed method provides a new idea for the decoupling control of the matrix motor, and is conducive to the precise regulation of each torque component of the matrix motor, further releasing the excellent performance of the matrix motor.

[0075] The third object of the present invention is to provide a matrix motor decoupling control system with harmonic suppression capability, the module diagram of which is shown in FIG. Figure 5 As shown. Includes: The first building module is used to build a matrix motor current loop mathematical model that takes into account both DC disturbance terms and AC disturbance terms; The second establishment module is used to establish an adaptive quasi-resonant extended state observer based on the matrix motor current loop mathematical model, which simultaneously considers DC disturbance and AC disturbance observation and performs adaptive adjustment on control parameters; An observation module is used to observe the DC and AC lumped disturbances of the matrix motor current loop in real time through an adaptive quasi-resonant extended state observer; A compensation module, used for compensating the observed DC and AC lumped disturbances in the forward controller of the current loop and obtaining a voltage control quantity; A control module is used to control the matrix motor according to the voltage control amount through voltage vector space transformation and SVPWM modulation method.

[0076] A fourth object of an embodiment of the present invention is to provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the matrix motor decoupling control method with harmonic suppression capability when executing the computer program. A communication interface and a bus are also included.

[0077] A fifth object of an embodiment of the present invention is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the matrix motor decoupling control method with harmonic suppression capability is implemented.

[0078] A sixth objective of an embodiment of the present invention is to provide a computer program product, wherein the computer program product comprises computer instructions, wherein the computer instructions instruct a computer to execute the matrix motor decoupling control method with harmonic suppression capability.

[0079] 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.

[0080] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0081] The present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, readable storage media, optical storage, etc.) containing computer-usable program codes.

[0082] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the 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.

[0083] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A matrix motor decoupling control method with harmonic suppression capability, characterized in that: include: Establish a mathematical model of the matrix motor current loop that takes into account both DC and AC disturbance terms; Based on the mathematical model of matrix motor current loop, an adaptive quasi-resonant extended state observer is established, which takes into account both DC disturbance and AC disturbance observation and performs adaptive adjustment on control parameters. The DC and AC lumped disturbances of the matrix motor current loop are observed in real time by an adaptive quasi-resonant extended state observer. In the forward controller of the current loop, the observed DC and AC lumped disturbances are compensated and the voltage control quantity is obtained; The matrix motor is controlled according to the voltage control amount through voltage vector space transformation and SVPWM modulation method.

2. A matrix motor decoupling control method with harmonic suppression capability according to claim 1, characterized in that: The method of establishing a matrix motor current loop mathematical model that simultaneously considers DC disturbance terms and AC disturbance terms includes: Construct the time domain voltage equation of the matrix motor with five-phase windings on the stator and three-phase windings on the rotor in the stator-rotor dual dq rotating coordinate system; Based on the time-domain voltage equation, the time-domain voltage equation of the matrix motor is constructed considering parameter errors and unmodeled dynamics of DC properties. The matrix motor time-domain voltage equation considering parameter errors and unmodeled dynamics is transformed to obtain the matrix motor current loop model considering DC disturbance terms. On the basis of the matrix motor current loop model considering the DC disturbance term, the AC disturbance term is considered to obtain the matrix motor current loop mathematical model considering both the DC disturbance term and the AC disturbance term.

3. A matrix motor decoupling control method with harmonic suppression capability according to claim 1 or 2, characterized in that: The method of establishing a matrix motor current loop mathematical model that simultaneously considers DC disturbance terms and AC disturbance terms specifically includes: Construct the time domain voltage equation of the matrix motor with five-phase windings on the stator and three-phase windings on the rotor in the stator-rotor dual dq rotating coordinate system: The stator-rotor dual dq axis system includes the stator dq axis system and the rotor dq axis system, where the stator is five-phase. According to the vector space decoupling principle of the five-phase motor, the stator dq axis system also includes the stator fundamental wave space dq axis system and the stator third harmonic space dq axis system; where the parameter u ds1 represents the stator fundamental space d-axis voltage, u qs1 represents the stator fundamental space q-axis voltage, u ds3 represents the stator third harmonic space d-axis voltage, u qs3 represents the stator third harmonic space q-axis voltage, u dr represents the rotor d-axis voltage, u qr Indicates the rotor q-axis voltage; parameter i ds1 、i qs1 ,i ds3 、i qs3 、i dr and i qr Respectively represent the current of the six axes of the matrix motor; parameter L ds1 , L qs1 , L ds3 , L qs3 , L dr and L qr They represent the self-inductance of the six axes of the matrix motor, and the parameter M sr Represents the mutual inductance between the stator winding and the rotor winding of the matrix motor; parameter R s and R r Respectively represent the phase resistance of the stator and rotor of the matrix motor; ω es and ω er are the electrical angular velocities of the stator and rotor of the matrix motor, ψ ms1 , ms3 and ψ mr They represent the stator flux fundamental amplitude, stator flux third harmonic amplitude and rotor flux fundamental amplitude of the matrix motor respectively; The time-domain voltage equation of the matrix motor considering parameter errors and unmodeled dynamics is: In the matrix motor time-domain voltage equation considering parameter errors and unmodeled dynamics, the parameter ΔR j Indicates the error value of each axis resistance, j=d s1 , q s1 , d s3 , q s3 , d r , q r ; Parameter ΔL j Indicates the error value of the inductance of each axis, parameter ΔD j represents the DC unmodeled dynamics of each axis; The matrix motor time domain voltage equation considering parameter errors and unmodeled dynamics is transformed to obtain the matrix motor current loop model considering DC disturbance terms as follows: Among them, parameter b j = 1 / L j , parameter f j_dc Represents the DC disturbance term of each axis of the matrix motor; On the basis of the matrix motor current loop model considering the DC disturbance term, the AC disturbance term is considered, and the mathematical model of the matrix motor current loop considering both the DC disturbance term and the AC disturbance term is obtained as follows: Among them, the parameter f j_ac represents the AC disturbance term of each axis of the matrix motor, and the AC disturbance term of each axis is respectively expressed by the nonlinear function g j (u j_ac , ψ j_ac , w j_ac , p j_ac ) is used to represent that the nonlinear function includes four independent variables, among which the independent variable parameter u j_ac It represents the AC disturbance caused by the nonlinearity of the inverter, and the independent variable parameter ψ j_ac It represents the AC disturbance caused by the flux harmonic, and the independent variable parameter w j_ac It represents the AC disturbance caused by the winding coefficient of the matrix motor, and the independent variable parameter p j_ac It characterizes the AC disturbance caused by the unmodeled dynamics of the AC.

4. A matrix motor decoupling control method with harmonic suppression capability according to claim 1, characterized in that: The method of establishing an adaptive quasi-resonant extended state observer that simultaneously considers DC disturbance and AC disturbance observation and adaptively adjusts control parameters includes: The mathematical model of the current loop of the six axes of the matrix motor is rewritten into the form of six sets of state equations, the DC disturbance term and the AC disturbance term are expressed in the form of lumped disturbance terms, and the six sets of state equations are expanded by one dimension: According to the expanded state equation, an adaptive quasi-resonant expanded state observer is configured which has the capability of observing both DC disturbance and AC disturbance and can adaptively adjust control parameters.

5. A matrix motor decoupling control method with harmonic suppression capability according to claim 1 or 4, characterized in that: The method of establishing an adaptive quasi-resonant extended state observer that simultaneously considers DC disturbance and AC disturbance observation and adaptively adjusts control parameters includes: The mathematical model of the current loop of the six axes of the matrix motor is rewritten into the form of six sets of state equations, the DC disturbance term and the AC disturbance term are expressed in the form of lumped disturbance terms, and the six sets of state equations are expanded by one dimension: Among them, the parameter f j_all represents the lumped disturbance term of the j-axis of the matrix motor, f j_all = f j_dc + f j_ac , parameter h ds1 、h qs1 、h ds3 、h qs3 、h dr 、h qr are the differential components of the lumped disturbance terms of the six axes of the matrix motor; According to the expanded state equation, an adaptive quasi-resonant expanded state observer is configured which has the ability to observe both DC disturbances and AC disturbances and can adaptively adjust control parameters. Its mathematical model is expressed as follows: Among them, the parameters with the symbol ^ represent the observed values, j=d s1 When is d s1 Observed value of shaft current, u ds1 is d s1 The voltage control value of the axis; parameter e j is the current observation error, p is the differential operator, β1 and β2 are the gain parameters of the observer, which are adjusted by the parameter adaptive algorithm, β1=2ω o and β2=ω o 2 is the gain calculation formula determined by the bandwidth method; ω o It is adjusted by the parameter adaptive algorithm; the observed value of the DC disturbance is equal to the product of the gain β2 and the current observation error value, which is then integrated after taking the negative value; x1 and x2 are intermediate variables used to calculate the observed value of the AC disturbance; K r is the resonance ratio parameter, ω c is the resonance bandwidth parameter, ω r is the resonant frequency; ω r is the current harmonic frequency that needs to be suppressed; The ω o The mathematical formula is: Where k is the proportional parameter; ω omin and ω omax They are ω o The minimum and maximum values ​​of the value range; The transfer function relationship between the AC disturbance observation value and the current observation error value is equivalent to the transfer function of the quasi-resonant controller. The transfer function of the quasi-resonant controller is: The extended state observer has two input parameters and two output parameters. The input parameters are the current given value i and ds1 and voltage control quantity u ds1 , the output parameters are the current observation values and the overall perturbation observation ; After the current given value is input into the observer, the current observed value is subtracted to obtain the current error value e j The current error value is multiplied by the gain β2 and then passes through an integrator to obtain the DC disturbance observation value. The product of the current error value and the gain β2 is the output of the AC disturbance observation value after passing through the quasi-resonant controller. , the sum of the DC disturbance observation value and the AC disturbance observation value is the overall disturbance observation value ; Current error value e j After multiplying by the gain β1, add the voltage control amount u ds1 With gain b ds1 The product of Add, and then the output after a differentiator is the current observation value ; The adaptive adjustment of gain parameters β1 and β2 is performed through a parameter adaptive algorithm.

6. A matrix motor decoupling control method with harmonic suppression capability according to claim 1, characterized in that: The method of real-time monitoring of the DC and AC lumped disturbances of the matrix motor current loop by an adaptive quasi-resonant extended state observer comprises: The DC disturbance of each current loop of the matrix motor is observed simultaneously through the adaptive quasi-resonant extended state observer. and AC disturbances of a specific sub-frequency , the lumped disturbance observation value of each current loop It is equal to the sum of the DC disturbance observation value and the AC disturbance observation value of each axis.

7. A matrix motor decoupling control method with harmonic suppression capability according to claim 1, characterized in that: The method of compensating the observed DC and AC lumped disturbances in the forward controller of the current loop and obtaining the voltage control quantity comprises: In decoupling control, the forward controller is a proportional gain, K p The input is the difference between the given reference current value of each axis and the current observation value output by the observer. The difference between the output of the forward controller and the total disturbance observation value of each axis output by the observer is the voltage control quantity u. j The voltage control quantity is the control quantity based on the dual dq coordinate system of the matrix motor.

8. A matrix motor decoupling control method with harmonic suppression capability according to claim 1, characterized in that: The method of controlling the matrix motor according to the voltage control amount through voltage vector space transformation and SVPWM modulation method includes: Voltage control quantity u of matrix motor in double dq coordinate system ds1 、u qs1 ,u ds3 、u qs3 、u dr and u qr The voltage control quantity in the stationary coordinate system is obtained through vector space transformation; the voltage control quantity in the stationary coordinate system is respectively input into the SVPWM module to generate a pulse width modulation wave, and the pulse width modulation wave controls the eight-phase inverter to control the matrix motor.

9. A matrix motor decoupling control system with harmonic suppression capability, characterized in that: include: The first building module is used to build a matrix motor current loop mathematical model that takes into account both DC disturbance terms and AC disturbance terms; The second establishment module is used to establish an adaptive quasi-resonant extended state observer based on the matrix motor current loop mathematical model, which simultaneously considers DC disturbance and AC disturbance observation and performs adaptive adjustment on control parameters; An observation module is used to observe the DC and AC lumped disturbances of the matrix motor current loop in real time through an adaptive quasi-resonant extended state observer; A compensation module, used for compensating the observed DC and AC lumped disturbances in the forward controller of the current loop and obtaining a voltage control quantity; A control module is used to control the matrix motor according to the voltage control amount through voltage vector space transformation and SVPWM modulation method.

10. A matrix motor decoupling control system with harmonic suppression capability, characterized in that: include: The speed regulator adopts a PI controller, whose input is the difference between the given reference speed and the actual speed, and whose output is the equivalent lumped q-axis reference current; The stator / rotor q-axis current distribution module takes the equivalent lumped q-axis reference current as input and distributes the lumped q-axis reference current to the stator q s1 Shaft and rotor q r axis, thereby adjusting the ratio of the matrix motor stator and rotor output; Output is stator q s1 Shaft reference current and rotor q r Axis reference current; The decoupling controller measures and compensates the DC disturbance and AC disturbance observed by the adaptive quasi-resonant extended state observer to the output of the forward controller, and then outputs the voltage control quantity; The rotor anti-Park transformation module converts the voltage control quantity under the rotor dq axis system into the rotor α r -β r Voltage control quantity under the shaft system; Stator anti-Park transformation module, the stator d s1 -q s1 -d s3 -q s3 The voltage control quantity under the shaft system is converted into stator α s1 -β s1 -α s3 -β s3 Voltage control quantity under the shaft system; SVPWM module, which performs vector pulse width modulation calculations and outputs control signals for controlling the gates of inverter power devices; Inverter, voltage source inverter; A speed and angular position measuring device, for measuring the speed and angular position signals of the matrix motor; Clarke Park transformation module completes the Clarke and Park transformation of the rotor three-phase current and the stator five-phase current. The input is the rotor current and the stator current, and the output is the rotor d r ,q r Shaft current feedback value and stator d s1 ,q s1 ,d s3 ,q s3 Shaft current feedback value.

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