Belt speed restarting method and system applied to motor driving device

Abstract

The invention provides a belt speed restarting method and system applied to a motor driving device, and the method comprises the steps: S1, converting a vector control electric parameter of a three-phase asynchronous motor to an MT coordinate system, an M-axis component being an excitation current, and a T-axis component being a torque current; constructing an adaptive flux linkage model according to the voltage control model and the current control model based on the generalized slip relation and the adaptive gain coefficient under the MT coordinate system; s2, inputting the M-axis component and the T-axis component into an adaptive flux linkage model to track the real-time position of a motor rotor; and S3, according to the real-time motor rotor position parameters, adaptively switching a motor vector control mode to a voltage control mode or a current control mode. According to the method, the position of the rotor of the induction motor can be quickly tracked, a better control mode is switched according to a tracking result, the motor rotating at a high speed can be quickly started, the current impact is very small, the safety is high, and the method has relatively strong parameter robustness.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and more particularly, to a speed re-injection method, system, electronic device and storage medium applied to a motor drive device. Background Art

[0002] In a speed sensorless induction motor drive system, when the motor is rotating at a high speed and the drive device is directly connected to the motor, the phase of the motor terminal voltage is unknown at this time, and the phase of the output voltage of the drive device is inconsistent with the terminal voltage, which may cause overcurrent and even burn out the drive device. In some existing phase search methods, the search time spent is relatively long, and the motor cannot be started by quickly tracking the phase.

[0003] Therefore, it is of positive significance to study a motor control scheme that can quickly search for the phase of the motor terminal voltage and generate a small current impact. Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the present invention provides a speed re-injection method, system, electronic device and storage medium applied to a motor drive device. Applying it to a motor drive device can quickly track the position of the induction motor rotor to switch to a better control mode, with small current impact and strong robustness.

[0005] According to a first aspect of the present invention, there is provided a speed re-injection method applied to a motor drive device, including: S1, converting the vector control electrical parameters of a three-phase asynchronous motor to the MT coordinate system, where the M-axis component is the excitation current and the T-axis component is the torque current; S2, inputting the M-axis component and the T-axis component into an adaptive flux model to track the real-time position of the motor rotor; S3, adaptively switching the motor vector control mode to a voltage control mode or a current control mode according to the real-time motor rotor position parameters.

[0006] Based on the above technical solutions, the present invention can also be improved as follows.

[0007] Optionally, step S1 includes: In the rotor magnetic field orientation control of a three-phase asynchronous motor, the vector control electrical parameters are converted to the MT coordinate system, where the M-axis of the MT coordinate system is aligned with the rotor flux vector, and the M-axis component of the stator current is the excitation current; the T-axis is determined by rotating the M-axis counterclockwise by 90° electrical angle, and the T-axis component is the torque current.

[0008] Optionally, before step S2, it further includes: Construct an adaptive flux model based on the generalized slip relationship and adaptive gain coefficient in the MT coordinate system, according to the voltage control model and current control model.

[0009] Optionally, the constructing of the adaptive flux model includes: Construct an adaptive flux model according to the current control model and voltage control model, expressed as Equation (1): (1), Where, is the back electromotive force vector of the voltage control model, is the back electromotive force vector of the current control model, is the stator voltage, is the stator current, is the estimated value of the stator resistance, is the rotor resistance, is the total leakage inductance, is the estimated value of the rotor speed, is the identity matrix, , is the orthogonal rotation matrix, , is the reciprocal of the rotor time constant, is the estimated vector of the rotor flux, is the adaptive vector gain; Define the generalized slip relationship as , and synchronize the generalized slip relationship in the MT coordinate system to the adaptive flux model, expressed as Equation (2): (2), Where, is the correction compensation phase, is the M-axis component of the back electromotive force of the voltage control model, is the M-axis component of the back electromotive force of the current control model, is the T-axis component of the back electromotive force of the voltage control model, is the estimated value of the rotor angle, is the flux adaptive gain, is the synchronous angle adaptive gain, is the stator resistance adaptive gain, is the synchronous speed, is the T-axis current; Set the model switching function and adaptive gain for the adaptive flux model, expressed as Equations (3)~(4): (3), (4), Where, is the output value of the model switching function, is the model switching speed, K is the adaptive gain, K 1 、K 2 、 K 3 is the designed gain coefficient.

[0010] Optionally, step S2 includes: Set the M-axis component of the stator current to the rated current of the motor, and the T-axis component to 0. Input the M-axis component and the T-axis component into the constructed adaptive flux model to estimate the real-time motor rotor position parameters, where the motor rotor position parameters include the flux amplitude and the rotor angle.

[0011] Optionally, step S3 includes: Set the M-axis component of the stator current to the rated excitation current of the motor, and the T-axis component is determined by the output of the speed loop. Input the flux amplitude and the rotor angle obtained in step S2 into the adaptive flux model, and adaptively switch the motor vector control mode to the voltage control mode or the current control mode according to the calculation results.

[0012] Optionally, it further includes: In step S2, the flux adaptive gain is set to 1, and the synchronous angle adaptive gain is set to 0; In step S3, the flux adaptive gain and the synchronous angle adaptive gain are switched to the gain values for normal operation.

[0013] According to the second aspect of the present invention, a belt speed re-injection system applied to a motor drive device is provided, including: A coordinate conversion module for converting the vector control electrical parameters of a three-phase asynchronous motor to the MT coordinate system, where the M-axis component is the excitation current and the T-axis component is the torque current; A position tracking module for inputting the M-axis component and the T-axis component into the adaptive flux model to track the real-time motor rotor position; A mode switching module for adaptively switching the motor vector control mode to the voltage control mode or the current control mode according to the real-time motor rotor position parameters.

[0014] According to the third aspect of the present invention, an electronic device is provided, including a memory and a processor. When the processor executes the computer management program stored in the memory, the steps of the above-mentioned belt speed re-injection method applied to the motor drive device are implemented.

[0015] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer management program is stored. When the computer management program is executed by a processor, the steps of the above-mentioned belt speed re-injection method applied to the motor drive device are implemented.

[0016] A belt speed re-injection method, system, electronic device and storage medium applied to a motor drive device provided by the present invention are applied to the motor drive device, can quickly track the position of the induction motor rotor, adaptively switch the motor control mode to the current control mode or the voltage control mode according to the obtained rotor position information, can quickly start the motor rotating at high speed, and there is almost no current impact, improving the safety of the high-speed rotating motor re-injection; moreover, the solution of the present invention is not sensitive to motor parameters and has strong parameter robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of a belt speed re-injection method applied to a motor drive device provided for a certain embodiment; Figure 2 A flowchart of a belt speed re-injection method applied to a motor drive device provided for another embodiment; Figure 3 A schematic diagram of the belt speed re-injection control principle applied to a motor drive device provided for a certain embodiment; Figure 4 A block diagram of a belt speed re-injection system applied to a motor drive device provided by the present invention; Figure 5 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention; Figure 6 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following combines the drawings and embodiments to further describe in detail the specific embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0019] Figure 1 A flowchart of a belt speed re-injection method applied to a motor drive device provided for an embodiment of the present invention, Figure 3 A schematic diagram of the belt speed re-injection control principle applied to a motor drive device provided for an embodiment of the present invention. Combining Figure 1 and Figure 3 as shown, the method provided by the embodiment of the present invention includes steps S1 to S3: S1, convert the vector control electrical parameters of the three-phase asynchronous motor to the MT coordinate system, where the M-axis component is the excitation current and the T-axis component is the torque current; S2. Input the M-axis component and T-axis component into an adaptive flux model to track the real-time position of the motor rotor; S3. According to the real-time motor rotor position parameters, adaptively switch the motor vector control mode to a voltage control mode or a current control mode.

[0020] It can be understood that, based on the defects in the background art, the embodiment of the present invention proposes a speed reconnection method applied to a motor drive device. This method is applied to a motor drive device, and the induction motor has an initial speed before being connected to the motor drive device. This method can quickly track the position of the induction motor rotor for normal control operation. Specifically, according to the tracked rotor position information, the motor control mode is adaptively switched to a current control mode or a voltage control mode, which can quickly start a high-speed rotating motor, and the current impact is very small, improving the safety of the high-speed running motor reconnection; moreover, the solution of this embodiment is not sensitive to motor parameters, has strong parameter robustness, and strong anti-interference ability.

[0021] In a possible embodiment, in combination with Figure 3 shown in the motor control schematic diagram, step S1 includes: Perform vector control on a three-phase asynchronous motor (i.e., the aforementioned induction motor). In the rotor magnetic field orientation control of the three-phase asynchronous motor, convert the vector control electrical parameters to the MT coordinate system, where the M-axis of the MT coordinate system is aligned with the rotor flux vector, and the M-axis component of the stator current is the excitation current; the T-axis is determined by rotating the M-axis counterclockwise by 90° electrical angle, and the T-axis component is the torque current.

[0022] It can be understood that the rotor flux is a vector with magnitude and direction. The magnitude is the flux amplitude, and the direction is the rotor angle. In this embodiment, by converting the control of the three-phase asynchronous motor to the MT coordinate system, a complex three-phase AC motor model can be converted into a model similar to a DC motor. This conversion can decouple the magnetic field and torque control of the motor, making the magnetic field and torque control of the motor more intuitive and independent, and the control strategy more flexible and precise. For example, in the MT coordinate system, the magnetic flux and torque control of the motor can be realized through different current components respectively, similar to the excitation current and armature current control of a DC motor, especially in the field weakening control and wide speed regulation range, effectively improving the efficiency and performance of the motor.

[0023] In a possible embodiment, as Figure 2 shown, before step S2, it further includes: Based on the generalized slip relationship and adaptive gain coefficient in the MT coordinate system, construct an adaptive flux model according to the voltage control model and current control model.

[0024] More specifically, the construction of the adaptive flux model in this step includes sub-steps A to C: A. Construct an adaptive flux model based on the current control model and the voltage control model, expressed as Equation (1): (1), where the superscript ^ represents the estimated value, is the back electromotive force vector of the voltage control model, is the back electromotive force vector of the current control model, is the stator voltage, is the stator current, is the estimated value of the stator resistance, is the rotor resistance, is the total leakage inductance, is the estimated value of the rotor speed, is the identity matrix, , is the orthogonal rotation matrix, , is the reciprocal of the rotor time constant, is the estimated value vector of the rotor flux, is the adaptive vector gain; B. Define the generalized slip relationship as , and synchronize the generalized slip relationship in the MT coordinate system to the adaptive flux model, expressed as Equation (2): (2), where, is the correction compensation phase, is the M-axis component of the back electromotive force of the voltage control model, is the M-axis component of the back electromotive force of the current control model, is the T-axis component of the back electromotive force of the voltage control model, is the estimated value of the rotor angle, is the flux adaptive gain, is the synchronous angle adaptive gain, is the stator resistance adaptive gain, is the synchronous speed, is the T-axis current; C. Set the model switching function and the adaptive gain for the adaptive flux model, expressed as Equations (3) - (4): (3), (4), where, is the output value of the model switching function, is the model switching speed, K is the adaptive gain, K 1 、K 2、 K 3 is the designed gain coefficient.

[0025] It can be understood that after sub - steps A to C, the constructed adaptive flux model can be obtained and applied to the operations of step S2 and step S3. The adaptive flux model constructed in this embodiment can flexibly switch between the voltage control model and the current control model. It is a fast speed - adaptive law and, combined with the concept of generalized slip, obtains a flux calculation model similar to pure integration. It has a fast dynamic response, can quickly track the rotor position and perform control mode switching.

[0026] In a possible embodiment, based on the constructed adaptive flux model, step S2 is the position tracking stage, including controlling the motor flux and torque by injecting current to complete the motor rotor position tracking, specifically including: Let the M - axis component of the stator current (for example Figure 3 in ) be the rated current of the motor, and the T - axis component (for example Figure 3 in ) be 0. Input the M - axis component and the T - axis component into the constructed adaptive flux model to estimate the real - time motor rotor position parameters, where the motor rotor position parameters include the flux amplitude (such as Figure 3 in ) and the rotor angle (such as Figure 3 in ).

[0027] In a possible embodiment, step S3 is the process of switching the control mode after the position tracking is completed, specifically including: Let the M - axis component of the stator current be the rated excitation current of the motor (for example Figure 3 in ), and the T - axis component is determined by the output of the speed loop ASR (for example Figure 3 in ). Input the flux amplitude (such as Figure 3 in ) and the rotor angle (such as Figure 3 in ) obtained in step S2 into the adaptive flux model, and adaptively switch the motor vector control mode to the voltage control mode or the current control mode according to the calculation results.

[0028] It can be understood that the T - axis component is determined by the output of the speed loop, which can be understood as changing the multiplication coefficient in the speed loop ASR to transform the stator current given value, for example Figure 3 in .

[0029] In step S2, the flux linkage adaptive gain is set to 1, and the synchronous angle adaptive gain is set to 0; in step S3, the flux linkage adaptive gain and the synchronous angle adaptive gain are switched to the gain values for normal operation.

[0030] Now, based on Figure 3 the shown control schematic diagram, the present invention will be illustrated by combining a specific implementation scenario.

[0031] As Figure 3 shown, in the strong power part, the three-phase AC power supply is rectified without control to obtain the DC bus voltage Udc, which is supplied to the voltage source inverter, and then the three-phase power supply for the induction motor is obtained.

[0032] In the weak power part, the vector control method is adopted, including a voltage sensor, a current sensor, a three-phase / two-phase stationary Clark coordinate transformation module, a two-phase stationary / two-phase synchronous speed coordinate transformation module, a speed and flux linkage reference module, a rotor flux linkage amplitude calculation module, an angle calculation module, a speed loop ASR, a current loop AMR, a voltage loop ATR, a flux linkage loop A R , a two-phase synchronous / two-phase stationary coordinate transformation module, and a voltage space vector pulse width modulation module SVPWM.

[0033] This implementation scenario mainly involves the rotor flux linkage amplitude calculation module and the angle calculation module of the present invention. The other modules are functional modules required for the indirect field orientation control of the induction motor, which are well-known common knowledge in the art and will not be elaborated here.

[0034] Next, based on Figure 3 the shown connection relationship between the modules, the working process of the entire control system will be described, and the connection relationship between the modules will be briefly introduced.

[0035] 1. Before the three-phase asynchronous motor IM is connected to the driving device, it has an initial speed. The phase currents (such as Figure 3 in and ) and voltages (such as Figure 3 in , and ) of the three-phase asynchronous motor are measured by the current sensor and the voltage sensor. The detected phase currents are input into the "three-phase / two-phase stationary Clark coordinate transformation module" to obtain the components of the stator current and ; the detected voltages are reconstructed for the stator voltage to obtain the stator voltage .

[0036] 2. In indirect rotor field orientation control: each electrical quantity is transformed into the MT system, where the M-axis is aligned with the rotor flux vector, and the T-axis is determined by rotating the M-axis counterclockwise by 90° electrical angle; the T-axis component of the stator current is the torque current , and the M-axis component is the excitation current ; the stator voltage 's T-axis component is , and the M-axis component is .

[0037] 3. At the beginning stage of the drive device operation, first force the excitation current of the M-axis to be the rated current of the motor, and the torque current of the T-axis to be zero, and use the observer to estimate the flux amplitude and the angle .

[0038] The gain can be selected at the beginning stage. After observing the flux amplitude and the angle , switch to the gain for normal operation.

[0039] 4. The identified speed can be used for sensorless control, and the corresponding current reference value is calculated according to the PI controller of the speed loop ASR.

[0040] 5. The PI controller of the current loop AMR calculates the voltage reference value according to the current control error.

[0041] 6. The voltage space vector pulse width modulation module SVPWM takes axis voltage and β axis voltage as inputs, outputs three-phase PWM signals to the control terminal of the inverter, and then drives the three-phase asynchronous motor IM to operate.

[0042] Figure 4 This is the structure diagram of a speed re-injection system applied to a motor drive device provided by an embodiment of the present invention. As Figure 4 shown, a speed re-injection system applied to a motor drive device includes a coordinate transformation module, a position tracking module, and a mode switching module, where:[[]] The coordinate transformation module is used to transform the vector control electrical parameters of the three-phase asynchronous motor into the MT coordinate system, where the M-axis component is the excitation current and the T-axis component is the torque current; The position tracking module is used to input the M-axis component and the T-axis component into the adaptive flux model to track the real-time motor rotor position; The mode switching module is used to adaptively switch the motor vector control mode to the voltage control mode or the current control mode according to the real-time motor rotor position parameters.

[0043] It can be understood that a belt speed re - injection system applied to a motor drive device provided by the present invention corresponds to the belt speed re - injection method applied to the motor drive device provided in the foregoing embodiments. For the related technical features of the belt speed re - injection system applied to the motor drive device, reference can be made to the related technical features of the belt speed re - injection method applied to the motor drive device, which will not be elaborated herein.

[0044] Please refer to Figure 5 , Figure 5 , which is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 5 shown, an embodiment of the present invention provides an electronic device, including a memory 510, a processor 520, and a first computer program 511 stored on the memory 510 and operable on the processor 520. When the processor 520 executes the first computer program 511, the following steps are implemented: S1, convert the vector control electrical parameters of a three - phase asynchronous motor to the MT coordinate system, where the M - axis component is the excitation current and the T - axis component is the torque current; S2, input the M - axis component and the T - axis component into an adaptive flux model to track the real - time motor rotor position; S3, adaptively switch the motor vector control mode to a voltage control mode or a current control mode according to the real - time motor rotor position parameters.

[0045] Please refer to Figure 6 , Figure 6 , which is a schematic diagram of an embodiment of a computer - readable storage medium provided by the present invention. As Figure 6 shown, this embodiment provides a computer - readable storage medium 600, on which a second computer program 611 is stored. When the second computer program 611 is executed by a processor, the following steps are implemented: S1, convert the vector control electrical parameters of a three - phase asynchronous motor to the MT coordinate system, where the M - axis component is the excitation current and the T - axis component is the torque current; S2, input the M - axis component and the T - axis component into an adaptive flux model to track the real - time motor rotor position; S3, adaptively switch the motor vector control mode to a voltage control mode or a current control mode according to the real - time motor rotor position parameters.

[0046] A belt speed re - injection method, system, electronic device and storage medium provided by an embodiment of the present invention are applied to a motor drive device. It can quickly track the position of the induction motor rotor, adaptively switch the motor control mode to a current control mode or a voltage control mode according to the obtained rotor position information, can quickly start a high - speed rotating motor with almost no current impact, improving the safety of high - speed operation motor re - injection. Moreover, the solution of the present invention is not sensitive to motor parameters and has strong parameter robustness.

[0047] It should be noted that in the above - mentioned embodiments, the descriptions of each embodiment have their own focuses. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0048] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer - usable storage media (including but not limited to disk memory, CD - ROM, optical memory, etc.) containing computer - usable program code.

[0049] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram can be realized by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be realized. These computer program instructions can be provided to the processor of a general - purpose computer, a special - purpose computer, an embedded computer, or other programmable data - processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data - processing devices generate a device for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0050] These computer program instructions can also be stored in a computer - readable memory that can guide a computer or other programmable data - processing devices to work in a specific manner, so that the instructions stored in the computer - readable memory generate a manufactured product including an instruction device, and the instruction device realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0051] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the process Figure 1 in one process or multiple processes and / or blocks Figure 1 steps for the functions specified in one block or multiple blocks.

[0052] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0053] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A belt speed re-throwing method applied to a motor drive device, characterized in that: include: S1, convert the vector control electric parameters of the three-phase asynchronous motor into the MT coordinate system, where the M-axis component is the excitation current and the T-axis component is the torque current; S2, inputting the M-axis component and the T-axis component into an adaptive flux linkage model to track the real-time motor rotor position; S3, adaptively switching the motor vector control mode to a voltage control mode or a current control mode according to the real-time motor rotor position parameters.

2. A belt speed re-throwing method applied to a motor drive device according to claim 1, characterized in that: Before step S2, the method further includes: Based on the generalized slip relationship and adaptive gain coefficient in the MT coordinate system, an adaptive flux linkage model is constructed according to the voltage control model and the current control model.

3. A belt speed re-throwing method applied to a motor drive device according to claim 1 or 2, characterized in that: Step S1 includes: In the rotor field oriented control of the three-phase asynchronous motor, the vector control electrical parameters are converted to the MT coordinate system, where the M axis of the MT coordinate system is aligned with the rotor flux vector, and the M axis component of the stator current is the excitation current; the T axis is determined by rotating the M axis counterclockwise by 90° electrical angle, and the T axis component is the torque current.

4. A belt speed re-throwing method applied to a motor drive device according to claim 3, characterized in that: Step S2 comprises: The M-axis component of the stator current is set to the rated current of the motor, and the T-axis component is set to 0. The M-axis component and the T-axis component are input into the constructed adaptive flux model to estimate the real-time motor rotor position parameters, which include the flux amplitude and the rotor angle.

5. A belt speed re-throwing method applied to a motor drive device according to claim 4, characterized in that: Step S3 includes: The M-axis component of the stator current is set as the rated excitation current of the motor, and the T-axis component is determined by the output of the speed loop. The flux amplitude and the rotor angle obtained in step S2 are input into the adaptive flux model, and the motor vector control mode is adaptively switched to the voltage control mode or the current control mode according to the calculation results.

6. A belt speed re-throwing method applied to a motor drive device according to claim 2, characterized in that: The method of constructing an adaptive magnetic flux model comprises: The adaptive flux linkage model is constructed based on the current control model and the voltage control model, which is expressed as formula (1): （1）， in, is the back EMF vector of the voltage control model, is the back EMF vector of the current control model, is the stator voltage, is the stator current, is the estimated value of stator resistance, is the rotor resistance, is the total leakage inductance, is the estimated value of rotor speed, is the identity matrix, , is an orthogonal rotation matrix, , is the inverse of the rotor time constant, is the rotor flux estimation vector, is the adaptive vector gain; The generalized slip relationship is defined as , the generalized slip relation in the MT coordinate system is synchronized to the adaptive flux linkage model, which is expressed as formula (2): （2）， in, To correct the compensation phase, is the M-axis component of the back electromotive force of the voltage control model, is the M-axis component of the back electromotive force of the current control model, is the T-axis component of the back electromotive force of the voltage control model, is the estimated rotor angle, is the flux adaptive gain, For the synchronization angle adaptive gain, is the stator resistance adaptive gain, is the synchronous speed, is the T-axis current; The model switching function and adaptive gain are set for the adaptive flux linkage model, which can be expressed as equations (3) to (4): （3）， （4）， in, The output value of the model switching function, is the model switching speed, K is the adaptive gain, K 1 、K 2 、K 3 is the designed gain factor.

7. A belt speed re-throwing method for a motor drive device according to claim 6, characterized in that: Also includes: In step S2, the flux adaptive gain Set to 1, synchronize the angle adaptive gain Set to 0; In step S3, the flux adaptive gain and synchronous angle adaptive gain Switch to the gain value for normal operation.

8. A belt speed re-throwing system applied to a motor drive device, characterized in that: include: A coordinate conversion module is used to convert the vector control electric parameters of the three-phase asynchronous motor into the MT coordinate system, where the M-axis component is the excitation current and the T-axis component is the torque current; A position tracking module, used for inputting the M-axis component and the T-axis component into an adaptive flux linkage model to track the real-time motor rotor position; The mode switching module is used to adaptively switch the motor vector control mode to a voltage control mode or a current control mode according to the real-time motor rotor position parameters.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the processor is used to implement the steps of the belt speed re-investment method applied to a motor drive device as described in any one of claims 1 to 7 when executing a computer management program stored in the memory.

10. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the belt speed re-investment method applied to the motor drive device as described in any one of claims 1 to 7 are implemented.

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