Inverter filtering control method of permanent magnet synchronous motor

Abstract

The invention relates to the technical field of motor control, in particular to an inversion filtering control method of a permanent magnet synchronous motor. According to the method, the motor equation is represented in an original form before filtering, and the filter circuit parameters are creatively fused into the equation system, so that the motor equation can accurately reflect essential correlation between the motor and voltage and current before filtering, control deviation caused by change of filtering signal characteristics is effectively avoided, and the control accuracy and real-time performance are remarkably improved. And in a parameter solving link, a method for calculating a gain coefficient k based on a characteristic value is adopted, so that the parameter value of the filter circuit is fully excavated, and a simple and efficient solution is provided for parameter setting of a control algorithm.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology, specifically an inverter filtering control method for a permanent magnet synchronous motor. Background Technology

[0002] In the field of motor control, accurately estimating the motor's back electromotive force, rotor position, and speed is crucial for achieving high-performance control. Currently, traditional motor control methods typically use filtered voltage and current signals for modeling when establishing motor equations. While this simplifies the equations, the filtering process alters the characteristics of the original signals, making it difficult for the motor equations to intuitively reflect the true relationship between the motor and the original voltage and current, thus affecting the accuracy and real-time performance of the control.

[0003] Meanwhile, when solving for relevant parameters in the motor equations, existing technologies often fail to effectively utilize filter circuit parameters, making it difficult to derive accurate gain coefficients in a simple manner, thus complicating the parameter tuning of the control algorithm. Furthermore, existing methods for constructing motor state observers are not optimized for handling high-order differential equations, failing to convert them into a standard form that facilitates calculation and analysis, increasing computational difficulty and time costs. In addition, traditional motor state observation methods, when combining the inverter-filtered current signal to estimate the motor's back EMF, rotor position, and speed, suffer from insufficient accuracy and slow dynamic response, failing to meet the demands of modern high-precision, high-dynamic-performance motor control. Therefore, a new motor control technology is urgently needed to overcome these shortcomings. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned shortcomings in the prior art by providing an inverter filtering control method for a permanent magnet synchronous motor.

[0005] The objective of this invention is achieved through the following technical solution: an inverter filtering control method for a permanent magnet synchronous motor, comprising the following steps:

[0006] S1. Obtain the three-phase inverter current and three-phase inverter voltage of the inverter circuit;

[0007] S2. The three-phase inverter current and three-phase inverter voltage are filtered by the filter circuit to obtain the filtered three-phase filter current and three-phase filter voltage.

[0008] S3. Use the filtered three-phase current and three-phase voltage as the input current and input voltage of the permanent magnet synchronous motor.

[0009] S4. Perform coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them into the filtered rotating current and filtered rotating voltage in the rotating coordinate system; perform coordinate transformation on the inverted three-phase inverter current and three-phase inverter voltage to convert them into the inverter rotating current and inverter rotating voltage in the rotating coordinate system.

[0010] S5. Based on the filtered rotating current and filtered rotating voltage in the rotating coordinate system, construct the voltage equation of the permanent magnet synchronous motor in the rotating coordinate system.

[0011] S6. Calculate the estimated current value and estimated back electromotive force value of the observer in the rotating coordinate system based on the voltage equation of the permanent magnet synchronous motor.

[0012] S7. Convert the voltage equation of the permanent magnet synchronous motor into a state-space form, and add an error correction part to it to obtain the corrected motor equation;

[0013] S8. The calculation is performed by representing the corrected motor equation using inverter rotating current, inverter rotating voltage, inductance, and capacitance.

[0014] The present invention is further configured such that the inverter circuit includes switching transistors Q1, Q2, Q3, Q4, Q5, and Q6; and the filter circuit includes inductors La, Lb, Lc, capacitors Ca, Cb, and Cc.

[0015] The drain of the switching transistor Q1 and the source of the switching transistor Q2 are respectively connected to a DC power supply; the source of the switching transistor Q1 and the drain of the switching transistor Q2 are respectively connected to the permanent magnet synchronous motor through an inductor La; one end of the capacitor Ca, one end of the capacitor Cb, and one end of the capacitor Cc are connected; the other end of the capacitor Ca is located between the inductor La and the permanent magnet synchronous motor.

[0016] The drain of the switching transistor Q3 and the source of the switching transistor Q4 are respectively connected to the DC power supply; the source of the switching transistor Q3 and the drain of the switching transistor Q4 are respectively connected to the permanent magnet synchronous motor through the inductor Lb; the other end of the capacitor Cb is located between the inductor Lb and the permanent magnet synchronous motor.

[0017] The drain of the switching transistor Q5 and the source of the switching transistor Q6 are respectively connected to the DC power supply; the source of the switching transistor Q5 and the drain of the switching transistor Q6 are respectively connected to the permanent magnet synchronous motor through the inductor Lc; the other end of the capacitor Cc is located between the inductor Lc and the permanent magnet synchronous motor.

[0018] The present invention is further configured such that the filtering process of the three-phase inverter current and three-phase inverter voltage through the filtering circuit to obtain the filtered three-phase filtered current and three-phase filtered voltage includes the following steps:

[0019] According to the formula With formula Calculate the three-phase filter current and the three-phase filter voltage; where u Ao u Bo u Co These are the three-phase inverter voltages; E Ca E Cb E Cc The capacitance voltages E of capacitors Ca, Cb, and Cc are respectively. Ca E Cb E Cc Simultaneously serves as a three-phase filter voltage; L a L b L c The inductances of inductors La, Lb, and Lc are respectively; L a L b and L c Same; C a C b C c Here are the capacitance values ​​of capacitors Ca, Cb, and Cc; C a C b C c Same; I 1a I 1b I 1c These are the three-phase inverter currents; I 2a I 2b I 2c These are the three-phase filter currents.

[0020] The present invention is further configured such that the coordinate transformation of the filtered three-phase filter current and three-phase filter voltage to the filtered rotating current and filtered rotating voltage in a rotating coordinate system includes the following steps: representing the three-phase filter current in a stationary coordinate system, the formula is: Where I 2α I 2β It is the filtered output current in a stationary coordinate system;

[0021] The formula for representing the three-phase filter voltage in a stationary coordinate system is: Where E cα E cβ It is the filtered output voltage in a stationary coordinate system.

[0022] The present invention is further configured such that, the coordinate transformation of the filtered three-phase filter current and three-phase filter voltage to the filtered rotating current and filtered rotating voltage in a rotating coordinate system further includes the following steps:

[0023] The formula for converting the filtered output current in the stationary coordinate system to the filtered rotating current in the rotating coordinate system is as follows: Among them U do U qo I represents the inverter rotating voltage in a rotating coordinate system. 1d I 1q I represents the inverter rotating current in a rotating coordinate system. 2d I 2q The filtered rotating current in the rotating coordinate system;

[0024] The formula for converting the filtered output voltage in the stationary coordinate system to the filtered rotating voltage in the rotating coordinate system is as follows: Where E cd E cq This represents the filtered rotating voltage in a rotating coordinate system.

[0025] The present invention is further configured such that, in the step of performing coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them into filtered rotating current and filtered rotating voltage in a rotating coordinate system, the step further includes the following steps: defining The following formulas were obtained: as well as

[0026] The present invention is further configured such that, in the step of constructing the voltage equation of the permanent magnet synchronous motor in the rotating coordinate system based on the filtered rotating current and filtered rotating voltage in the rotating coordinate system, the voltage equation of the permanent magnet synchronous motor in the rotating coordinate system is: Where R s ω is the phase resistance of the stator winding. e ψ is the angular speed of the motor. f It is a permanent magnet flux linkage.

[0027] The present invention is further configured such that, in the calculation of the observer-estimated current value and the observer-estimated back electromotive force value in the rotating coordinate system based on the voltage equation of the permanent magnet synchronous motor, the formula is: in The current value is estimated by an observer in a rotating coordinate system. Estimate the back electromotive force for the observer in the rotating coordinate system.

[0028] The present invention is further configured such that, in the step of converting the voltage equation of the permanent magnet synchronous motor into a state-space form and adding an error correction part therein, the corrected motor equation is: Where k1, k2, k3, k4, k5, k6, k7, and k8 are the observer gain coefficients. This is for output error correction.

[0029] The present invention is further configured such that the calculation of the corrected motor equation using inverter rotating current, inverter rotating voltage, inductance, and capacitance includes the following steps:

[0030] Let I 1d =x1, I 1q =y1, E Fd =z1, E Fq =w1, U do =u1, U qo =v1,

[0031] Substituting the above parameters into the corrected motor equation, we obtain the formula.

[0032] The formula is obtained by calculating the matrix in the above formula.

[0033]

[0034]

[0035] The matrix is ​​rewritten from the above formula to obtain the formula.

[0036] make The above formula is further simplified to obtain formula p.

[0037]

[0038] The beneficial effects of this invention are as follows: By representing the motor equations in their original, unfiltered form, this invention innovatively integrates the filter circuit parameters into the equation system. This allows the motor equations to accurately reflect the essential relationship between the motor and the voltage and current before filtering, effectively avoiding control deviations caused by changes in the characteristics of the filtered signal, and significantly improving control accuracy and real-time performance. In the parameter solving stage, the method of calculating the gain coefficient k based on eigenvalues ​​fully explores the value of the filter circuit parameters, providing a simple and efficient solution for tuning the control algorithm parameters. Attached Figure Description

[0039] The invention will be further illustrated with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the invention. For those skilled in the art, other drawings can be obtained based on the following drawings without any creative effort.

[0040] Figure 1 This is a flowchart of the present invention;

[0041] Figure 2 This is a circuit diagram showing the combination of the inverter circuit and the filter circuit of this invention. Detailed Implementation

[0042] The present invention will be further described in conjunction with the following embodiments.

[0043] Depend on Figure 1 and Figure 2 As can be seen, the embodiments of the present invention provide an inverter filtering control method for a permanent magnet synchronous motor, including the following steps:

[0044] S1. Obtain the three-phase inverter current and three-phase inverter voltage of the inverter circuit;

[0045] S2. The three-phase inverter current and three-phase inverter voltage are filtered by the filter circuit to obtain the filtered three-phase filter current and three-phase filter voltage.

[0046] S3. Use the filtered three-phase current and three-phase voltage as the input current and input voltage of the permanent magnet synchronous motor.

[0047] S4. Perform coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them into the filtered rotating current and filtered rotating voltage in the rotating coordinate system; perform coordinate transformation on the inverted three-phase inverter current and three-phase inverter voltage to convert them into the inverter rotating current and inverter rotating voltage in the rotating coordinate system.

[0048] S5. Based on the filtered rotating current and filtered rotating voltage in the rotating coordinate system, construct the voltage equation of the permanent magnet synchronous motor in the rotating coordinate system.

[0049] S6. Calculate the estimated current value and estimated back electromotive force value of the observer in the rotating coordinate system based on the voltage equation of the permanent magnet synchronous motor.

[0050] S7. Convert the voltage equation of the permanent magnet synchronous motor into a state-space form, and add an error correction part to it to obtain the corrected motor equation;

[0051] S8. The calculation is performed by representing the corrected motor equation using inverter rotating current, inverter rotating voltage, inductance, and capacitance.

[0052] Specifically, this embodiment innovatively integrates filter circuit parameters into the equation system by representing the motor equation in its original form before filtering. This allows the motor equation to accurately reflect the essential relationship between the motor and the voltage and current before filtering, effectively avoiding control deviations caused by changes in the characteristics of the filtered signal, and significantly improving control accuracy and real-time performance. In the parameter solving stage, the method of calculating the gain coefficient k based on eigenvalues ​​fully explores the value of the filter circuit parameters, providing a simple and efficient solution for tuning the control algorithm parameters.

[0053] In terms of motor state observation, intermediate variables are used to transform high-order differential equations into standard form, significantly simplifying the calculation process and reducing computational complexity and time costs. Furthermore, a phase-locked loop is added after the observer, and the current in the rotating coordinate system after inverter filtering is used as the motor input current. Combined with the motor equations in the rotating coordinate system, a state observation equation is constructed to achieve accurate estimation of the motor's back electromotive force. This allows for rapid and precise acquisition of rotor position and speed information, meeting the stringent requirements of modern high-precision, high-dynamic-performance motor control systems.

[0054] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The inverter circuit includes switching transistors Q1, Q2, Q3, Q4, Q5, and Q6; the filtering circuit includes inductors La, Lb, and Lc, and capacitors Ca, Cb, and Cc.

[0055] The drain of the switching transistor Q1 and the source of the switching transistor Q2 are respectively connected to a DC power supply; the source of the switching transistor Q1 and the drain of the switching transistor Q2 are respectively connected to the permanent magnet synchronous motor through an inductor La; one end of the capacitor Ca, one end of the capacitor Cb, and one end of the capacitor Cc are connected; the other end of the capacitor Ca is located between the inductor La and the permanent magnet synchronous motor.

[0056] The drain of the switching transistor Q3 and the source of the switching transistor Q4 are respectively connected to the DC power supply; the source of the switching transistor Q3 and the drain of the switching transistor Q4 are respectively connected to the permanent magnet synchronous motor through the inductor Lb; the other end of the capacitor Cb is located between the inductor Lb and the permanent magnet synchronous motor.

[0057] The drain of the switching transistor Q5 and the source of the switching transistor Q6 are respectively connected to the DC power supply; the source of the switching transistor Q5 and the drain of the switching transistor Q6 are respectively connected to the permanent magnet synchronous motor through the inductor Lc; the other end of the capacitor Cc is located between the inductor Lc and the permanent magnet synchronous motor.

[0058] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The method involves filtering the three-phase inverter current and three-phase inverter voltage using a filtering circuit to obtain the filtered three-phase current and three-phase voltage, which includes the following steps:

[0059] According to the formula With formula Calculate the three-phase filter current and the three-phase filter voltage; where u Ao u Bo u Co These are the three-phase inverter voltages; E Ca E Cb E Cc The capacitance voltages E of capacitors Ca, Cb, and Cc are respectively. Ca E Cb E Cc Simultaneously serves as a three-phase filter voltage; L a L b L c The inductances of inductors La, Lb, and Lc are respectively; L a L b and L c Same; C a C b C c Here are the capacitance values ​​of capacitors Ca, Cb, and Cc; C a C b C c Same; I 1a I 1b I 1c These are the three-phase inverter currents; I 2a I 2b I 2c These are the three-phase filter currents.

[0060] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The method involves performing coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them to a rotating coordinate system as the filtered rotating current and filtered rotating voltage. This includes the following steps: Representing the three-phase filter current in a stationary coordinate system, the formula is: Where I 2α I 2β It is the filtered output current in a stationary coordinate system;

[0061] The formula for representing the three-phase filter voltage in a stationary coordinate system is: Where E cα E cβ It is the filtered output voltage in a stationary coordinate system.

[0062] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The step of performing coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them to filtered rotating current and filtered rotating voltage in a rotating coordinate system further includes the following steps:

[0063] The formula for converting the filtered output current in the stationary coordinate system to the filtered rotating current in the rotating coordinate system is as follows: Among them U do U qo I represents the inverter rotating voltage in a rotating coordinate system. 1d I 1q I represents the inverter rotating current in a rotating coordinate system. 2d I 2q The filtered rotating current in the rotating coordinate system;

[0064] The formula for converting the filtered output voltage in the stationary coordinate system to the filtered rotating voltage in the rotating coordinate system is as follows: Where E cd E cq This represents the filtered rotating voltage in a rotating coordinate system.

[0065] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The step of performing coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them to a rotating coordinate system includes the following steps: defining... The following formulas were obtained: as well as

[0066] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The method involves constructing a voltage equation for the permanent magnet synchronous motor in a rotating coordinate system based on the filtered rotating current and filtered rotating voltage. The voltage equation for the permanent magnet synchronous motor in the rotating coordinate system is as follows: Where R s ω is the phase resistance of the stator winding. e ψ is the angular speed of the motor. f It is a permanent magnet flux linkage.

[0067] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The method involves calculating the observer-estimated current value and the observer-estimated back electromotive force value in a rotating coordinate system based on the voltage equation of the permanent magnet synchronous motor. The formula is as follows: in The current value is estimated by an observer in a rotating coordinate system. Estimate the back electromotive force for the observer in the rotating coordinate system.

[0068] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The method involves converting the voltage equation of the permanent magnet synchronous motor into a state-space form and adding an error correction component to obtain a corrected motor equation. The corrected motor equation is as follows: Where k1, k2, k3, k4, k5, k6, k7, and k8 are the observer gain coefficients. This is for output error correction.

[0069] This invention provides an inverter filtering control method for a permanent magnet synchronous motor. The calculation, which uses inverter rotating current, inverter rotating voltage, inductance, and capacitance to represent the corrected motor equations, includes the following steps:

[0070] Let I 1d =x1, I 1q =y1, E Fd =z1, E Fq =w1, U do =u1, U qo =v1,

[0071] Substituting the above parameters into the corrected motor equation, we obtain the formula.

[0072] The formula is obtained by calculating the matrix in the above formula.

[0073]

[0074] The matrix is ​​rewritten from the above formula to obtain the formula.

[0075]

[0076] make The above formula is further simplified to obtain formula p.

[0077]

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. An inverter filtering control method for a permanent magnet synchronous motor, characterized in that: Includes the following steps: S1. Obtain the three-phase inverter current and three-phase inverter voltage of the inverter circuit; S2. The three-phase inverter current and three-phase inverter voltage are filtered by the filter circuit to obtain the filtered three-phase filter current and three-phase filter voltage. S3. Use the filtered three-phase current and three-phase voltage as the input current and input voltage of the permanent magnet synchronous motor. S4. Perform coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them into the filtered rotating current and filtered rotating voltage in the rotating coordinate system; perform coordinate transformation on the inverted three-phase inverter current and three-phase inverter voltage to convert them into the inverter rotating current and inverter rotating voltage in the rotating coordinate system. S5. Based on the filtered rotating current and filtered rotating voltage in the rotating coordinate system, construct the voltage equation of the permanent magnet synchronous motor in the rotating coordinate system. S6. Calculate the estimated current value and estimated back electromotive force value of the observer in the rotating coordinate system based on the voltage equation of the permanent magnet synchronous motor. S7. Convert the voltage equation of the permanent magnet synchronous motor into a state-space form, and add an error correction part to it to obtain the corrected motor equation; S8. The calculation is performed by representing the corrected motor equation using inverter rotating current, inverter rotating voltage, inductance, and capacitance.

2. The inverter filtering control method for a permanent magnet synchronous motor according to claim 1, characterized in that: The inverter circuit includes switching transistors Q1, Q2, Q3, Q4, Q5, and Q6; the filter circuit includes inductors La, Lb, and Lc, and capacitors Ca, Cb, and Cc. The drain of the switching transistor Q1 and the source of the switching transistor Q2 are respectively connected to a DC power supply; the source of the switching transistor Q1 and the drain of the switching transistor Q2 are respectively connected to the permanent magnet synchronous motor through an inductor La; one end of the capacitor Ca, one end of the capacitor Cb, and one end of the capacitor Cc are connected; the other end of the capacitor Ca is located between the inductor La and the permanent magnet synchronous motor. The drain of the switching transistor Q3 and the source of the switching transistor Q4 are respectively connected to the DC power supply; the source of the switching transistor Q3 and the drain of the switching transistor Q4 are respectively connected to the permanent magnet synchronous motor through the inductor Lb; the other end of the capacitor Cb is located between the inductor Lb and the permanent magnet synchronous motor. The drain of the switching transistor Q5 and the source of the switching transistor Q6 are respectively connected to the DC power supply; the source of the switching transistor Q5 and the drain of the switching transistor Q6 are respectively connected to the permanent magnet synchronous motor through the inductor Lc; the other end of the capacitor Cc is located between the inductor Lc and the permanent magnet synchronous motor.

3. The inverter filtering control method for a permanent magnet synchronous motor according to claim 2, characterized in that: The process of filtering the three-phase inverter current and three-phase inverter voltage using a filtering circuit to obtain the filtered three-phase current and three-phase voltage includes the following steps: According to the formula With formula Calculate the three-phase filter current and the three-phase filter voltage; where u Ao u Bo u Co These are the three-phase inverter voltages; E Ca E Cb E Cc The capacitance voltages E of capacitors Ca, Cb, and Cc are respectively. Ca E Cb E Cc Simultaneously serving as a three-phase filter voltage; L a L b L c The inductances of inductors La, Lb, and Lc are respectively; L a L b and L c Same; C a C b C c Here are the capacitance values ​​of capacitors Ca, Cb, and Cc; C a C b C c Same; I 1a I 1b I 1c These are the three-phase inverter currents; I 2a I 2b I 2c These are the three-phase filter currents.

4. The inverter filtering control method for a permanent magnet synchronous motor according to claim 3, characterized in that: The process of transforming the filtered three-phase filter current and three-phase filter voltage to a rotating coordinate system includes the following steps: Representing the three-phase filter current in a stationary coordinate system, the formula is: Among them I 2α I 2β It is the filtered output current in a stationary coordinate system; The formula for representing the three-phase filter voltage in a stationary coordinate system is: Where E cα E cβ It is the filtered output voltage in a stationary coordinate system.

5. The inverter filtering control method for a permanent magnet synchronous motor according to claim 4, characterized in that: The step of performing coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them into filtered rotating current and filtered rotating voltage in a rotating coordinate system also includes the following steps: The formula for converting the filtered output current in the stationary coordinate system to the filtered rotating current in the rotating coordinate system is as follows: Among them U do U qo I represents the inverter rotating voltage in a rotating coordinate system. 1d I 1q I represents the inverter rotating current in a rotating coordinate system. 2d I 2q The filtered rotating current in the rotating coordinate system; The formula for converting the filtered output voltage in the stationary coordinate system to the filtered rotating voltage in the rotating coordinate system is as follows: Where E cd E cq This represents the filtered rotating voltage in a rotating coordinate system.

6. The inverter filtering control method for a permanent magnet synchronous motor according to claim 5, characterized in that: The process of performing coordinate transformation on the filtered three-phase filter current and three-phase filter voltage to convert them to filtered rotating current and filtered rotating voltage in a rotating coordinate system further includes the following steps: defining... The following formulas were obtained: as well as 7. The inverter filtering control method for a permanent magnet synchronous motor according to claim 6, characterized in that: The voltage equation for the permanent magnet synchronous motor in the rotating coordinate system, constructed based on the filtered rotating current and filtered rotating voltage, is as follows: Where R s ω is the phase resistance of the stator winding. e ψ is the angular speed of the motor. f It is a permanent magnet flux linkage.

8. The inverter filtering control method for a permanent magnet synchronous motor according to claim 7, characterized in that: The formula for calculating the observer-estimated current value and the observer-estimated back electromotive force value in the rotating coordinate system based on the voltage equation of the permanent magnet synchronous motor is as follows: in The current value is estimated by an observer in a rotating coordinate system. Estimate the back electromotive force for the observer in the rotating coordinate system.

9. The inverter filtering control method for a permanent magnet synchronous motor according to claim 8, characterized in that: The process involves converting the voltage equation of the permanent magnet synchronous motor into a state-space form and adding an error correction component to obtain the corrected motor equation. The corrected motor equation is as follows: Where k1, k2, k3, k4, k5, k6, k7, and k8 are the observer gain coefficients. This is for output error correction.

10. The inverter filtering control method for a permanent magnet synchronous motor according to claim 9, characterized in that: The calculation of the corrected motor equation using inverter rotating current, inverter rotating voltage, inductance, and capacitance includes the following steps: Let I 1d = x1, I 1q = y1, Substituting the above parameters into the corrected motor equation, we obtain the formula. The formula is obtained by calculating the matrix in the above formula. The matrix is ​​rewritten from the above formula to obtain the formula. make The above formula is further simplified to obtain formula.

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