A tape speed rethrow method and system applied to a motor drive

Abstract

The application provides a belt speed rethrow method and system applied to a motor driving device, and the method comprises the following steps: S1, converting vector control electric parameters of a three-phase asynchronous motor to an MT coordinate system, wherein an M-axis component is an excitation current, and a T-axis component is a torque current; based on a generalized slip relationship and an adaptive gain coefficient in the MT coordinate system, an adaptive flux linkage model is constructed according to a voltage control model and a current control model; S2, inputting the M-axis component and the T-axis component into the adaptive flux linkage model to track a real-time motor rotor position; and S3, adaptively switching a motor vector control mode to a voltage control mode or a current control mode according to the real-time motor rotor position parameter. The application can quickly track the position of the induction motor rotor, switch the better control mode according to the tracking result, quickly start the high-speed rotating motor, and has very small current impact, high safety and strong parameter robustness.

Description

Technical Field

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

[0002] In a sensorless induction motor drive system, if the motor is rotating at high speed and the drive is connected directly to the motor, the phase of the motor terminal voltage is unknown. This mismatch between the drive output voltage and the terminal voltage can cause overcurrent or even damage the drive. Existing phase search methods take a long time to search and cannot quickly track the phase to start the motor.

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

[0004] In response to the technical problems existing in the prior art, the present invention provides a belt speed re-throwing method, system, electronic device and storage medium applied to a motor drive device. When applied to the motor drive device, the induction motor rotor position can be quickly tracked to switch to a more optimal control mode, with small current impact and strong robustness.

[0005] According to a first aspect of the present invention, a belt speed re-throwing method applied to a motor drive device is provided, comprising:

[0006] 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;

[0007] 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;

[0008] S3, adaptively switching the motor vector control mode to voltage control mode or current control mode according to the real-time motor rotor position parameters.

[0009] On the basis of the above technical solution, the present invention can also make the following improvements.

[0010] Optionally, step S1 includes:

[0011] In the rotor field-oriented control of a three-phase asynchronous motor, the vector control electrical parameters are converted to the MT coordinate system. 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 90° counterclockwise, and the T-axis component is the torque current.

[0012] Optionally, before step S2, the method further includes:

[0013] An adaptive flux linkage model is constructed according to the voltage control model and the current control model based on the generalized slip relationship and the adaptive gain coefficient in the MT coordinate system.

[0014] Optionally, the adaptive flux linkage model is constructed, and the method comprises the following steps:

[0015] The adaptive flux linkage model is constructed according to the current control model and the voltage control model, and is expressed as formula (1):

[0016] (1),

[0017] wherein, is a back electromotive force vector of the voltage control model, is a back electromotive force vector of the current control model, is a stator voltage, is a stator current, is a stator resistance estimation value, is a rotor resistance, is a total leakage inductance, is a rotor speed estimation value, is a unit matrix, , is a quadrature rotation matrix, , is an inverse of a rotor time constant, is a rotor flux linkage estimation value vector, is an adaptive vector gain;

[0018] The generalized slip relationship is defined as The generalized slip relationship in the MT coordinate system is synchronized to the adaptive flux linkage model, and is expressed as formula (2):

[0019] (2),

[0020] wherein, is a correction compensation phase, is a back electromotive force M-axis component of the voltage control model, is a back electromotive force M-axis component of the current control model, is a back electromotive force T-axis component of the voltage control model, is a rotor angle estimation value, is a flux linkage adaptive gain, is a synchronous angle adaptive gain, is a stator resistance adaptive gain, is a synchronous speed, is a T-axis current;

[0021] The model switching function and the adaptive gain are set for the adaptive flux linkage model, and are expressed as equations (3) and (4):

[0022] (3),

[0023] (4),

[0024] wherein, is an output value of the model switching function, is a model switching speed, K is the adaptive gain, K 1 、K 2 、 K 3 is a designed gain coefficient.

[0025] Optionally, the step S2 comprises:

[0026] The M-axis component of the stator current is set as the rated current of the motor, the T-axis component is set as 0, the M-axis component and the T-axis component are input into the adaptive flux linkage model constructed, so as to estimate the real-time motor rotor position parameters, the motor rotor position parameters comprising a flux linkage amplitude and a rotor angle.

[0027] Optionally, the step S3 comprises:

[0028] The M-axis component of the stator current is set as the rated excitation current of the motor, the T-axis component is determined by the output of the speed loop, and the flux linkage amplitude and the rotor angle obtained in the step S2 are input into the adaptive flux linkage model, and the motor vector control mode is adaptively switched to the voltage control mode or the current control mode according to the calculation result.

[0029] Optionally, the method further comprises:

[0030] In the step S2, the adaptive gain of the flux linkage is set as 1, and the adaptive gain of the synchronous angle is set as 0. In the step S3, the adaptive gain of the flux linkage is switched to the gain value in normal operation, and the adaptive gain of the synchronous angle is switched to the gain value in normal operation.

[0031] In the step S2, the adaptive gain of the flux linkage is set as 1, and the adaptive gain of the synchronous angle is set as 0. In the step S3, the adaptive gain of the flux linkage is switched to the gain value in normal operation, and the adaptive gain of the synchronous angle is switched to the gain value in normal operation.

[0032] According to the second aspect of the present application, a speed re-throw system applied to a motor driving device is provided, comprising:

[0033] a coordinate conversion module, configured to convert vector control electrical parameters of a three-phase asynchronous motor into an MT coordinate system, wherein the M-axis component is an excitation current, and the T-axis component is a torque current;

[0034] ​​A position tracking module is configured to input the M-axis component and the T-axis component into an adaptive flux linkage model to track a real-time motor rotor position.

[0035] A mode switching module is configured 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 parameter.

[0036] According to a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the processor is configured to execute a computer management program stored in the memory to implement the steps of the belt speed restart method applied to the motor driving device.

[0037] According to a fourth aspect of the present application, a computer readable storage medium is provided, wherein a computer management program is stored in the computer readable storage medium, and the computer management program is configured to be executed by a processor to implement the steps of the belt speed restart method applied to the motor driving device.

[0038] The belt speed restart method, system, electronic device and storage medium applied to the motor driving device provided by the present application 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 tracked rotor position information, quickly start the high-speed rotating motor, and almost has no current impact, thereby improving the safety of the high-speed rotating motor restart. Moreover, the scheme of the present application is not sensitive to the motor parameters, and has strong parameter robustness. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 A flowchart of the belt speed restart method applied to the motor driving device is provided for an embodiment;

[0040] Figure 2 A flowchart of the belt speed restart method applied to the motor driving device is provided for another embodiment;

[0041] Figure 3 A control principle schematic diagram of the belt speed restart method applied to the motor driving device is provided for an embodiment;

[0042] Figure 4 A composition block diagram of the belt speed restart system applied to the motor driving device is provided for the present application;

[0043] Figure 5 A hardware structure schematic diagram of a possible electronic device is provided for the present application;

[0044] Figure 6 A hardware structure schematic diagram of a possible computer readable storage medium is provided for the present application. DETAILED DESCRIPTION

[0045] The specific embodiments of the present application are described in further detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but are not intended to limit the scope of the present application.

[0046] Figure 1 A flow chart of a belt speed re-throw method applied to a motor driving device is provided for an embodiment of the present application, Figure 3 A control principle diagram of a belt speed re-throw method applied to a motor driving device is provided for an embodiment of the present application, which is shown in conjunction with Figure 1 and Figure 3 The method provided by the embodiment of the present application includes steps S1-S3:

[0047] S1, converting vector control electrical parameters of a three-phase asynchronous motor to an MT coordinate system, wherein an M-axis component is an excitation current and a T-axis component is a torque current;

[0048] S2, inputting the M-axis component and the T-axis component into an adaptive flux linkage model to track a real-time motor rotor position;

[0049] S3, adaptively switching a motor vector control mode to a voltage control mode or a current control mode according to a real-time motor rotor position parameter.

[0050] It can be understood that, based on the defects in the background art, the embodiment of the present application proposes a belt speed re-throw method applied to a motor driving device. The method is applied to a motor driving device, and an induction motor has an initial speed before being connected to the motor driving device. The method can quickly track the position of the induction motor rotor for normal control operation. Specifically, the motor control mode is adaptively switched to a current control mode or a voltage control mode according to the tracked rotor position information. The motor can be quickly started at high speed, and the current impact is very small, which improves the safety of the high-speed running motor re-throw. Moreover, the scheme of the embodiment is not sensitive to motor parameters, has strong parameter robustness, and has strong anti-interference performance.

[0051] In a possible embodiment, as shown in conjunction with the motor control principle diagram of Figure 3 Step S1 includes:

[0052] The three-phase asynchronous motor (i.e., the aforementioned induction motor) is subjected to vector control. In the rotor field-oriented control of the three-phase asynchronous motor, vector control electrical parameters are converted to an MT coordinate system, wherein the M-axis of the MT coordinate system is aligned with the rotor flux linkage 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.

[0053] It can be understood that the rotor flux is a vector, which has a magnitude and a direction. The magnitude is the flux amplitude, and the direction is the rotor angle. In this embodiment, the control of the three-phase asynchronous motor is converted to the MT coordinate system, so that the complex three-phase alternating current motor model can be converted into a model similar to a direct current 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 accurate. For example, in the MT coordinate system, the flux and torque control of the motor can be realized by different current components, similar to the excitation current and armature current control of a direct current motor, which effectively improves the efficiency and performance of the motor, especially in the field weakening control and wide speed range.

[0054] In a possible implementation mode, as shown in Figure 2 Before step S2, the method further includes:

[0055] Based on the generalized slip relationship and the adaptive gain coefficient in the MT coordinate system, an adaptive flux model is constructed according to the voltage control model and the current control model.

[0056] More specifically, the construction of the adaptive flux model in this step includes sub-steps A-C:

[0057] A. According to the current control model and the voltage control model, an adaptive flux model is constructed, which is represented as formula (1):

[0058] (1),

[0059] wherein the superscript ^ represents an 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 stator resistance estimate, is the rotor resistance, is the total leakage inductance, is the rotor speed estimate, is the unit matrix, , is the orthogonal rotation matrix, , is the inverse of the rotor time constant, is the rotor flux estimate vector, is the adaptive vector gain;

[0060] B. The generalized slip relationship is defined as The generalized slip relationship in the MT coordinate system is synchronized to the adaptive flux model, which is represented as formula (2):

[0061] (2),

[0062] wherein, is a correction compensation phase, is a back-EMF M-axis component of the voltage control model, is a back-EMF M-axis component of the current control model, is a back-EMF T-axis component of the voltage control model, is a rotor angle estimation value, is a flux linkage adaptive gain, is a synchronous angle adaptive gain, is a stator resistance adaptive gain, is a synchronous speed, is a T-axis current;

[0063] C. Setting a model switching function and an adaptive gain for the adaptive flux linkage model, denoted as equations (3)-(4):

[0064] (3),

[0065] (4),

[0066] wherein, is an output value of the model switching function, is a model switching speed, K is an adaptive gain, K 1 、K 2 、 K 3 is a designed gain coefficient.

[0067] It can be understood that the adaptive flux linkage model is obtained through sub-steps A-C, which can be applied to the operation of steps S2 and S3. The adaptive flux linkage model constructed in this embodiment can flexibly switch between the voltage control model and the current control model, is a fast speed adaptive law, and in combination with the concept of generalized slip, a flux linkage calculation model similar to pure integration is obtained, which has a fast dynamic response and can quickly track the rotor position and switch the control mode.

[0068] In a possible embodiment, based on the constructed adaptive flux linkage model, step S2 is a position tracking stage, including completing motor rotor position tracking by injecting current control motor flux linkage and torque, specifically including:

[0069] Let the M-axis component (for example, Figure 3 in ) of the stator current be the rated current of the motor, and the T-axis component (for example, Figure 3 in ) is 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 (such as Figure 3 middle ) and the rotor angle (such as Figure 3 middle ).

[0070] In a possible embodiment, step S3 is a process of switching the control mode after position tracking is completed, which specifically includes:

[0071] Let the M-axis component of the stator current be the rated excitation current of the motor (e.g. Figure 3 in ), the T-axis component is determined by the output of the speed loop ASR (e.g. Figure 3 in ) to determine, and the magnetic flux amplitude obtained in step S2 (such as Figure 3 in ) and the rotor angle (such as Figure 3 middle ) Input the adaptive flux model and adaptively switch the motor vector control mode to voltage control mode or current control mode according to the calculation results.

[0072] It can be understood that the T-axis component is determined by the output of the speed loop. It can be understood that by changing the multiplication coefficient in the speed loop ASR, the stator current set value can be transformed, for example Figure 3 in .

[0073] 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.

[0074] Now based on Figure 3 The control principle diagram shown is used to illustrate the present invention in combination with a specific implementation scenario.

[0075] like Figure 3 As shown in the figure, in the power part, the three-phase AC power supply is rectified uncontrolled to obtain the DC bus voltage Udc, which is supplied to the voltage source inverter and then the three-phase power supply to the induction motor is obtained.

[0076] In the weak current part, the vector control mode is adopted, including voltage sensor, current sensor, 3-phase / 2-phase static Clark coordinate transformation module, 2-phase static / 2-phase synchronous coordinate transformation module, speed and flux given module, rotor flux amplitude calculation module, angle calculation module, speed loop ASR, current loop AMR, voltage loop ATR, flux loop A R , 2-phase synchronous / 2-phase static coordinate transformation module, voltage space vector pulse width modulation module SVPWM.

[0077] The present embodiment scenario mainly relates to the rotor flux amplitude calculation module and the angle calculation module of the application, and other modules are functional modules required for the indirect field-oriented control of the induction motor, which are well known in the art and will not be described here.

[0078] Based on the connection relationship between the modules shown in Figure 3 , the working process of the entire control system is described, and the connection relationship of each module is simply introduced.

[0079] 1. Before the three-phase asynchronous motor IM is connected to the driving device, it has an initial speed, and the currents (for example Figure 3 in and ) and voltages (for example Figure 3 in , and ) of the three-phase asynchronous motor are measured by the current sensor and the voltage sensor, and the detected currents of each phase are input into the "3-phase / 2-phase static Clark coordinate transformation module" to obtain the components and of the stator current ; the detected voltages are reconstructed to obtain the stator voltage .

[0080] 2. In the indirect rotor field-oriented control, each electrical quantity is transformed into the MT system, the M-axis and the rotor flux vector are aligned, 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 T-axis component of the stator voltage is , and the M-axis component is .

[0081] 3. In the starting stage of the driving device, the excitation current of the M-axis is forced to be the rated current of the motor, and the torque current of the T-axis is zero, and the flux amplitude and the angle are estimated using an observer.

[0082] Gain can be selected at the beginning , wait for the magnetic flux amplitude to be observed With Angle Then switch to normal operating gain.

[0083] 4. The identified speed can be used for speed sensorless control, and the corresponding current setpoint is calculated based on the PI controller of the speed loop ASR.

[0084] 5. The PI controller of the current loop AMR calculates the voltage setpoint based on the current control error.

[0085] 6. Voltage space vector pulse width modulation module SVPWM Shaft voltage and β Shaft voltage As input, it outputs three-phase PWM signals to the control end of the inverter, which in turn drives the three-phase asynchronous motor IM to operate.

[0086] Figure 4 A structural diagram of a belt speed re-casting system for a motor drive device provided in an embodiment of the present invention is shown as follows: Figure 4 As shown, a belt speed re-casting system applied to a motor drive device includes a coordinate conversion module, a position tracking module and a mode switching module, wherein:

[0087] The 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;

[0088] A position tracking module, configured to input the M-axis component and the T-axis component into an adaptive flux linkage model to track a real-time motor rotor position;

[0089] 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.

[0090] It can be understood that the belt speed re-projection system applied to the motor drive device provided by the present invention corresponds to the belt speed re-projection method applied to the motor drive device provided in the aforementioned embodiments. The relevant technical features of the belt speed re-projection system applied to the motor drive device can refer to the relevant technical features of the belt speed re-projection method applied to the motor drive device, and will not be repeated here.

[0091] See also Figure 5 , Figure 5 Schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. Figure 5As shown in the figure, the embodiment of the application provides an electronic device, which comprises a memory 510, a processor 520, and a first computer program 511 stored in the memory 510 and capable of running on the processor 520, and the processor 520 implements the following steps when executing the first computer program 511:

[0092] S1, converting vector control electrical parameters of a three-phase asynchronous motor into an MT coordinate system, wherein an M-axis component is an excitation current and a T-axis component is a torque current;

[0093] S2, inputting the M-axis component and the T-axis component into an adaptive flux linkage model to track a real-time motor rotor position;

[0094] S3, adaptively switching a motor vector control mode into a voltage control mode or a current control mode according to a real-time motor rotor position parameter.

[0095] Please refer to Figure 6 , Figure 6 An embodiment of a computer readable storage medium provided by the application is shown in the figure. As shown in the figure, Figure 6 The embodiment provides a computer readable storage medium 600, which stores a second computer program 611, and the second computer program 611 implements the following steps when executed by a processor:

[0096] S1, converting vector control electrical parameters of a three-phase asynchronous motor into an MT coordinate system, wherein an M-axis component is an excitation current and a T-axis component is a torque current;

[0097] S2, inputting the M-axis component and the T-axis component into an adaptive flux linkage model to track a real-time motor rotor position;

[0098] S3, adaptively switching a motor vector control mode into a voltage control mode or a current control mode according to a real-time motor rotor position parameter.

[0099] The embodiment of the application provides a speed re-throwing method and system applied to a motor driving device, an electronic device and a storage medium, which are applied to a motor driving device, can quickly track a position of a rotor of an induction motor, adaptively switch a motor control mode into a current control mode or a voltage control mode according to the tracked rotor position information, can quickly start a high-speed rotating motor, and has almost no current impact, thereby improving the safety of the high-speed rotating motor re-throwing, and the scheme of the application is not sensitive to motor parameters and has strong parameter robustness.

[0100] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0101] Those skilled in the art will appreciate that embodiments of the present application can be devised for a variety of applications. It is intended that the present application be limited only by the scope of the appended claims, and it is intended that various modifications and alterations made by those skilled in the art be considered as within the scope of the present application. The embodiments of the present application will be described with reference to the attached drawings identified below.

[0102] The present application is described in reference to the drawings using a flowchart and / or a block diagram of the method, apparatus (system) and computer program product according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagram, and combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0103] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0105] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such modifications and variations as fall within the scope of the present application.

[0106] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A belt speed re-throwing method applied to a motor drive device, characterized in that: include: S1, convert 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; 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; The constructing of the adaptive magnetic flux model includes: An 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 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 stator resistance, is the rotor resistance, is the total leakage inductance, is the estimated rotor speed, is the identity matrix, , is the 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 relationship 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, is the estimated value of stator resistance; 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 1 、K 2 、K 3 is the designed gain coefficient; 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 voltage control mode or current control mode according to the real-time motor rotor position parameters.

2. A belt speed re-throwing method for a motor drive device according to claim 1, characterized in that: In step S1, the vector control electric parameters of the three-phase asynchronous motor are converted to the MT coordinate system, including: In the rotor field-oriented control of a three-phase asynchronous motor, the vector control electrical parameters are converted to the MT coordinate system. 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 90° counterclockwise, and the T-axis component is the torque current.

3. A belt speed re-throwing method for a motor drive device according to claim 2, characterized in that: Step S2 includes: 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.

4. A belt speed re-throwing method for a motor drive device according to claim 3, 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 rotor angle obtained in step S2 are input into the adaptive flux model. The motor vector control mode is adaptively switched to voltage control mode or current control mode according to the calculation results.

5. The belt speed re-throwing method applied to a motor drive device according to claim 1, 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 synchronized angle adaptive gain Switch to the gain value for normal operation.

6. A belt speed re-throwing system applied to a motor drive device, characterized in that: include: The coordinate conversion module is used to convert 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. It is also used to construct an adaptive flux linkage model based on the generalized slip relationship and adaptive gain coefficient in the MT coordinate system according to the voltage control model and the current control model; The constructing of the adaptive magnetic flux model includes: An 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 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 stator resistance, is the rotor resistance, is the total leakage inductance, is the estimated rotor speed, is the identity matrix, , is the 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 relationship 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, is the estimated value of stator resistance; 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 1 、K 2 、K 3 is the designed gain coefficient; A position tracking module, configured to input the M-axis component and the T-axis component into an adaptive flux linkage model to track a 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.

7. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the processor is used to implement the steps of the belt speed re-investment method applied to the motor drive device as described in any one of claims 1 to 5 when executing the computer management program stored in the memory.

8. 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 5 are implemented.

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