Multi-pole motor control method, electronic equipment and computer readable storage medium

Abstract

The invention discloses a multi-pole motor control method, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring a first mechanical position of the multi-pole motor, wherein the first mechanical position is acquired by a mechanical position sensor; obtaining a second mechanical position of the multi-pole motor according to the first mechanical position of the multi-pole motor, the rotating speed of the motor and the interval time, wherein the interval time is obtained by adding the motor motion control cycle time of the controller and the data transmission time from the mechanical position sensor to the controller; control information is calculated according to the second mechanical position; and controlling the multi-pole motor according to the control information. In this way, the output torque of the multi-pole motor can be improved.

Description

Technical Field

[0001] The present application relates to motor control, and in particular to a multi-pole motor control method, electronic device, and computer-readable storage medium. Background Art

[0002] When a multi-pole motor rotates at a high speed, the controller acquires the motor's mechanical position for motion control. Due to the inherent hysteresis of the hardware circuit, the mechanical position data collected by the sensor at the first moment is usually not received by the controller until the second moment. Since the controller takes a certain amount of time to complete the control calculations based on the mechanical position, it will not start controlling the multi-pole motor until the third moment based on the control information received. However, by this time, the multi-pole motor has already reached the mechanical position at the third moment and is no longer at the mechanical position at the first moment. Therefore, the control information received by the controller is not applicable to the multi-pole motor at this moment. This mismatch in control information affects the output torque of the multi-pole motor. Summary of the Invention

[0003] The main purpose of this application is to provide a multi-pole motor control method, electronic device and computer-readable storage medium, which can improve the output torque of the multi-pole motor.

[0004] The first technical solution adopted in this application is to provide a multi-pole motor control method. The method includes obtaining a first mechanical position of the multi-pole motor, the first mechanical position being acquired by a mechanical position sensor; obtaining a second mechanical position of the multi-pole motor based on the first mechanical position, the motor speed, and an interval time, the interval time being obtained by adding a motor motion control cycle time of a controller and a data transmission time from the mechanical position sensor to the controller; calculating control information based on the second mechanical position; and controlling the multi-pole motor based on the control information.

[0005] The second mechanical position of the multipolar motor is obtained according to the first mechanical position, motor speed and interval time of the multipolar motor, including: multiplying the motor speed and the interval time to obtain a position variable; and adding the first mechanical position and the position variable to obtain the second mechanical position.

[0006] The control information is calculated according to the second mechanical position, including: converting the second mechanical position to obtain the electrical position; and performing pulse width modulation according to the electrical position to obtain the control information.

[0007] The electrical position is obtained by converting the second mechanical position, including: obtaining the electrical position range of the motor and the initial offset of the electrical position of the multi-pole motor; adding the remainder of the second mechanical position to the electrical position range of the motor to the initial offset of the electrical position to obtain the electrical position offset; and obtaining the electrical position according to the electrical position offset and the electrical position range of the motor.

[0008] Among them, pulse width modulation is performed according to the electrical position to obtain control information, including: calculating the d-axis feedback current and the q-axis feedback current according to the electrical position; obtaining the d-axis voltage and the q-axis voltage according to the d-axis feedback current, the q-axis feedback current, the d-axis given current, and the q-axis given current; calculating the α-axis voltage and the β-axis voltage according to the d-axis voltage and the q-axis voltage; and performing pulse width modulation on the α-axis voltage and the β-axis voltage to obtain control information.

[0009] The d-axis feedback current and the q-axis feedback current are calculated according to the electrical position, including: performing a sine operation on the electrical position to obtain a first variable, and performing a cosine operation on the electrical position to obtain a second variable; adding the product of the first variable and the α-axis current and the product of the second variable and the β-axis current to obtain the d-axis feedback current, and adding the inverse of the product of the first variable and the α-axis current and the product of the second variable and the β-axis current to obtain the q-axis feedback current.

[0010] The α-axis current and the β-axis current are obtained through current sensors.

[0011] Among them, the α-axis voltage and the β-axis voltage are calculated based on the d-axis voltage and the q-axis voltage, including: performing a sine operation on the electrical position to obtain a first variable, and performing a cosine operation on the electrical position to obtain a second variable; adding the product of the first variable and the d-axis voltage and the negation of the product of the second variable and the q-axis voltage to obtain the α-axis voltage, and adding the negation of the product of the first variable and the q-axis voltage to the negation of the product of the second variable and the d-axis voltage to obtain the β-axis voltage.

[0012] The second technical solution adopted by the present application is to provide an electronic device comprising a controller and a multi-stage motor, wherein the controller is connected to the multi-stage motor to implement the method described in the first technical solution.

[0013] The third technical solution adopted by the present application is to provide a computer-readable storage medium that stores program data and can be executed by a processor to implement the method described in the first technical solution.

[0014] The beneficial effect of the present application is that, based on the motor speed, the collected first mechanical position and the interval time, the second mechanical position of the multi-pole motor when the controller obtains the control information is obtained, so that the control information at this time can match the second mechanical position of the multi-pole motor at this time, thereby improving the output torque of the multi-pole motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0016] Figure 1 This is a flow chart of the first embodiment of the multi-pole motor control method of the present application;

[0017] Figure 2 This is a flow chart of a second embodiment of the multi-pole motor control method of the present application;

[0018] Figure 3 This is a flow chart of a third embodiment of the multi-pole motor control method of the present application;

[0019] Figure 4 This is a flow chart of a fourth embodiment of the multi-pole motor control method of the present application;

[0020] Figure 5 is a flowchart of a fifth embodiment of the multi-pole motor control method of the present application;

[0021] Figure 6 This is a flow chart of a sixth embodiment of the multi-pole motor control method of the present application;

[0022] Figure 7 is a flow chart of a seventh embodiment of the multi-pole motor control method of the present application;

[0023] Figure 8 This is a structural diagram of an embodiment of an electronic device of the present application;

[0024] Figure 9 This is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present application; DETAILED DESCRIPTION

[0025] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0027] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0028] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0029] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0030] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0031] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0032] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0033] Before introducing the technical solution of this application, a brief introduction to the relevant technology is provided. In a multi-pole motor, there are mechanical position and electrical position. Mechanical position refers to the actual position of the multi-pole motor, while electrical position refers to the position of the motor's magnetic field rotation. Electrical position is closely related to the motion control of the multi-pole motor. If the electrical position obtained by the controller differs significantly from the actual electrical position of the multi-pole motor, the control information applied by the controller to the multi-pole motor will not be adapted, affecting the output torque of the multi-pole motor. Only when the controller applies control information based on the accurate electrical position can the control information be adapted to the current multi-pole motor, allowing the multi-pole motor to output maximum torque. In a multi-pole motor, due to the large number of poles, even a slight change in mechanical position can result in a significant change in electrical position. Therefore, due to the hysteresis of the hardware circuit and the time-consuming calculation of the controller, by the time the controller obtains the control information, the multi-pole motor has already rotated to a different mechanical position. At this point, the electrical position of the multi-pole motor has changed even more significantly, resulting in the obtained control information being inappropriate for the current multi-pole motor, affecting the output torque of the multi-pole motor.

[0034] To solve the above problems, the present application proposes the following embodiments to improve the output torque of the multi-pole motor.

[0035] Reference Figure 1 , Figure 1 This is a flow chart of the first embodiment of the multi-pole motor control method of the present application, which includes but is not limited to the following steps.

[0036] S11: Acquire a first mechanical position of the multi-pole motor, where the first mechanical position is acquired by a mechanical position sensor.

[0037] There are many types of mechanical position sensors for measuring mechanical position, such as encoders, resolvers, Hall sensors, laser sensors, photoelectric encoders, etc.

[0038] S12: Obtaining a second mechanical position of the multipolar motor according to the first mechanical position of the multipolar motor, the motor speed, and the interval time, where the interval time is obtained by adding the motor motion control cycle time of the controller and the data transmission time from the mechanical position sensor to the controller.

[0039] The data transmission time from the mechanical position sensor to the controller can be obtained through actual testing of the hardware circuit. The motor motion control cycle of the controller can be obtained based on the control setting parameters of the controller.

[0040] S13: Calculate and obtain control information according to the second mechanical position.

[0041] After obtaining the first mechanical position, motor speed and interval time, the first mechanical position is used as the initial position, and the movement distance is obtained according to the motor speed and interval time, thereby further obtaining the second mechanical position after the multi-pole motor moves, and further calculating to obtain control information.

[0042] S14: Control the multi-pole motor according to the control information.

[0043] In this embodiment, based on the motor speed, the collected first mechanical position and the interval time, the second mechanical position of the multi-pole motor when the controller obtains the control information is obtained, so that the control information at this time can match the second mechanical position of the multi-pole motor at this time, thereby improving the output torque of the multi-pole motor.

[0044] Reference Figure 2 , Figure 2 This is a flow chart of a second embodiment of the multi-pole motor control method of the present application. This method is a further extension of step S12 and includes but is not limited to the following steps.

[0045] S21: Multiply the motor speed by the interval time to obtain the position variable.

[0046] After obtaining the motor speed and the interval time, the motor speed is multiplied by the interval time to obtain the position variable moved by the motor from the moment the mechanical position sensor collects the data to the moment the controller completes the control information calculation.

[0047] S22: Add the first mechanical position and the position variable to obtain a second mechanical position.

[0048] The second mechanical position of the multi-pole motor when the controller completes the control information calculation can be obtained by adding the first mechanical position as the initial position to the position variable.

[0049] In this embodiment, the multi-pole motor rotates at a stable speed, so the motor speed can be regarded as a fixed value.

[0050] For example, the second mechanical position can be obtained by the following formula.

[0051] P2=P1+Vn*Terr, where P2 is the second mechanical position, P1 is the first mechanical position, Vn is the motor speed, and Terr is the interval time.

[0052] Reference Figure 3 , Figure 3 This is a flow chart of the third embodiment of the multi-pole motor control method of the present application. This method is a further extension of step S13 and includes but is not limited to the following steps.

[0053] S31: Converting the second mechanical position to obtain the electrical position.

[0054] When the controller performs motion control, it first needs to convert the acquired mechanical position into an electrical position, so as to perform motion control according to the electrical position.

[0055] S32: Perform pulse width modulation according to the electrical position to obtain control information.

[0056] The obtained electrical position can include the α-axis voltage and the β-axis voltage. The controller then pulse-width modulates the α-axis voltage and the β-axis voltage using a space vector pulse-width modulation algorithm to obtain control information. This control information is output to the multi-pole motor for control.

[0057] Reference Figure 4 , Figure 4 This is a flow chart of a fourth embodiment of the multi-pole motor control method of the present application. This method is a further extension of step S31 and includes but is not limited to the following steps.

[0058] S41: Acquire the motor electrical position range and the initial offset of the electrical position of the multi-pole motor.

[0059] The motor's electrical position range is determined by the multi-pole motor's mechanical position range and its pole pair number. For example, P_ratio = P_single / N, where P_ratio is the range corresponding to the motor's electrical position and its units match the units used by the mechanical position sensor to read the mechanical position P1. P_single is the maximum value of the data collected by the mechanical position sensor during a single revolution, and N is the number of pole pairs in the permanent magnet synchronous motor.

[0060] S42: Add the remainder of the second mechanical position modulo the motor electrical position range to the initial electrical position offset to obtain the electrical position offset.

[0061] Obtain the electrical position offset when the multi-pole motor is in the second mechanical position. This can be obtained using the following formula.

[0062] X = P2% P_ratio + Offset, where % is the remainder symbol. Offset is the initial electrical position offset, which is the offset between the mechanical position sensor zero position and the motor electrical position zero position. Once the motor and mechanical position sensor are installed, the initial offset is fixed and does not change with motor operation.

[0063] S43: Obtaining the electrical position according to the electrical position offset and the electrical position range of the motor.

[0064] The electrical position corresponding to the second mechanical position can be obtained by multiplying the electrical position offset by 2π and then dividing it by the electrical position range. This can be obtained using the following formula.

[0065] θ = X * 2π / P_ratio, where θ is the electrical position, X is the electrical position offset, and P_ratio is the range corresponding to the motor electrical position.

[0066] Reference Figure 5 , Figure 5 This is a flowchart of the fifth embodiment of the multi-pole motor control method of the present application. This method is a further extension of step S32 and includes but is not limited to the following steps.

[0067] S51: Calculate the d-axis feedback current and the q-axis feedback current according to the electrical position.

[0068] The d-axis feedback current and the q-axis feedback current of the multi-pole motor at this time can be calculated based on the obtained electrical position of the second mechanical position.

[0069] S52: Obtaining a d-axis voltage and a q-axis voltage according to the d-axis feedback current, the q-axis feedback current, the d-axis given current, and the q-axis given current.

[0070] Inputting the d-axis feedback current, q-axis feedback current, and d-axis set current and q-axis set current into the current PI controller yields the d-axis voltage and q-axis voltage. These d-axis voltage and q-axis voltage serve as the set voltage for the d-axis and q-axis, respectively. The d-axis set current and q-axis set current can be obtained from the speed PI controller.

[0071] S53: Calculate the α-axis voltage and the β-axis voltage according to the d-axis voltage and the q-axis voltage.

[0072] The d-axis voltage and the q-axis voltage are converted to the αβ coordinate system to obtain the α-axis voltage and the β-axis voltage.

[0073] S54: Perform pulse width modulation according to the α-axis voltage and the β-axis voltage to obtain control information.

[0074] The α-axis voltage and the β-axis voltage are pulse-width modulated using a space vector pulse width modulation algorithm to obtain control information, which may include a PWM waveform.

[0075] Reference Figure 6 , Figure 6 This is a flow chart of a sixth embodiment of the multi-pole motor control method of the present application. This method is a further extension of step S51 and includes but is not limited to the following steps.

[0076] S61: Perform a sine operation on the electrical position to obtain a first variable, and perform a cosine operation on the electrical position to obtain a second variable.

[0077] S62: Add the product of the first variable and the α-axis current and the product of the second variable and the β-axis current to obtain the d-axis feedback current, and add the inverse of the product of the first variable and the α-axis current and the product of the second variable and the β-axis current to obtain the q-axis feedback current.

[0078] A sine operation is performed on the electrical position to obtain a first variable, sin(θ), where θ is the electrical position. A cosine operation is performed on the electrical position to obtain a second variable, cos(θ), where θ is the electrical position.

[0079] The product of the first variable and the α-axis current and the product of the second variable and the β-axis current are added to obtain the d-axis feedback current, Id=Iα*cos(θ)+Iβ*sin(θ), where Id is the d-axis feedback current, Iα is the α-axis current, and Iβ is the β-axis current.

[0080] The q-axis feedback current is obtained by adding the inverse of the product of the first variable and the α-axis current and the product of the second variable and the β-axis current, Iq = -Iα*sin(θ) + Iβ*cos(θ), where Iq is the q-axis feedback current, Iα is the α-axis current, and Iβ is the β-axis current.

[0081] In one embodiment, the α-axis current and the β-axis current can be obtained by a current sensor.

[0082] Reference Figure 7 , Figure 7 This is a flow chart of the seventh embodiment of the multi-pole motor control method of the present application. This method is a further extension of step S53 and includes but is not limited to the following steps.

[0083] S71: Perform a sine operation on the electrical position to obtain a first variable, and perform a cosine operation on the electrical position to obtain a second variable.

[0084] A sine operation is performed on the electrical position to obtain a first variable, sin(θ), where θ is the electrical position. A cosine operation is performed on the electrical position to obtain a second variable, cos(θ), where θ is the electrical position.

[0085] S72: Add the product of the first variable and the d-axis voltage and the inverse of the product of the second variable and the q-axis voltage to obtain the α-axis voltage, and add the inverse of the product of the first variable and the q-axis voltage to the inverse of the product of the second variable and the d-axis voltage to obtain the β-axis voltage.

[0086] The α-axis voltage is obtained by adding the product of the first variable and the d-axis voltage and the inverse of the product of the second variable and the q-axis voltage, Vα = -Vq*cos(θ) + Vd*sin(θ), where Vα is the α-axis voltage, Vd is the obtained d-axis voltage, and Vq is the obtained q-axis voltage.

[0087] The β-axis voltage is obtained by adding the negation of the product of the first variable and the q-axis voltage to the negation of the product of the second variable and the d-axis voltage, Vβ = -Vq*sin(θ) -Vd*cos(θ), where Vβ is the β-axis voltage, Vd is the obtained d-axis voltage, and Vq is the obtained q-axis voltage.

[0088] like Figure 8 As shown, Figure 8 This is a structural diagram of the first embodiment of the electronic device of this application.

[0089] The electronic device includes a controller 110 and a multi-pole motor 120 .

[0090] The controller 110 controls the operation of the electronic device and may also be referred to as a CPU (Central Processing Unit). The controller 110 may be an integrated circuit chip with signal processing capabilities. The controller 110 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The general-purpose processor may be a microprocessor or any conventional processor.

[0091] The multi-pole motor 120 includes a multi-pole synchronous motor, a multi-pole permanent magnet synchronous motor, and the like.

[0092] The controller 110 is connected to the multi-pole motor 120 to implement the method provided by any embodiment and possible combination of the motor control method described above in the present application.

[0093] like Figure 9 As shown, Figure 9 This is a structural diagram of an embodiment of a computer-readable storage medium of the present application.

[0094] An embodiment of the readable storage medium of the present application includes a memory 210 , which stores program data. When the program data is executed, the method provided by any embodiment and possible combination of the motor control method of the present application is implemented.

[0095] The memory 210 may include a medium that can store program instructions, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or it may be a server that stores the program instructions. The server may send the stored program instructions to other devices for execution, or it may execute the stored program instructions itself.

[0096] To sum up, based on the motor speed, the collected first mechanical position and the interval time, the second mechanical position of the multi-pole motor when the controller obtains the control information is obtained, so that the control information at this time can match the second mechanical position of the multi-pole motor at this time, thereby improving the output torque of the multi-pole motor.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical functional division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another system, or ignoring or not implementing certain features.

[0098] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of this embodiment.

[0099] In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional units.

[0100] If the integrated units in the above other embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0101] The above description is merely an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A multi-pole motor control method, characterized in that: The method comprises: Acquire a first mechanical position of the multi-pole motor, where the first mechanical position is acquired by a mechanical position sensor; Obtaining a second mechanical position of the multi-pole motor according to the first mechanical position of the multi-pole motor, the motor speed and an interval time, wherein the interval time is obtained by adding a motor motion control cycle time of a controller and a data transmission time from the mechanical position sensor to the controller; Calculate control information according to the second mechanical position; The multi-pole motor is controlled according to the control information.

2. The method according to claim 1, characterized in that The method of obtaining the second mechanical position of the multi-pole motor according to the first mechanical position of the multi-pole motor, the motor speed and the interval time comprises: Multiplying the motor speed by the interval time to obtain a position variable; The first mechanical position is added to the position variable to obtain the second mechanical position.

3. The method according to claim 1, characterized in that The calculating and obtaining the control information according to the second mechanical position includes: Converting the second mechanical position to obtain an electrical position; The control information is obtained by performing pulse width modulation according to the electrical position.

4. The method according to claim 3, characterized in that The converting the second mechanical position to obtain the electrical position comprises: Acquire the motor electrical position range and the initial electrical position offset of the multi-pole motor; Adding the remainder of the second mechanical position modulo the motor electrical position range to the electrical position initial offset to obtain an electrical position offset; The electrical position is obtained according to the electrical position offset and the motor electrical position range.

5. The method according to claim 3, characterized in that: The step of performing pulse width modulation according to the electrical position to obtain the control information comprises: Calculating a d-axis feedback current and a q-axis feedback current according to the electrical position; Obtaining a d-axis voltage and a q-axis voltage according to the d-axis feedback current, the q-axis feedback current, the d-axis given current, and the q-axis given current; Calculate the α-axis voltage and the β-axis voltage according to the d-axis voltage and the q-axis voltage; The control information is obtained by performing pulse width modulation on the α-axis voltage and the β-axis voltage.

6. The method according to claim 5, characterized in that The calculating the d-axis feedback current and the q-axis feedback current according to the electrical position comprises: Performing a sine operation on the electrical position to obtain a first variable, and performing a cosine operation on the electrical position to obtain a second variable; The d-axis feedback current is obtained by adding the product of the first variable and the α-axis current and the product of the second variable and the β-axis current, and the q-axis feedback current is obtained by adding the inverse of the product of the first variable and the α-axis current and the product of the second variable and the β-axis current.

7. The method according to claim 6, characterized in that The α-axis current and the β-axis current are obtained through current sensors.

8. The method according to claim 5, characterized in that The α-axis voltage and the β-axis voltage are calculated according to the d-axis voltage and the q-axis voltage, including: Performing a sine operation on the electrical position to obtain a first variable, and performing a cosine operation on the electrical position to obtain a second variable; The α-axis voltage is obtained by adding the product of the first variable and the d-axis voltage and the inverse of the product of the second variable and the q-axis voltage, and the β-axis voltage is obtained by adding the inverse of the product of the first variable and the q-axis voltage and the inverse of the product of the second variable and the d-axis voltage.

9. An electronic device, characterized in that: The invention comprises a controller and a multi-pole motor, wherein the controller is connected to the multi-pole motor to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: Program data is stored and can be executed by a processor to implement the method according to any one of claims 1 to 8.

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