Control device and control method for suppressing circumferential torque ripple and radial vibration of motor

Abstract

The invention discloses a control device and a control method for suppressing circumferential torque pulsation and radial vibration of a motor. The compensation current data table, the proportion setting part and the voltage conversion part are used for providing a torque ripple compensation current iqnh * for circumferential torque ripple suppression of the synchronous motor and providing a radial vibration compensation current idnh * for radial vibration suppression caused by increase of radial electromagnetic force harmonic waves of a stator for hybrid injection control, q-axis compensation current is injected, circumferential torque ripple is suppressed, and the torque ripple is suppressed. Meanwhile, d-axis compensation current is injected to suppress circumferential torque pulsation, reduce the radial vibration influence generated by q-axis compensation current and eliminate the increasing part of radial electromagnetic force; and a good circumferential torque ripple suppression effect is kept and radial electromagnetic force is prevented from being increased when the motor is at a low rotating speed and a high rotating speed, so that the risk of increasing stator vibration is avoided.

Description

Technical Field

[0001] The present invention relates to a synchronous motor, and in particular to a control device and a control method for suppressing circumferential torque pulsation and radial vibration of the synchronous motor used for torque control. Background Art

[0002] The synchronous motor is the heart of electromechanical products, a device that realizes the conversion of electrical energy into mechanical energy. The torque is generated by the interaction between the rotating magnetic field generated by the stator coil and the magnetic field of the rotor permanent magnet. If there is a torque pulsation component when the synchronous motor is working, it will cause resonance and noise of the parts connected to the motor, or reduce the position accuracy and speed accuracy of the servo motor or damage other parts; the representative reasons for the generation of torque pulsation include the presence of harmonic components of the motor rotor magnet flux, Fig. 9 is the harmonic order of the typical magnet flux that produces torque ripple.

[0003] The existing technical principle of achieving motor torque pulsation suppression through motor control technology is as follows: Fig.10 , Fig.11 , for a surface mounted magnet motor (SPM), its torque and torque ripple can be expressed in dq rotating coordinates as: Formula 25 in, Represents the part that produces torque ripple; If the q-axis current Inject a compensation current: , then formula 25; Formula 26 in is the torque, is the torque pulsation part, The value is small and can be ignored.

[0004] By injecting the compensation current Iqh*, the second term is made 0, and the original torque pulsation can be offset. The offset torque (such as Fig.11 ) shown in the ideal torque. The above-mentioned method of suppressing torque ripple based on motor control technology includes a feedforward control method using compensation current Iqh* - data table method (see Figure 7 ) and the negative feedback control method using the compensation current Iqh* (see Figure 8 ).

[0005] The control device and method of the permanent magnet synchronous motor with the Japanese patent number 2002-223582 has the following problems: the current controller generally adopts a PI (proportional integral) controller, and the PI controller can only control DC or low-frequency signals. This current compensation form is easy to cause the effect to deteriorate at high motor speeds. In addition, there is an injected q-axis compensation current, which can suppress the circumferential torque pulsation, but it will also increase the harmonic content of the radial electromagnetic force, causing the risk of increased radial vibration of the stator. The motor control device with the Japanese patent number 7218700 has the following problems: the compensation voltage will generate a current of the same frequency accordingly. At low frequencies, the current will generate a voltage after passing through the PI controller. The voltage will be superimposed on the compensation voltage and change the phase of the compensation voltage. This current compensation form is easy to cause the effect to deteriorate at low motor speeds. In addition, there is an injected q-axis compensation current, which can suppress the circumferential torque pulsation, but it will also increase the harmonic content of the radial electromagnetic force of the stator, causing the risk of increased stator vibration. Summary of the invention

[0006] The present invention solves the problem that during the torque pulsation suppression control of a synchronous motor, the torque pulsation suppression effect deteriorates at a high motor speed or at a low motor speed, while at the same time increasing the harmonic content of the stator radial electromagnetic force and causing the risk of increased stator vibration, that is, it is not possible to maintain a good circumferential torque pulsation suppression effect and prevent the increase of radial electromagnetic force at both high and low motor speeds. The present invention provides a new control method for torque pulsation suppression of an SPM motor, that is, it provides a control device and a control method for suppressing the circumferential torque pulsation and radial vibration of a motor, which maintains a good circumferential torque pulsation suppression effect at both low and high motor speeds, while preventing the increase of stator radial electromagnetic force harmonics and avoiding the risk of increased stator vibration.

[0007] The specific technical solution adopted by the present invention to solve the above technical problems is: a circumferential torque pulsation suppression and radial electromagnetic force increase elimination control device, which comprises a speed controller, a current controller, a current command conversion unit, a dq / uvw conversion unit, an inverter, a uvw / dq conversion unit, a motor, a speed sensor and a position speed calculation unit. The current command conversion unit is preceded by the speed controller, and the current command conversion unit is followed by a dq axis current controller, a dq / uvw conversion unit and an inverter. The inverter receives the input of the dq / uvw conversion unit and outputs the voltage and current required by the motor. The uvw / dq The conversion unit converts the sampled current flowing to the motor into the q-axis and d-axis currents in the dq rotating coordinate system and inputs them to the input end of the current controller. The speed sensor obtains the mechanical rotation angle θm of the motor and outputs it to the position-speed calculation unit. The position-speed calculation unit calculates the electrical rotation angle θe and outputs it to the dq / uvw conversion unit and the uvw / dq conversion unit, and outputs the electrical rotation speed ωe to the speed controller. It is characterized in that it also includes a compensation current data table, a ratio setting unit and a voltage conversion unit. The compensation current data table, the ratio setting unit and the voltage conversion unit are used to provide a torque pulsation compensation current i for the circumferential torque pulsation suppression of the synchronous motor. qnh * and provide radial vibration compensation current i for radial vibration suppression caused by increased harmonics of electromagnetic force in the radial direction of the stator dnh * Hybrid injection control; q-axis compensation current i qnh * is injected into the q-axis current command Iq* output by the current command conversion unit, and the two are combined as the current command of the q-axis current controller, and the d-axis compensation current i dnh * is injected into the d-axis current command Id* output by the current command conversion unit, and the two are combined as the current command of the d-axis current controller; the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh *Injected into the corresponding input end of the dq / uvw conversion unit and combined with the q-axis output voltage and d-axis output voltage corresponding to the q-axis current controller and the d-axis current controller respectively, the electrical speed ωe output by the position speed calculation unit is input into the compensation current data table, the ratio setting unit and the voltage conversion unit respectively. By injecting the q-axis compensation current, the circumferential torque pulsation is suppressed, and the d-axis compensation current is injected at the same time, which is used to suppress the circumferential torque pulsation while reducing the radial vibration effect generated by the q-axis compensation current, reduce the increase of radial electromagnetic force harmonics, and avoid the increase of stator radial vibration risk; the motor maintains a good circumferential torque pulsation suppression effect and suppresses the increase of radial electromagnetic force at both low and high speeds, avoiding the risk of increasing stator vibration, and improving the safety, reliability and stability of the synchronous motor.

[0008] The compensation current data table is followed by a ratio setting unit, which sets the q-axis compensation current i qnh*After proportional conversion, it is input into the voltage conversion unit and simultaneously input into the q-axis current command Iq* output by the current command conversion unit. The proportional setting unit converts the d-axis compensation current i dnh *After proportional conversion, it is input into the voltage conversion unit and simultaneously input into the d-axis current command Id* output by the current command conversion unit; the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * Input to the corresponding input end of the dq / uvw conversion unit respectively, and the electrical speed ωe output by the position speed calculation unit is input to the compensation current data table, the ratio setting unit and the voltage conversion unit respectively. A mixed injection method of compensation current and compensation voltage is adopted to set a compensation current for a given motor load to eliminate a certain component of torque pulsation. The ratio setting unit adjusts the size of the compensation current according to the size of the speed, so that the actual compensation current in the motor current does not change, so that the motor can achieve the suppression of circumferential torque pulsation and stator radial vibration at any speed.

[0009] The q-axis compensation current i of the compensation current data table is qnh * and d-axis compensation current i dnh * The corresponding q-axis current command Iq* and d-axis current command Id* are directly input to the current command conversion unit without passing through the proportional setting unit, and are superimposed and input to the corresponding q-axis current controller and d-axis current controller, while compensating the q-axis compensation current i of the current data table. qnh * and d-axis compensation current i dnh * Input to the ratio setting unit, the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * are respectively input to the corresponding input terminals of the dq / uvw conversion unit, and the electrical speed ωe output by the position speed calculation unit is respectively input to the compensation current data table, the ratio setting unit and the voltage conversion unit. The ratio setting unit is placed after the compensation current data table. The ratio setting unit adjusts the size of the compensation current according to the size of the speed, so that the actual compensation current in the motor current remains unchanged when the load remains unchanged and only the speed changes, so that the motor can achieve the suppression of circumferential torque pulsation and stator radial vibration at any speed.

[0010] The q-axis compensation current i of the compensation current data table is qnh * and d-axis compensation current i dnh * Directly injected into the voltage conversion unit, the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * respectively input to the corresponding input terminal of the dq / uvw conversion unit; at the same time, the q-axis compensation current i of the compensation current data table qnh * and d-axis compensation current i dnh*After proportional conversion, the q-axis current command Iq* and d-axis current command Id* output by the current command conversion unit are injected, and superimposed with them and input into the corresponding q-axis current controller and d-axis current controller. The electrical speed ωe output by the position speed calculation unit is input into the compensation current data table, the proportional setting unit and the voltage conversion unit respectively. The proportional setting unit is placed before the compensation current is superimposed. The proportional setting unit adjusts the size of the compensation current according to the size of the speed, so that the actual compensation current in the synchronous motor current remains unchanged when the load remains unchanged and only the speed changes, so that the motor can achieve the suppression of circumferential torque pulsation and stator radial vibration at any speed.

[0011] The compensation current data table, the ratio setting unit and the voltage conversion unit are provided in multiple groups to achieve the suppression of multiple components of the circumferential torque pulsation and radial vibration. The q-axis compensation current i of the compensation current data table in each group is qnhk * and d-axis compensation current i dnhk *Inject the q-axis current command Iq* and d-axis current command Id* corresponding to the output of the current command conversion unit in any of the above technical solutions, and superimpose them and input them into the corresponding q-axis current controller and d-axis current controller, and at the same time, the q-axis compensation voltage V output by each voltage conversion unit is qnhk * and d-axis compensation voltage V dnhk * Input the corresponding input terminals of the dq / uvw conversion unit respectively; k is a natural number of 1, 2, ..., and the electrical speed ωe output by the position speed calculation unit is input into the compensation current data table, the ratio setting unit and the voltage conversion unit respectively. By injecting multiple sets of compensation currents and compensation voltages, multiple torque pulsations can be suppressed. Thus, the synchronous motor can suppress multiple components of circumferential torque pulsation and stator radial vibration at any speed.

[0012] The compensation current data table, the ratio setting unit and the voltage conversion unit are arranged in one or more groups, and the q-axis compensation current i of the compensation current data table is qnhk * and d-axis compensation current i dnhk *Inject the q-axis current command Iq* and d-axis current command Id* corresponding to the output of the current command conversion unit in any of the above technical solutions, and superimpose them and input them into the corresponding q-axis current controller and d-axis current controller, and at the same time, the q-axis compensation voltage V output by each voltage conversion unit is qnhk * and d-axis compensation voltage V dnhk* Input the corresponding input terminals of the dq / uvw conversion unit respectively; output the q-axis voltage Vq, d-axis voltage Vd corresponding to the q-axis current controller and the d-axis current controller respectively, and the q-axis current Iq and d-axis current Id converted by the uvw / dq conversion unit to the position-speed calculation unit to calculate the electrical speed ωe and the electrical rotation angle θe; the electrical speed ωe output by the position-speed calculation unit is input into the compensation current data table, the ratio setting unit and the voltage conversion unit respectively. By injecting multiple sets of compensation currents and compensation voltages in a mixed manner, the effectiveness of suppressing multiple torque pulsations is improved. Thus, the synchronous motor can suppress multiple components of circumferential torque pulsation and radial vibration without using a speed sensor.

[0013] The q-axis compensation current i of the compensation current data table is qnh * and d-axis compensation current i dnh * The corresponding q-axis current command Iq* and d-axis current command Id* are directly input to the current command conversion unit without passing through the proportional setting unit, and are superimposed and input to the corresponding q-axis current controller and d-axis current controller, while compensating the q-axis compensation current i of the current data table. qnh * and d-axis compensation current i dnh * Input to the ratio setting unit, the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * respectively input to the corresponding input terminals of the dq / uvw conversion unit; the electrical speed ωe output by the position-speed calculation unit is respectively input to the compensation current data table, the ratio setting unit and the voltage conversion unit. The ratio setting unit is placed after the compensation current data table. The ratio setting unit adjusts the size of the compensation current according to the size of the speed, so that the actual compensation current in the motor current remains unchanged when the load remains unchanged and only the speed changes; and the q-axis voltage Vq and d-axis voltage Vd output by the q-axis current controller and the d-axis current controller are respectively input to the position-speed calculation unit, and the q-axis current Iq and d-axis current Id converted by the uvw / dq conversion unit are output to the position-speed calculation unit to calculate the electrical speed ωe and the electrical rotation angle θe; so that the synchronous motor can more effectively achieve circumferential torque pulsation suppression and prevent radial electromagnetic force increase at any speed.

[0014] Taking the suppression of the 6th torque pulsation as an example, the following control means of steps A1 to A10 are executed; A1. Define the dq axis current iq and id in the dq coordinate system as follows: ; Where: I q ,I d is the amplitude of the fundamental component, i q6h 、i d6h is the amplitude of the sixth harmonic, θe is the electrical rotation angle, σ q6h , σ d6h is the initial phase; for the SPM motor, the d-axis current 𝐼 d=0A; And,i q6h* Used to suppress circumferential torque pulsation, which is a known quantity obtained from step 2; i d6h* Used to suppress the increase of radial vibration, the unknown quantity is derived from step 3; A2. Compensation current i qh * Acquisition; Compensation current i qh* It is obtained by experiment or based on the following torque formula by making the sum of torque pulsation ① and ② equal to 0, as shown in formulas (6a) and (6b); ; ; Where: Pn is the rotor magnetic pair number, Φ d6h is: the amplitude of the sixth harmonic component of the rotor magnet flux, Iq is the q-axis fundamental current that generates torque, ζ d6h : Initial phase of the sixth harmonic component of the rotor magnet flux, Φ f is the fundamental component of the magnetic flux of the rotor magnet; A3. Calculate the magnetic flux generated by the current of the UVW phase in the uvw coordinate system, that is, the static coordinate system based on the motor stator; The product of the dq-axis currents id and iq in formulas (1) and (2) in step A1 above and the dq-axis inductances Ld and Lq is the magnetic flux in the dq coordinate system. If it is further converted to the UVW coordinate system, the magnetic flux generated by the UVW phase current can be expressed as: ; Ignore the high-frequency components of the dq-axis inductances Ld and Lq, and for SPM, Ld and Lq can be approximately equal, let Ld=Lq=L0, then from formula (7) we can get: ; ; A4. In the dq coordinate system, only the components related to the sixth-order torque pulsation are considered, and the magnetic flux Φq and Φd of the rotor magnet can be expressed as follows: ; Among them: Φf is the amplitude of the fundamental component, Φ d6h is the amplitude of the sixth harmonic, ζ d6h is the initial phase; A5. Convert the magnet coupling flux in the dq coordinate system to the coupling flux in the UVW coordinate system: ; in: ; A6. Representation of electromagnetic force on the tooth end face of stator core: The definition of the Maxwell stress fr on the tooth end face of the stator core is shown in formula (13). Since the circumferential magnetic flux density Bst is much smaller than the radial magnetic flux density Bsr, the radial electromagnetic force Fur on the tooth end face of the U phase can be approximately expressed as formula (14): ; Where: μ 0 is the magnetic permeability of air, S is the surface area of ​​the end face of the tooth of the U phase; A7. Representation of radial magnetic flux and magnetic flux density: As mentioned above, ignoring the circumferential magnetic flux, the radial magnetic flux can be considered to be composed of the magnetic flux generated by the coil current itself and the magnetic flux coupled by the magnet, that is, the sum of formulas (7) and (11): ; Since the relationship between magnetic flux and magnetic flux density is shown in formula (16), the radial electromagnetic force on the end face of the tooth of phase U in formula (14) can be rewritten as: ; It can be seen that radial vibration is generated by harmonics ② to ⑦ of formula (15). Among them, ③ and ⑥ are the components generated by the q-axis compensation current of formula (1), ② and ⑤ are the harmonic components of the magnet flux of formula (12b) and 12 (c), and ④ and ⑦ are generated by the d-axis compensation current of formula (2), which can be used to suppress the vibration of ②, ③, ⑤ and ⑥; A8. Compensation current i d6h * Acquisition; Substituting formulas (8a) to (8c) and (12a) to (12c) into formula (15), and setting harmonics ②+③+④+⑤+⑥+⑦=0, it can be seen that the compensation current i of formula (2) cannot be obtained. d6h *; That is, it is impossible to completely eliminate circumferential torque pulsation and radial vibration at the same time; To this end, the compensation current i is obtained by the following two methods: d6h *; Method 1: Let harmonics ②+④=0, ⑤+⑦=0, the harmonic components of ④ and ⑥ are not 0 but remain. Therefore, the compensation current i d6h *Available as follows; ; Method 2: Let harmonics ②+③+④=0, and harmonic components ⑤, ⑥, and ⑦ remain at 0. Thus, the compensation current i d6h *Available as follows; ; A9. Obtaining compensation voltage; The voltage equation for the SPM motor is: ; In steady-state operation, if the compensation voltage v is applied dh * and v qh *, so that the q axis generates a compensation current i qh * and i dh *, then its voltage equation should satisfy: ; Therefore, the compensation voltage V qh * and V dh *Available as follows: ; Where Vd is the d-axis voltage, Vq is the q-axis voltage; id is the d-axis current; iq is the q-axis current; V dh * is the d-axis compensation voltage; V qh * is the q-axis compensation voltage; i dh * is the d-axis compensation current; i qh * is the q-axis compensation current; R is the motor single-phase resistance; Ld is the d-axis inductance; Ф f is the ferromagnetic beam base value; ω e is the electrical speed; A10. Formula for setting the ratio; ; Where a1, b1, c1 are binomial coefficients; K: proportional coefficient; a2, b2, c2 are binomial coefficients. By injecting q-axis compensation current, circumferential torque pulsation is suppressed, and d-axis compensation current is injected at the same time to suppress circumferential torque pulsation while reducing the radial vibration effect caused by q-axis compensation current, eliminating the increase in radial electromagnetic force, and avoiding the increase in the risk of stator radial vibration. Another invention object of the present invention application is to provide a circumferential torque pulsation suppression and radial electromagnetic force increase elimination control method, characterized in that the control device for suppressing the circumferential torque pulsation and radial vibration of the motor described in one of the above technical solutions is adopted, and the following circumferential torque pulsation suppression and radial vibration suppression control means are adopted: B1. By introducing the compensation current data table, the ratio setting unit and the voltage conversion unit, the mixed injection method of the q-axis compensation current and the compensation voltage is adopted to achieve the circumferential torque pulsation suppression in the full speed and full load range; at the same time, the increase of radial vibration is suppressed by injecting the d-axis compensation current; B2. The ratio setting unit adjusts the magnitude of the compensation current output from the compensation current data table according to the magnitude of the speed, so that the actual compensation current flowing into the motor remains unchanged when the load remains unchanged and only the speed changes; B3. For the phenomenon that the torque pulsation of synchronous motors has multiple components, a mixed injection method of multiple sets of q-axis compensation currents and compensation voltages is adopted to achieve circumferential torque pulsation suppression in the full speed and full load range; at the same time, multiple sets of d-axis compensation currents are injected to suppress the increase of radial vibration; B4. In the case of speed sensorless control, the speed signal is obtained by position speed calculation and inference, and the principle of torque pulsation suppression remains unchanged. By injecting q-axis compensation current, circumferential torque pulsation is suppressed, and d-axis compensation current is injected at the same time to suppress circumferential torque pulsation while reducing the radial vibration effect generated by q-axis compensation current, eliminating the increase in radial electromagnetic force, and avoiding the increase in stator radial vibration risk.

[0015] The beneficial effects of the present invention are as follows: by injecting q-axis compensation current, circumferential torque pulsation is suppressed, and at the same time, d-axis compensation current is injected to suppress circumferential torque pulsation while reducing the influence of radial vibration caused by q-axis compensation current, reduce the increase of radial electromagnetic force, and avoid the increased risk of stator radial vibration; the motor maintains a good circumferential torque pulsation suppression effect and prevents the increase of radial electromagnetic force at both low and high speeds, avoids the risk of increasing stator vibration, and improves the safety, reliability and stability of the synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] Figure 1 It is a schematic structural block diagram of Example 1 of a control device and a control method for suppressing circumferential torque pulsation and radial vibration of a motor according to the present invention.

[0018] Figure 2 It is a schematic structural block diagram of Example 2 of a control device and a control method for suppressing circumferential torque pulsation and radial vibration of a motor according to the present invention.

[0019] Figure 3 It is a schematic structural block diagram of Example 3 of a control device and a control method for suppressing circumferential torque pulsation and radial vibration of a motor according to the present invention.

[0020] Figure 4It is a schematic structural block diagram of Example 4 of a control device and a control method for suppressing circumferential torque pulsation and radial vibration of a motor according to the present invention.

[0021] Figure 5 It is a schematic structural block diagram of Example 5 of a control device and a control method for suppressing circumferential torque pulsation and radial vibration of a motor according to the present invention.

[0022] Figure 6 The compensation current i is the difference between the control device and the control method for suppressing the circumferential torque pulsation and radial vibration of the motor of the present invention after adding the proportional setting part and before adding the proportional setting part. qnh *Diagram of effect comparison.

[0023] Figure 7 It is the current i used in the prior art to compensate the torque ripple of the synchronous motor. qnh * Feedforward control method - compensation principle block diagram of data table method.

[0024] Figure 8 The invention is a schematic diagram of a compensation principle block diagram of a negative feedback control method for compensating current for torque pulsation of a synchronous motor in the prior art.

[0025] Fig. 9 The diagram is a typical harmonic order diagram of torque pulsation of a synchronous motor in the prior art due to the generation of harmonics of the motor rotor magnet flux.

[0026] Fig.10 The present invention is a schematic diagram of the torque pulsation compensation principle of a method for suppressing torque pulsation of a synchronous motor based on motor control technology in the prior art.

[0027] Fig.11 Is adopted Fig.10 Compensation technology method injects compensation current i qnh *The final diagram of the ideal torque ripple compensation effect. DETAILED DESCRIPTION

[0028] Embodiment 1: Figure 1 , Figure 6In the embodiment shown, a control device for suppressing circumferential torque pulsation and radial vibration of a motor is provided, which comprises a speed controller, a current controller, a current command conversion unit, a dq / uvw conversion unit, an inverter, a uvw / dq conversion unit, a motor, a speed sensor and a position speed calculation unit. The speed controller is arranged before the current command conversion unit, and the dq axis current controller, the dq / uvw conversion unit and the inverter are arranged after the current command conversion unit in sequence. The inverter receives the input of the dq / uvw conversion unit and outputs the voltage and current required by the motor. The uvw / dq conversion unit samples The current flowing to the motor is converted into the q-axis and d-axis currents in the dq rotating coordinate system and input to the input end of the current controller, the speed sensor obtains the mechanical rotation angle θm of the motor and outputs it to the position-speed calculation unit, the position-speed calculation unit calculates the electrical rotation angle θe and outputs it to the dq / uvw conversion unit and the uvw / dq conversion unit, and outputs the electrical speed ωe to the speed controller, and also includes a compensation current data table, a ratio setting unit and a voltage conversion unit, the compensation current data table, the ratio setting unit and the voltage conversion unit are used to provide a torque pulsation compensation current i for the circumferential torque pulsation suppression of the synchronous motor qnh * and provide radial vibration compensation current i for radial vibration suppression caused by increased harmonics of electromagnetic force in the radial direction of the stator dnh * Hybrid injection control; q-axis compensation current i qnh * is injected into the q-axis current command Iq* output by the current command conversion unit, and the two are combined as the current command of the q-axis current controller, and the d-axis compensation current i dnh * is injected into the d-axis current command Id* output by the current command conversion unit, and the two are combined as the current command of the d-axis current controller; the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh *They are injected into the corresponding input terminals of the dq / uvw conversion unit and combined with the q-axis output voltage and d-axis output voltage corresponding to the q-axis current controller and the d-axis current controller respectively. The electrical speed ωe output by the position-speed calculation unit is input into the compensation current data table, the proportional setting unit and the voltage conversion unit respectively.

[0029] The ratio setting unit is placed immediately after the compensation current data table. The ratio setting unit converts the q-axis compensation current i qnh *After proportional conversion, it is input into the voltage conversion unit and simultaneously input into the q-axis current command Iq* output by the current command conversion unit. The proportional setting unit converts the d-axis compensation current i dnh *After proportional conversion, it is input into the voltage conversion unit and simultaneously input into the d-axis current command Id* output by the current command conversion unit; the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh* are respectively input to the corresponding input terminals of the dq / uvw conversion unit, and the electrical speed ωe output by the position speed calculation unit is respectively input to the compensation current data table, the ratio setting unit and the voltage conversion unit.

[0030] Taking the suppression of the 6th torque pulsation as an example, the following control means of steps A1 to A10 are executed; A1. Define the dq axis current iq and id in the dq coordinate system as follows: ; Where: I q ,I d is the amplitude of the fundamental component, i q6h 、i d6h is the amplitude of the sixth harmonic, θ e is the electrical rotation angle, σ q6h , σ d6h is the initial phase; for the SPM motor, the d-axis current 𝐼 d=0A; And,i q6h* Used to suppress circumferential torque pulsation, which is a known quantity obtained from step 2; i d6h* Used to suppress the increase of radial vibration, the unknown quantity is derived from step 3; A2. Compensation current i qh * Acquisition; Compensation current i qh* It is obtained by experiment or based on the following torque formula by making the sum of torque pulsation ① and ② equal to 0, as shown in formulas (6a) and (6b); ; ; Where: Pn is the rotor magnetic pair number, Φ d6h is: the amplitude of the sixth harmonic component of the rotor magnet flux, Iq is the q-axis fundamental current that generates torque, ζ d6h : Initial phase of the sixth harmonic component of the rotor magnet flux, Φ f is the fundamental component of the magnetic flux of the rotor magnet; A3. Calculate the magnetic flux generated by the current of the UVW phase in the uvw coordinate system, that is, the static coordinate system based on the motor stator; The product of the dq-axis currents id and iq in formulas (1) and (2) in step A1 above and the dq-axis inductances Ld and Lq is the magnetic flux in the dq coordinate system. If it is further converted to the UVW coordinate system, the magnetic flux generated by the UVW phase current can be expressed as: ; Ignore the high-frequency components of the dq-axis inductances Ld and Lq, and for SPM, Ld and Lq can be approximately equal, let Ld=Lq=L0, then from formula (7) we can get: ; ; A4. In the dq coordinate system, only the components related to the sixth-order torque pulsation are considered, and the magnetic flux Φq and Φd of the rotor magnet can be expressed as follows: ; Among them: Φf is the amplitude of the fundamental component, Φ d6h is the amplitude of the sixth harmonic, ζ d6h is the initial phase; A5. Convert the magnet coupling flux in the dq coordinate system to the coupling flux in the UVW coordinate system: ; in: ; A6. Representation of electromagnetic force on the tooth end face of stator core: The definition of the Maxwell stress fr on the tooth end face of the stator core is shown in formula (13). Since the circumferential magnetic flux density Bst is much smaller than the radial magnetic flux density Bsr, the radial electromagnetic force Fur on the tooth end face of the U phase can be approximately expressed as formula (14): ; Where: μ 0 is the magnetic permeability of air, S is the surface area of ​​the end face of the tooth of the U phase; A7. Representation of radial magnetic flux and magnetic flux density: As mentioned above, ignoring the circumferential magnetic flux, the radial magnetic flux can be considered to be composed of the magnetic flux generated by the coil current itself and the magnetic flux coupled by the magnet, that is, the sum of formulas (7) and (11): ; Since the relationship between magnetic flux and magnetic flux density is shown in formula (16), the radial electromagnetic force on the end face of the tooth of phase U in formula (14) can be rewritten as: ; It can be seen that radial vibration is generated by harmonics ② to ⑦ of formula (15). Among them, ③ and ⑥ are the components generated by the q-axis compensation current of formula (1), ② and ⑤ are the harmonic components of the magnet flux of formula (12b) and 12 (c), and ④ and ⑦ are generated by the d-axis compensation current of formula (2), which can be used to suppress the vibration of ②, ③, ⑤ and ⑥; A8. Compensation current i d6h * Acquisition; Substituting formulas (8a) to (8c) and (12a) to (12c) into formula (15), and setting harmonics ②+③+④+⑤+⑥+⑦=0, it can be seen that the compensation current i of formula (2) cannot be obtained. d6h *; That is, it is impossible to completely eliminate circumferential torque pulsation and radial vibration at the same time; To this end, the compensation current i is obtained by the following two methods: d6h *; Method 1: Let harmonics ②+④=0, ⑤+⑦=0, the harmonic components of ④ and ⑥ are not 0 but remain. Therefore, the compensation current i d6h *Available as follows; ; Method 2: Let harmonics ②+③+④=0, and harmonic components ⑤, ⑥, and ⑦ remain at 0. Thus, the compensation current i d6h *Available as follows; ; A9. Obtaining compensation voltage; The voltage equation for the SPM motor is: ; In steady-state operation, if the compensation voltage v is applied dh * and v qh *, so that the q axis generates a compensation current i qh * and i dh *, then its voltage equation should satisfy: ; Therefore, the compensation voltage V qh * and V dh *Available as follows: ; Where Vd is the d-axis voltage, Vq is the q-axis voltage; id is the d-axis current; iq is the q-axis current; V dh * is the d-axis compensation voltage; V qh * is the q-axis compensation voltage; i dh * is the d-axis compensation current; i qh * is the q-axis compensation current; R is the motor single-phase resistance; Ld is the d-axis inductance; Ф f is the ferromagnetic beam base value; ω e is the electrical speed; A10. Formula for setting the ratio; ; Where a1, b1, c1 are binomial coefficients; K: proportionality coefficient; a2, b2, c2 are binomial coefficients.

[0031] Embodiment 2: Figure 2 In the embodiment shown, the q-axis compensation current i qnh * and d-axis compensation current i dnh * The corresponding q-axis current command Iq* and d-axis current command Id* are directly input to the current command conversion unit without passing through the proportional setting unit, and are superimposed and input to the corresponding q-axis current controller and d-axis current controller, while compensating the q-axis compensation current i of the current data table. qnh * and d-axis compensation current i dnh * Input to the ratio setting unit, the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * are respectively input to the corresponding input terminals of the dq / uvw conversion unit, and the electrical speed ωe output by the position speed calculation unit is respectively input to the compensation current data table, the ratio setting unit and the voltage conversion unit. Others are the same as in embodiment 1.

[0032] Embodiment 3: Figure 3 In the embodiment shown, the q-axis compensation current i qnh * and d-axis compensation current i dnh * Directly injected into the voltage conversion unit, the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * respectively input to the corresponding input terminal of the dq / uvw conversion unit; at the same time, the q-axis compensation current i of the compensation current data table qnh * and d-axis compensation current i dnh *After proportional conversion, the q-axis current command Iq* and d-axis current command Id* output by the current command conversion unit are injected, and superimposed therewith, and input into the corresponding q-axis current controller and d-axis current controller, and the electrical speed ωe output by the position speed calculation unit is input into the compensation current data table, the proportional setting unit and the voltage conversion unit respectively. The rest is the same as in Example 1.

[0033] Embodiment 4: Figure 4 In the embodiment shown, the compensation current data table, the ratio setting unit and the voltage conversion unit are provided in multiple groups to achieve the suppression of multiple components of the circumferential torque pulsation and radial vibration. The q-axis compensation current i of the compensation current data table in each group is qnhk * and d-axis compensation current i dnhk*Inject the q-axis current command Iq* and d-axis current command Id* corresponding to the output of the current command conversion unit in any of the above embodiments, and superimpose them and input them into the corresponding q-axis current controller and d-axis current controller, and at the same time, the q-axis compensation voltage V output by each voltage conversion unit is qnhk * and d-axis compensation voltage V dnhk * respectively input to the corresponding input terminals of the dq / uvw conversion unit; wherein k is a natural number of 1, 2, ..., and the electrical speed ωe output by the position speed calculation unit is respectively input to the compensation current data table, the ratio setting unit and the voltage conversion unit. The rest is the same as in Example 1.

[0034] Embodiment 5: Figure 5 In the embodiment shown, the q-axis compensation current i qnh * and d-axis compensation current i dnh * The corresponding q-axis current command Iq* and d-axis current command Id* are directly input to the current command conversion unit without passing through the proportional setting unit, and are superimposed and input to the corresponding q-axis current controller and d-axis current controller, while compensating the q-axis compensation current i of the current data table. qnh * and d-axis compensation current i dnh * Input to the ratio setting unit, the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * respectively input to the corresponding input end of the dq / uvw conversion unit; the q-axis voltage Vq and d-axis voltage Vd outputted by the q-axis current controller and the d-axis current controller are respectively inputted to the position-speed calculation unit, and the q-axis current Iq and d-axis current Id converted by the uvw / dq conversion unit are outputted to the position-speed calculation unit to calculate the electrical speed ωe and the electrical rotation angle θe; the electrical speed ωe outputted by the position-speed calculation unit is respectively inputted to the compensation current data table, the ratio setting unit and the voltage conversion unit. The rest is the same as in Example 1.

[0035] Embodiment 6: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 In the embodiment shown, the compensation current data table, the ratio setting unit and the voltage conversion unit are set as one or more groups, and the q-axis compensation current i of the compensation current data table is qnhk * and d-axis compensation current i dnhk *Inject the q-axis current command Iq* and d-axis current command Id* corresponding to the output of the current command conversion unit in any of the above embodiments, and superimpose them and input them into the corresponding q-axis current controller and d-axis current controller, and at the same time, the q-axis compensation voltage V output by each voltage conversion unit isqnhk * and d-axis compensation voltage V dnhk * Input the corresponding input terminals of the dq / uvw conversion unit respectively; output the q-axis voltage Vq, d-axis voltage Vd corresponding to the q-axis current controller and the d-axis current controller respectively and the q-axis current Iq and d-axis current Id converted by the uvw / dq conversion unit to the position-speed calculation unit to calculate the electrical speed ωe and the electrical rotation angle θe; the electrical speed ωe output by the position-speed calculation unit is respectively input to the compensation current data table, the ratio setting unit and the voltage conversion unit. The rest is the same as in Example 1.

[0036] Embodiment 7: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 In the embodiment shown, the control method for suppressing the circumferential torque pulsation and radial vibration of the motor adopts the control device for suppressing the circumferential torque pulsation and radial vibration of the motor described in one of the above embodiments, and adopts the following circumferential torque pulsation suppression and radial vibration suppression control means: B1. By introducing the compensation current data table, the ratio setting unit and the voltage conversion unit, the mixed injection method of the q-axis compensation current and the compensation voltage is adopted to achieve the circumferential torque pulsation suppression in the full speed and full load range; at the same time, the increase of radial vibration is suppressed by injecting the d-axis compensation current; B2. The ratio setting unit adjusts the magnitude of the compensation current output from the compensation current data table according to the magnitude of the speed, so that the actual compensation current flowing into the motor remains unchanged when the load remains unchanged and only the speed changes; B3. For the phenomenon that the torque pulsation of synchronous motors has multiple components, a mixed injection method of multiple sets of q-axis compensation currents and compensation voltages is adopted to achieve circumferential torque pulsation suppression in the full speed and full load range; at the same time, multiple sets of d-axis compensation currents are injected to suppress the increase of radial vibration; B4. In speed sensorless control, the speed signal is obtained by position-speed calculation and the principle of torque pulsation suppression remains unchanged.

[0037] The rest is the same as Example 1, Example 2, Example 3, Example 4, Example 5, and Example 6.

[0038] The above content and structure describe the basic principle, main features and advantages of the product of the present invention, which should be understood by those skilled in the art. The above examples and descriptions are only for explaining the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which are within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A control device for suppressing circumferential torque pulsation and radial vibration of a motor, which comprises a speed controller, a current controller, a current command conversion unit, a dq / uvw conversion unit, an inverter, a uvw / dq conversion unit, a motor, a speed sensor and a position-speed calculation unit, wherein the current command conversion unit is preceded by a speed controller, and the current command conversion unit is followed by a dq axis current controller, a dq / uvw conversion unit and an inverter, the inverter receives input from the dq / uvw conversion unit and outputs the voltage and current required by the motor, the uvw / dq conversion unit converts the sampled current flowing to the motor into q-axis and d-axis currents in a dq rotating coordinate system and inputs the currents to the input end of the current controller, the speed sensor obtains the mechanical rotation angle θm of the motor and outputs it to the position-speed calculation unit, the position-speed calculation unit calculates the electrical rotation angle θe and outputs it to the dq / uvw conversion unit and the uvw / dq conversion unit, and outputs the electrical rotation speed ωe to the speed controller, characterized in that: The invention also includes a compensation current data table, a ratio setting unit and a voltage conversion unit, wherein the compensation current data table, the ratio setting unit and the voltage conversion unit are used to provide a torque pulsation compensation current i for suppressing the circumferential torque pulsation of the synchronous motor. qnh * and provide radial vibration compensation current i for radial vibration suppression caused by increased harmonics of electromagnetic force in the radial direction of the stator dnh * Hybrid injection control; q-axis compensation current i qnh * is injected into the q-axis current command Iq* output by the current command conversion unit, and the two are combined as the current command of the q-axis current controller, and the d-axis compensation current i dnh * is injected into the d-axis current command Id* output by the current command conversion unit, and the two are combined as the current command of the d-axis current controller; the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh *They are injected into the corresponding input terminals of the dq / uvw conversion unit and combined with the q-axis output voltage and d-axis output voltage corresponding to the q-axis current controller and the d-axis current controller respectively. The electrical speed ωe output by the position-speed calculation unit is input into the compensation current data table, the proportional setting unit and the voltage conversion unit respectively.

2. The control device for suppressing circumferential torque pulsation and radial vibration of a motor according to claim 1, characterized in that: The compensation current data table is followed by a ratio setting unit, which sets the q-axis compensation current i qnh *After proportional conversion, it is input into the voltage conversion unit and simultaneously input into the q-axis current command Iq* output by the current command conversion unit. The proportional setting unit converts the d-axis compensation current i dnh *After proportional conversion, it is input into the voltage conversion unit and simultaneously input into the d-axis current command Id* output by the current command conversion unit; the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * are respectively input to the corresponding input terminals of the dq / uvw conversion unit, and the electrical speed ωe output by the position speed calculation unit is respectively input to the compensation current data table, the ratio setting unit and the voltage conversion unit.

3. The control device for suppressing circumferential torque pulsation and radial vibration of a motor according to claim 1, characterized in that: The q-axis compensation current i of the compensation current data table is qnh * and d-axis compensation current i dnh * The corresponding q-axis current command Iq* and d-axis current command Id* are directly input to the current command conversion unit without passing through the proportional setting unit, and are superimposed and input to the corresponding q-axis current controller and d-axis current controller, while compensating the q-axis compensation current i of the current data table. qnh * and d-axis compensation current i dnh * Input to the ratio setting unit, the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * are respectively input to the corresponding input terminals of the dq / uvw conversion unit, and the electrical speed ωe output by the position speed calculation unit is respectively input to the compensation current data table, the ratio setting unit and the voltage conversion unit.

4. The control device for suppressing circumferential torque pulsation and radial vibration of a motor according to claim 1, characterized in that: The q-axis compensation current i of the compensation current data table is qnh * and d-axis compensation current i dnh * Directly injected into the voltage conversion unit, the voltage conversion unit outputs the q-axis compensation voltage V qnh * and d-axis compensation voltage V dnh * respectively input to the corresponding input terminal of the dq / uvw conversion unit; at the same time, the q-axis compensation current i of the compensation current data table qnh * and d-axis compensation current i dnh *After proportional conversion, the q-axis current command Iq* and d-axis current command Id* output by the current command conversion unit are injected, and superimposed with them and input into the corresponding q-axis current controller and d-axis current controller. The electrical speed ωe output by the position and speed calculation unit is input into the compensation current data table, the proportional setting unit and the voltage conversion unit respectively.

5. The control device for suppressing circumferential torque pulsation and radial vibration of a motor according to claim 1, characterized in that: The compensation current data table, the ratio setting unit and the voltage conversion unit are provided in multiple groups to achieve the suppression of multiple components of the circumferential torque pulsation and radial vibration. The q-axis compensation current i of the compensation current data table in each group is qnhk * and d-axis compensation current i dnhk *Inject the q-axis current command Iq* and d-axis current command Id* corresponding to the output of the current command conversion unit in any one of claims 2 to 4, and superimpose them and input them into the corresponding q-axis current controller and d-axis current controller, and at the same time, the q-axis compensation voltage V output by each voltage conversion unit is qnhk * and d-axis compensation voltage V dnhk *Input into the corresponding input terminals of the dq / uvw conversion unit respectively; where k is a natural number of 1, 2, ..., and the electrical speed ωe output by the position and speed calculation unit is input into the compensation current data table, the ratio setting unit and the voltage conversion unit respectively.

6. The control device for suppressing circumferential torque pulsation and radial vibration of a motor according to claim 5, characterized in that: The compensation current data table, the ratio setting unit and the voltage conversion unit are arranged in one or more groups, and the q-axis compensation current i of the compensation current data table is qnhk * and d-axis compensation current i dnhk *Inject the q-axis current command Iq* and d-axis current command Id* corresponding to the output of the current command conversion unit in any one of claims 2 to 5, and superimpose them and input them into the corresponding q-axis current controller and d-axis current controller, and at the same time, the q-axis compensation voltage V output by each voltage conversion unit is qnhk * and d-axis compensation voltage V dnhk * Input the corresponding input terminals of the dq / uvw conversion unit respectively; output the q-axis voltage Vq, d-axis voltage Vd corresponding to the q-axis current controller and the d-axis current controller respectively and the q-axis current Iq and d-axis current Id converted by the uvw / dq conversion unit to the position speed calculation unit to calculate the electrical speed ωe and the electrical angle θe in a speed sensorless manner; The electrical rotation speed ωe output by the position speed calculation unit is input into the compensation current data table, the ratio setting unit and the voltage conversion unit respectively.

7. The control device for suppressing circumferential torque pulsation and radial vibration of a motor according to claim 3, characterized in that: The q-axis voltage Vq and d-axis voltage Vd output by the q-axis current controller and the d-axis current controller are respectively input into the position-speed calculation unit, and the q-axis current Iq and d-axis current Id obtained by the uvw / dq conversion unit are output to the position-speed calculation unit to calculate the electrical rotation speed ωe and the electrical rotation angle θe.

8. The control device for suppressing circumferential torque pulsation and radial vibration of a motor according to claim 1, characterized in that: Taking the suppression of the 6th torque pulsation as an example, the following control means of steps A1 to A10 are executed; A1. Define the dq axis current iq and id in the dq coordinate system as follows: Where: I q ,I d is the amplitude of the fundamental component, i q6h 、i d6h is the amplitude of the sixth harmonic, θ e is the electrical rotation angle, σ q6h , σ d6h is the initial phase; for the SPM motor, the d-axis current I d =0A; And,i q6h * Used to suppress circumferential torque pulsation, which is a known quantity obtained from step 2; i d6h* Used to suppress the increase of radial vibration, the unknown quantity is derived from step 3; A2. Compensation current i q6h * Acquisition; Compensation current i q6h* It is obtained by experiment or based on the following torque formula by making the sum of torque pulsation ① and ② equal to 0, as shown in formulas (6a) and (6b); Where: Pn is the rotor magnetic pair number, Φ d6h is: the amplitude of the sixth harmonic component of the rotor magnet flux, Iq is the q-axis fundamental current that generates torque, ζ d6h : Initial phase of the sixth harmonic component of the rotor magnet flux, Φ f is the fundamental component of the magnetic flux of the rotor magnet; A3. Calculate the magnetic flux generated by the current of the UVW phase in the uvw coordinate system, that is, the static coordinate system based on the motor stator; The product of the dq-axis currents id and iq in formulas (1) and (2) in step A1 above and the dq-axis inductances Ld and Lq is the magnetic flux in the dq coordinate system. If it is further converted to the UVW coordinate system, the magnetic flux generated by the UVW phase current can be expressed as: Ignore the high-frequency components of the dq-axis inductances Ld and Lq, and for SPM, Ld and Lq can be approximately equal, let Ld=Lq=L0, then from formula (7) we can get: A4. In the dq coordinate system, only the components related to the sixth-order torque pulsation are considered, and the magnetic flux Φq and Φd of the rotor magnet can be expressed as follows: Among them: Φf is the amplitude of the fundamental component, Φ d6h is the amplitude of the sixth harmonic, ζ d6h is the initial phase; A5. Convert the magnet coupling flux in the dq coordinate system to the coupling flux in the UVW coordinate system: in: A6. Representation of electromagnetic force on the tooth end face of stator core: The definition of the Maxwell stress fr on the tooth end face of the stator core is shown in formula (13). Since the circumferential magnetic flux density Bst is much smaller than the radial magnetic flux density Bsr, the radial electromagnetic force Fur on the tooth end face of the U phase can be approximately expressed as formula (14): Where: μ0 is the magnetic permeability of air, S is the surface area of ​​the end face of the tooth of the U phase; A7. Representation of radial magnetic flux and magnetic flux density: As mentioned above, ignoring the circumferential magnetic flux, the radial magnetic flux can be considered to be composed of the magnetic flux generated by the coil current itself and the magnetic flux coupled by the magnet, that is, the sum of formulas (7) and (11): Since the relationship between magnetic flux and magnetic flux density is shown in formula (16), the radial electromagnetic force on the end face of the tooth of phase U in formula (14) can be rewritten as: It can be seen that the radial vibration is generated by harmonics ② to ⑦ of formula (15), among which ③ and ⑥ are the components generated by the q-axis compensation current of formula (1), ② and ⑤ are the harmonic components of the magnet flux of formulas (12b) and 12(c), and ④ and ⑦ are generated by the d-axis compensation current of formula (2), which can be used to suppress the vibration of ②, ③, ⑤ and ⑥; A8. Compensation current i d6h * Acquisition; Substituting formulas (8a) to (8c) and (12a) to (12c) into formula (15), and setting harmonics ②+③+④+⑤+⑥+⑦=0, it can be seen that the compensation current i of formula (2) cannot be obtained. d6h *, that is, it is impossible to completely eliminate the circumferential torque pulsation and the radial vibration at the same time. Therefore, the compensation current i is obtained by the following two methods: d6h *: Method 1: Let harmonics ②+④=0, ⑤+⑦=0, the harmonic components of ④ and ⑥ are not 0 but remain, thus, the compensation current i d6h *Available as follows; Method 2: Let harmonics ②+③+④=0, harmonic components ⑤, ⑥ and ⑦ are not 0 but remain, thus, the compensation current i d6h *Available as follows; A9. Obtaining compensation voltage; The voltage equation for the SPM motor is: In steady-state operation, if the compensation voltage v is applied dh * and v qh *, so that the q axis generates a compensation current i qh * and i dh *, then its voltage equation should satisfy: Therefore, the compensation voltage V qh * and V dh *Available as follows: Where Vd is the d-axis voltage, Vq is the q-axis voltage; id is the d-axis current; iq is the q-axis current; V dh * is the d-axis compensation voltage; V qh * is the q-axis compensation voltage; i dh * is the d-axis compensation current; i qh * is the q-axis compensation current; R is the motor single-phase resistance; Ld is the d-axis inductance; Ф f is the ferromagnetic beam base value; ω e is the electrical speed; A10. Formula for setting the ratio; Where a1, b1, c1 are binomial coefficients; K: proportionality coefficient; a2, b2, c2 are binomial coefficients.

9. A control method for suppressing circumferential torque pulsation and radial vibration of a motor, characterized in that: A control device for suppressing circumferential torque pulsation and radial vibration of a motor as claimed in any one of claims 1 to 8 is adopted, and the following circumferential torque pulsation suppression and radial vibration suppression control means are adopted: B1. By introducing the compensation current data table, the ratio setting unit and the voltage conversion unit, the mixed injection method of the q-axis compensation current and the compensation voltage is adopted to achieve the circumferential torque pulsation suppression in the full speed and full load range; at the same time, the increase of radial vibration is suppressed by injecting the d-axis compensation current; B2. The ratio setting unit adjusts the magnitude of the compensation current output from the compensation current data table according to the magnitude of the speed, so that the actual compensation current flowing into the motor remains unchanged when the load remains unchanged and only the speed changes; B3. For the phenomenon that the torque pulsation of synchronous motors has multiple components, a mixed injection method of multiple sets of q-axis compensation currents and compensation voltages is adopted to achieve circumferential torque pulsation suppression in the full speed and full load range; at the same time, multiple sets of d-axis compensation currents are injected to suppress the increase of radial vibration; B4. In speed sensorless control, the speed signal is obtained by position-speed calculation and the principle of torque pulsation suppression remains unchanged.

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