Permanent magnet synchronous motor MTPA control method based on V / f control framework and related equipment

Abstract

The invention discloses a permanent magnet synchronous motor MTPA control method and related equipment based on a V / f control framework, and the method comprises the steps: calculating a power angle according to an electromagnetic torque formula, calculating a digital control delay compensation angle according to the control period delay of a digital control system, and compensating a reference electrical angle according to the power angle and the digital control delay compensation angle, d-q-axis current components in an actual coordinate system are obtained, maximum torque current ratio control is achieved by adjusting d-q-axis current distribution, and oscillation compensation is achieved based on q-axis current feedback. According to the embodiment of the invention, the compensation angle can be quickly calculated, the stator current under the actual d-q coordinate system can be accurately extracted, the maximum torque current ratio control and oscillation compensation can be realized, the requirement on the calculation resource of the controller is low, and the operation efficiency and stability of the motor can be effectively improved. The method can be widely applied to the technical field of motor control.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a control method and related equipment for a permanent magnet synchronous motor (MTPA) based on a V / f control framework. Background Technology

[0002] In recent years, ultra-high speed permanent magnet synchronous motors have become a cutting-edge research direction in the field of motor drive due to their high power density, high efficiency, compact structure and excellent dynamic response characteristics. They are widely used in consumer appliances such as ultra-high speed hair dryers, and are also beginning to be used in high-end industrial scenarios such as fuel cell air compressors and aerospace equipment (such as electric propulsion systems).

[0003] However, when the speed jumps to tens of thousands to hundreds of thousands of rpm, traditional high-performance control strategies face systemic bottlenecks: vector schemes, represented by field-oriented control (FOC), need to complete multiple calculation processes such as current sampling, coordinate transformation, digital controller calculation, and rotor position observation within an extremely short control cycle, significantly increasing the dependence on controller computing resources. This, in turn, increases the configuration requirements for high-performance microprocessors, leading to increased overall system costs and more complex control structures. When the fundamental frequency of the motor is high, its switching frequency will also increase accordingly to reduce stator current ripple. At this point, even using a high-frequency microprocessor cannot guarantee that all calculation tasks can be completed within a single control cycle.

[0004] In comparison, constant voltage-to-frequency ratio (V / f) control exhibits significant advantages in ultra-high-speed motor drive systems due to its simple structure, strong robustness, and low computational overhead. This strategy effectively approximates a constant stator flux linkage by maintaining a constant ratio between the stator fundamental voltage amplitude and fundamental frequency, thereby enabling sensorless operation and control of the motor without rotor position sensors. This significantly reduces reliance on high-performance controllers and alleviates the hardware burden on embedded systems. Overall, the V / f control strategy provides a practically feasible and widely applicable solution for building highly reliable and low-cost ultra-high-speed motor drive systems.

[0005] However, traditional V / f control is an open-loop method, which lacks real-time feedback on the motor's operating status. This can easily lead to problems such as lag in dynamic response, low current utilization efficiency, and system instability under load disturbances.

[0006] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the Invention

[0007] The main objective of this application is to propose a permanent magnet synchronous motor (MTPA) control method and related equipment based on a V / f control framework. By designing a rotor position angle calculation method with low computational complexity, it compensates for phase lag caused by digital control delay and suppresses speed oscillation during motor operation. This reduces the processor's computational burden while maintaining the accuracy of rotor position angle calculation. Furthermore, by introducing a maximum torque-to-current ratio control strategy, it effectively improves the operating efficiency of the permanent magnet synchronous motor under V / f control.

[0008] To achieve the above objectives, one aspect of this application proposes a control method for a permanent magnet synchronous motor (MTPA) based on a V / f control framework, the method comprising: Obtain the stator three-phase current value of the permanent magnet synchronous motor, and perform coordinate transformation on the stator three-phase current value according to the first reference electrical angle to obtain the first q-axis current component in the controller command coordinate system; The power angle is calculated based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component. The first reference electrical angle is then compensated based on the power angle to obtain the second reference electrical angle. Based on the second reference electrical angle, the three-phase current value of the stator is transformed to obtain the second q-axis current component and the second d-axis current component in the actual coordinate system pointing to the magnetic flux linkage of the motor permanent magnet. The second q-axis current component is high-pass filtered to obtain a high-frequency oscillation component. A frequency adjustment signal is determined based on the high-frequency oscillation component. A reference voltage is determined based on the frequency adjustment signal and the reference electrical frequency. The first reference electrical angle is then updated. The reference voltage is adjusted based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component to obtain the d-axis voltage component and the q-axis voltage component. The digital control delay compensation angle is calculated based on the control cycle delay of the digital control system, and the updated first reference electrical angle is compensated based on the digital control delay compensation angle to obtain the third reference electrical angle. The stator resistance voltage drop compensation is calculated based on the stator three-phase current value, the virtual resistance setting value, and the preset compensation coefficient. The voltage modulation signal command is determined based on the d-axis voltage component, the q-axis voltage component, the third reference electrical angle, and the stator resistance voltage drop compensation amount. The stator voltage of the permanent magnet synchronous motor is controlled according to the voltage modulation signal command.

[0009] In some embodiments, calculating the power angle based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component includes: The power angle calculation formula is determined based on the first electromagnetic torque expression and the second electromagnetic torque expression of the permanent magnet synchronous motor. The power angle is calculated based on the first q-axis current component and the power angle calculation formula.

[0010] In some embodiments, the permanent magnet synchronous motor is a surface-mounted permanent magnet synchronous motor, and the expression for the first electromagnetic torque is:

[0011]

[0012]

[0013] The expression for the second electromagnetic torque is:

[0014]

[0015]

[0016] The formula for calculating the power angle is:

[0017] Among them, T e For electromagnetic torque, n p U is the extreme logarithm. m It is the peak value of the phase voltage, ψ f It is the permanent magnet flux linkage, X is the reactance of the permanent magnet synchronous motor, δ is the power angle, and ω is the permanent magnet synchronous motor reactance. e L is the electrical angular frequency, and L is the stator inductance. d For the d-axis inductance, L q For q-axis inductance, u q1 Let i be the q-axis voltage component. q1 Let ω be the first q-axis current component. m This refers to the mechanical angular velocity.

[0018] In some embodiments, determining the frequency adjustment signal based on the high-frequency oscillation component includes: The frequency adjustment signal is calculated using the following formula:

[0019] Where, Δω e The frequency adjustment signal is given, where K is a preset gain coefficient, s is a Laplace variable, and ω is the frequency adjustment signal. h i is the cutoff frequency. q This is the second q-axis current component.

[0020] In some embodiments, determining the reference voltage based on the frequency adjustment signal and the reference electrical frequency, and updating the first reference electrical angle, includes: The actual output angular frequency is calculated based on the reference electrical frequency and the frequency adjustment signal; The reference voltage is calculated based on the actual output angular frequency and the permanent magnet flux linkage. The fourth reference electrical angle is obtained by integration based on the actual output angular frequency, and the fourth reference electrical angle is used as the updated first reference electrical angle.

[0021] In some embodiments, adjusting the reference voltage based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component to obtain the d-axis voltage component and the q-axis voltage component includes: The q-axis voltage component is determined based on the reference voltage; The reference value of the second d-axis current component is determined based on the maximum torque-to-current ratio of the permanent magnet synchronous motor. Calculate the current deviation between the second d-axis current component and the current reference value, and calculate the voltage adjustment amount based on the current deviation value using a proportional-integral controller; The q-axis voltage component is adjusted according to the voltage adjustment amount; The voltage reference value of the d-axis voltage component is determined based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, and the d-axis voltage component is determined based on the voltage reference value.

[0022] In some embodiments, the digital control delay compensation angle is calculated using the following formula:

[0023] Where δ1 is the digital control delay compensation angle, T is the digital control sampling period, and ω e It is the electric angular frequency.

[0024] To achieve the above objectives, another aspect of this application proposes a permanent magnet synchronous motor (MTPA) control device based on a V / f control framework, the device comprising: The controller command coordinate system transformation module is used to obtain the stator three-phase current value of the permanent magnet synchronous motor, and to perform coordinate transformation on the stator three-phase current value according to the first reference electrical angle to obtain the first q-axis current component in the controller command coordinate system. The power angle compensation module is used to calculate the power angle based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component, and to compensate the first reference electrical angle based on the power angle to obtain the second reference electrical angle. The dq-axis current component extraction module is used to perform coordinate transformation on the stator three-phase current value according to the second reference electrical angle to obtain the second q-axis current component and the second d-axis current component in the actual coordinate system pointing to the magnetic flux linkage of the motor permanent magnet. An oscillation suppression module is used to perform high-pass filtering on the second q-axis current component to obtain a high-frequency oscillation component, determine a frequency adjustment signal based on the high-frequency oscillation component, determine a reference voltage based on the frequency adjustment signal and a reference electrical frequency, and update the first reference electrical angle. The maximum torque-to-current ratio control module is used to adjust the reference voltage according to the maximum torque-to-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component to obtain the d-axis voltage component and the q-axis voltage component. The digital control system delay compensation module is used to calculate the digital control delay compensation angle based on the control cycle delay of the digital control system, and to compensate the updated first reference electrical angle based on the digital control delay compensation angle to obtain the third reference electrical angle. The voltage drop compensation module is used to calculate the stator resistance voltage drop compensation amount based on the stator three-phase current value, the virtual resistance setting value, and the preset compensation coefficient. The voltage regulation module is used to determine the voltage modulation signal command based on the d-axis voltage component, the q-axis voltage component, the third reference electrical angle, and the stator resistance voltage drop compensation amount, and to control the stator voltage of the permanent magnet synchronous motor according to the voltage modulation signal command.

[0025] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the methods described above.

[0026] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described above.

[0027] To achieve the above objectives, another aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the methods described above. The embodiments of this application include at least the following beneficial effects: This application provides a permanent magnet synchronous motor (MTPA) control method and related equipment based on a V / f control framework. This scheme quickly calculates the power angle based on the electromagnetic torque formula, and simultaneously calculates the digital control delay compensation angle based on the control cycle delay of the digital control system. Using both as compensation angles, the rotating coordinate system is phase corrected. High-precision rotor position angle estimation can be achieved with lower computational load, thereby realizing accurate extraction of stator current in the actual dq coordinate system. Compared with traditional methods, the computational load is significantly reduced, the dependence on controller computing resources is significantly reduced, and the estimation accuracy is high, laying the foundation for achieving maximum torque-to-current ratio control. By extracting the high-frequency oscillation component of the q-axis current to calculate the frequency adjustment signal, the oscillation phenomenon accompanying the speed increase is effectively suppressed, improving the stability of motor operation. By adjusting the current components of the d-axis and q-axis to achieve maximum torque-to-current ratio control, the operating efficiency of the motor is effectively improved. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating the steps of a permanent magnet synchronous motor (MTPA) control method based on a V / f control framework provided in an embodiment of this application. Figure 2 This is a schematic diagram illustrating the implementation principle of a permanent magnet synchronous motor (MTPA) control method based on a V / f control framework provided in an embodiment of this application. Figure 3 This is a diagram showing the relationship between the coordinate systems in the actual V / f control provided in the embodiments of this application; Figure 4 This is a coordinate system relationship diagram after digital control delay angle compensation provided in the embodiments of this application; Figure 5 This is a waveform diagram of motor speed and A-phase current without q-axis current feedback provided in an embodiment of this application; Figure 6 This is a waveform diagram of motor speed and A-phase current with q-axis current feedback provided in an embodiment of this application; Figure 7 This is a comparison diagram of the controller angle and the actual motor angle without angle compensation provided in the embodiments of this application; Figure 8 This is a comparison diagram of the controller angle and the actual motor angle under angle compensation provided in the embodiments of this application; Figure 9 This is a partially enlarged comparison diagram of the controller angle and the actual motor angle under angle compensation provided in the embodiments of this application; Figure 10 These are the waveforms of motor speed, stator A-phase current, and stator d-axis current without the introduction of MTPA control provided in the embodiments of this application. Figure 11This is a partially enlarged waveform diagram of the motor speed, stator A-phase current, and stator d-axis current without the introduction of MTPA control provided in the embodiments of this application; Figure 12 These are waveforms of motor speed, stator A-phase current, and stator d-axis current when MTPA control is introduced, as provided in the embodiments of this application. Figure 13 This is a partially enlarged waveform diagram of the motor speed, stator A-phase current, and stator d-axis current when MTPA control is introduced, provided in an embodiment of this application. Figure 14 This is a schematic diagram of the structure of a permanent magnet synchronous motor (MTPA) control device based on a V / f control framework provided in an embodiment of this application; Figure 15 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0031] Before providing a detailed description of the embodiments of this application, some of the nouns and terms involved in the embodiments of this application will be explained first. The nouns and terms involved in the embodiments of this application are subject to the following interpretations.

[0032] Maximum Torque Per Ampere (MTPA) is a control strategy that uses reasonable adjustment of the direct-axis (d-axis) and quadrature-axis (q-axis) current components of a motor to obtain the maximum output torque at a given current amplitude.

[0033] In existing technologies, traditional V / f control is an open-loop method, lacking real-time feedback on the motor's operating status. This easily leads to problems such as dynamic response lag, low current utilization efficiency, and potential system instability under load disturbances. To address this, existing research has attempted to introduce a closed-loop feedback mechanism into the V / f control framework to enhance system performance. Some papers propose increasing system damping by introducing a power feedback loop to suppress motor speed oscillations; some patents propose transforming three-phase currents into current amplitude, active current, and reactive current using voltage vector angle, and using these as feedback signals to dynamically compensate for voltage amplitude and frequency in V / f control, improving load disturbance immunity and achieving controllable inverter output power factor; still other papers analyze the complex geometric relationship between voltage and current phasors to derive an analytical expression for the power angle δ. The core of this method lies in using the power angle δ for phase compensation, thereby obtaining the dq-axis stator current and achieving maximum torque-to-current ratio (MTPA) control.

[0034] Existing technologies have the following main shortcomings in solving the efficiency problem of V / f control in permanent magnet synchronous motors: Firstly, existing methods attempt to improve operating efficiency under V / f control by adjusting the power factor. However, this method can only indirectly improve motor operating efficiency to a certain extent through power factor adjustment and cannot achieve the MTPA control target.

[0035] Secondly, existing methods derive an analytical expression for the power angle δ through the complex geometric relationship between voltage and current phasors, and use this expression for phase compensation to obtain the dq-axis stator current, thereby achieving MTPA control. Although this method achieves MTPA control without requiring a rotor position observer, its calculation process involves numerous trigonometric function operations, resulting in high computational overhead and increased processor load. Furthermore, this method ignores the phase lag caused by digital control delays, affecting the accuracy of actual rotor position angle estimation.

[0036] In view of this, this application provides a permanent magnet synchronous motor (PMSM) control method and related equipment based on a V / f control framework. This method proposes a low-computational-complexity rotor position angle calculation method under the V / f control framework, compensates for phase lag caused by digital control delay, suppresses speed oscillations during motor operation, and introduces an MTPA control strategy to improve the operating efficiency of the PMSM under V / f control. This method reduces the processor's computational burden while maintaining the accuracy of rotor position angle calculation.

[0037] This application provides a permanent magnet synchronous motor (MTPA) control method based on a V / f control framework, relating to the field of information technology. This MTPA control method can be applied to terminals, servers, or software running on either a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application implementing the MTPA control method based on a V / f control framework, but is not limited to the above forms.

[0038] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0039] Figure 1 This is an optional flowchart of a permanent magnet synchronous motor (MTPA) control method based on a V / f control framework provided in an embodiment of this application. Figure 1 The method may include, but is not limited to, steps S101 to S108.

[0040] S101. Obtain the stator three-phase current value of the permanent magnet synchronous motor, and perform coordinate transformation on the stator three-phase current value according to the first reference electrical angle to obtain the first q-axis current component in the controller command coordinate system. Specifically, refer to Figure 2In the schematic diagram of Figure 2, the angles sampled by the three coordinate transformations (i.e., the first to third reference electrical angles) are different, and the relationship between the coordinate systems is shown in Figure 3. In the actual V / f control implementation, the control algorithm is usually executed by a digital signal controller (DSC) or a microcontroller (MCU). To meet the operational requirements of the digital control system, there is a 1.5 control cycle delay. This delay causes an angular deviation between the command coordinate system output by the controller and the actual effective coordinate system of the inverter port voltage, where the d1-q1 coordinate system is the controller command coordinate system, and the d2-q2 coordinate system is the actual effective coordinate system of the inverter port voltage. In addition, there is an inherent angular difference between the actual effective coordinate system of the inverter port voltage and the actual dq coordinate system pointing to the permanent magnet flux linkage of the motor. This angular difference is the power angle δ during motor operation. The relationship between the coordinate systems is shown in Figure 3.

[0041] In this embodiment, firstly, the three-phase current signal of the stator is acquired in real time by an installed current sensor, i.e., i a i b i c The collected three-phase currents are transformed from the three-phase stationary abc coordinate system to the controller command rotating coordinate system d1-q1, yielding the stator current vector component i along the q1 axis. q1 (i.e., the first q-axis current component).

[0042] S102. Calculate the power angle based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component. Compensate the first reference electrical angle based on the power angle to obtain the second reference electrical angle. In some embodiments, the power angle is calculated based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component, including: S1021. Determine the power angle calculation formula based on the first electromagnetic torque expression and the second electromagnetic torque expression of the permanent magnet synchronous motor. S1022. Calculate the power angle based on the first q-axis current component and the power angle calculation formula.

[0043] In some embodiments, the permanent magnet synchronous motor is a surface-mounted permanent magnet synchronous motor, and the expression for the first electromagnetic torque is:

[0044]

[0045]

[0046] The expression for the second electromagnetic torque is:

[0047]

[0048]

[0049] The formula for calculating the angle of work is:

[0050] Among them, T e For electromagnetic torque, n p U is the extreme logarithm. m It is the peak value of the phase voltage, ψ f It is the permanent magnet flux linkage, X is the reactance of the permanent magnet synchronous motor, δ is the power angle, and ω is the flux linkage of the permanent magnet. e L is the electrical angular frequency, and L is the stator inductance. d For the d-axis inductance, L q For q-axis inductance, u q1 For the q-axis voltage component, i q1 Let ω be the first q-axis current component. m This refers to the mechanical angular velocity.

[0051] S103. Based on the second reference electrical angle, perform coordinate transformation on the stator three-phase current values ​​to obtain the second q-axis current component and the second d-axis current component in the actual coordinate system pointing to the motor permanent magnet flux linkage. In this embodiment, the result is obtained through calculation. Figure 3 The angles δ1 and δ shown can be used for angle compensation of the rotating coordinate system, obtaining the third and second reference electrical angles respectively, thereby transforming the d1-q1 coordinate system to the actual dq coordinate system. Based on this transformation, the current components on the actual dq axis can be accurately calculated, providing reliable feedback information for subsequent control strategy implementation. The specific calculation method is as follows: δ1 is the angle generated by the delay of the digital system, where T is the digital control sampling period. ω e It is the electric angular frequency.

[0052] (1) like Figure 2 As shown, by compensating for angle δ1 before the SPWM (Sine Pulse Width Modulation) modulation stage, the coordinate system of the controller output command can be kept consistent with the actual effective coordinate system of the inverter port voltage (i.e., step S106). At this time, Figure 3 The relationship diagrams of the three sets of rotating coordinate systems dq, d1-q1, and d2-q2 shown can be simplified as follows: Figure 4 The diagram shows the relationship between the two sets of rotating coordinate systems dq and d1-q1.

[0053] In this embodiment, taking a surface-mounted motor as an example, its electromagnetic torque in V / f control mode can be expressed by formula (2), where n p It is a polar logarithm, U m It is the peak value of the phase voltage, ψ f X is the flux linkage of the permanent magnet, and X is the reactance of the permanent magnet synchronous motor. The reactance of the permanent magnet synchronous motor is X = ω. e L, L is the stator dq-axis inductance of a surface-mounted PMSM (permanent magnet synchronous motor), L d =L q =L.

[0054] (2) The electromagnetic torque of a surface-mounted permanent magnet synchronous motor can also be expressed in the following form: (3) In equation (3) ω m Let ω be the mechanical angular velocity. The relationship between the electrical angular frequency and the mechanical angular velocity is ω. e =n p ω m Furthermore, due to the controller command in the d1-q1 coordinate system, the d1-axis component u... d1 The coordinate transformation is set to 0, and the magnitude remains constant, therefore its q1-axis component u... q1 =U m .

[0055] By combining equations (2) and (3), we can obtain equation (4), from which the work angle δ can be determined.

[0056] (4) By compensating the power angle δ to the controller angle, the actual rotor position angle of the motor can be obtained, and the actual dq-axis current components (i.e., the second q-axis current component and the second d-axis current component) can be calculated through coordinate transformation. S104. Perform high-pass filtering on the second q-axis current component to obtain a high-frequency oscillation component. Determine the frequency adjustment signal based on the high-frequency oscillation component. Determine the reference voltage based on the frequency adjustment signal and the reference electrical frequency. Update the first reference electrical angle. In some embodiments, determining a frequency adjustment signal based on a high-frequency oscillation component includes: The frequency adjustment signal is calculated using the following formula:

[0057] Where, Δω e The signal is a frequency-adjusted signal, K is a preset gain coefficient, s is a Laplace variable, and ω is a frequency-adjusted signal. h i is the cutoff frequency. q This is the second q-axis current component.

[0058] In some embodiments, determining a reference voltage based on a frequency adjustment signal and a reference electrical frequency, and updating a first reference electrical angle, includes: S1041. Calculate the actual output angular frequency based on the reference electrical frequency and the frequency adjustment signal; S1042. Calculate the reference voltage based on the actual output angular frequency and permanent magnet flux linkage; S1043. Obtain the fourth reference electrical angle by integration based on the actual output angular frequency, and use the fourth reference electrical angle as the updated first reference electrical angle.

[0059] Specifically, in this embodiment, referring to Figure 2 The actual q-axis current component i is obtained q (i.e., the second q-axis current component) passes through a high-pass filter (cutoff frequency ω). h Set the frequency to be less than 1 / 10 of the rotational speed oscillation frequency to extract its high-frequency variation component Δi. q The oscillation component Δi q This reflects the rotational speed oscillation trend of the system. Subsequently, this component Δi... q Multiplying this by the set gain coefficient K yields the frequency adjustment signal Δω. e Finally, the adjustment signal Δω e Feedback to the reference angular frequency ω ref This forms the actual output angular frequency ω. e The angular frequency ω e With magnetic flux ψ f Multiplying them yields a reference voltage, which is applied to the q1 coordinate axis. This angular frequency ω e The fourth reference electrical angle is obtained through integration, and this fourth reference electrical angle is used as the updated first reference electrical angle φ. ref It is used to obtain the third reference electrical angle based on digital control delay compensation angle in subsequent steps, and as the initial first reference electrical angle in the new round of regulation, providing a basis for the extraction of the first q-axis current component and power angle compensation.

[0060] S105. Adjust the reference voltage according to the maximum torque-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component to obtain the d-axis voltage component and the q-axis voltage component. In some embodiments, adjusting the reference voltage based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component yields the d-axis voltage component and the q-axis voltage component, including: S1051. Determine the q-axis voltage component based on the reference voltage; S1052. Determine the reference value of the second d-axis current component based on the maximum torque-to-current ratio of the permanent magnet synchronous motor. S1053. Calculate the current deviation between the second d-axis current component and the current reference value, and calculate the voltage adjustment based on the current deviation value using a proportional-integral controller. S1054. Adjust the q-axis voltage component according to the voltage adjustment amount; S1055. Determine the voltage reference value of the d-axis voltage component based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, and determine the d-axis voltage component based on the voltage reference value.

[0061] Specifically, in this embodiment, taking a surface-mounted permanent magnet synchronous motor as an example, the electromagnetic torque mainly depends on the actual q-axis current (i.e., the second q-axis current component). Therefore, controlling the actual d-axis current (i.e., the second d-axis current component) to zero can achieve the MTPA control strategy. Through the above-mentioned coordinate transformation angle compensation, the angle of the actual d-axis relative to the a-axis in the stationary abc coordinate system can be accurately obtained, that is, the first reference electrical angle φ before the update. ref Subtract the calculated work angle δ. (Refer to...) Figure 2 Using this angle (𝜃) ref The actual d-axis current i can be obtained by performing an abc / dq coordinate transformation on the second reference electrical angle (-δ, i.e., the second reference electrical angle). d . The current i d The reference value is set to 0, and the controller is controlled via a proportional-integral (PI) closed-loop system. The controller output is then compared with the reference voltage ω. e ψ f Adding them together yields the voltage components u on the q1 coordinate axis. q1 Simultaneously, the voltage component u of the d1 coordinate axis d1 Set to 0.

[0062] S106. Calculate the digital control delay compensation angle based on the control cycle delay of the digital control system, and compensate the updated first reference electrical angle based on the digital control delay compensation angle to obtain the third reference electrical angle. In some embodiments, the digital control delay compensation angle is calculated using the following formula:

[0063] Where δ1 is the digital control delay compensation angle, T is the digital control sampling period, and ω e It is the electric angular frequency.

[0064] S107. Calculate the stator resistance voltage drop compensation based on the stator three-phase current value, the virtual resistance setting value, and the preset compensation coefficient. S108. Determine the voltage modulation signal command based on the d-axis voltage component, q-axis voltage component, third reference electrical angle, and stator resistance voltage drop compensation amount, and control the stator voltage of the permanent magnet synchronous motor according to the voltage modulation signal command.

[0065] Specifically, in this embodiment, the three-phase stator current i is used. abc The product of the virtual resistance setting value R and the compensation coefficient Q (0.9 ≤ Q < 1) forms the stator resistance voltage drop compensation amount, which is then superimposed on the voltage modulation signal command to offset the influence of the actual stator resistance on system performance. In practical applications, since the motor stator resistance value changes with temperature, the stator winding temperature can be detected by a temperature sensor to estimate a near-actual resistance value under different operating conditions. To prevent the stator resistance estimation error from causing the total system impedance to become negative and unstable after compensation, the virtual resistance compensation coefficient should be appropriately reduced, and the compensation coefficient Q should be set in the range of 0.9 to 1 to balance the compensation effect and system stability.

[0066] The present invention will be further described below with reference to a specific embodiment.

[0067] In the simulation results of this embodiment, a surface-mounted permanent magnet synchronous motor is used as an example, referring to... Figure 5 and Figure 6 , Figure 5 The diagram shows the rotational speed and current waveforms when the virtual resistance gain coefficient Q is 0.9 and there is no q-axis current feedback. From... Figure 5 As can be observed, oscillations occur during the speed increase, and the motor current amplitude fluctuates significantly. Figure 6 shows the speed and A-phase current waveforms after the virtual resistance gain coefficient Q is 0.9 and q-axis current feedback is introduced. It can be seen that the system oscillations are effectively suppressed, and the operating state is stable. Therefore, current feedback control has a significant effect on suppressing speed oscillations in the V / f control framework.

[0068] Reference Figure 7 , Figure 8 as well as Figure 9 Figure 7 shows a comparison between the controller output angle and the actual motor angle without angle compensation. A significant deviation is evident, making it impossible to directly calculate the actual dq-axis stator current of the motor using the controller angle, thus affecting the implementation of MTPA control. Figures 8 and 9 show a comparison between the controller output angle and the actual motor angle after angle compensation. As can be seen from the figures, the deviation between the compensated controller angle and the actual angle is significantly reduced, almost coinciding. At this point, the compensated controller angle can be directly used to calculate the actual dq-axis stator current of the motor, thereby achieving MTPA control.

[0069] Reference Figure 10 , Figure 11 , Figure 12 as well as Figure 13Figures 10 and 11 show the motor speed, stator A-phase current, and stator d-axis current waveforms without MTPA control. It can be seen that the system operates stably, with both speed and stator current reaching steady state, but a large d-axis current exists, affecting system efficiency. Figures 12 and 13 show the motor speed, stator A-phase current, and stator d-axis current waveforms with MTPA control. It can be seen that the average d-axis current is reduced to near zero, achieving MTPA control and thus improving system efficiency.

[0070] It can be recognized that the embodiments of the present invention rapidly calculate the coordinate transformation compensation angle based on the electromagnetic torque formula, which is used to correct the phase of the rotating coordinate system, thereby achieving accurate extraction of the stator current in the actual dq coordinate system. This lays the foundation for MTPA control. The computational load of this method is significantly reduced. Compared with the rotor position angle estimation algorithm without position sensors under the FOC control framework and the traditional power angle calculation method, it significantly reduces the dependence on the controller's computing resources and simplifies the control structure. At the same time, the speed oscillation suppression method based on actual q-axis current feedback proposed in this invention does not require calculation of the motor's active power, has a good speed oscillation suppression effect, and has a simple algorithm structure. Compared with the active power feedback method, this method is more suitable for motor drive systems including but not limited to those with LC filtering. Control can be achieved by relying only on the existing current sensor on the motor side, without the need for additional capacitor voltage sensors, thereby effectively simplifying the hardware structure and reducing system costs. It is not only applicable to ultra-high speed permanent magnet synchronous motors, but also to low-speed or medium-speed permanent magnet synchronous motors.

[0071] Please see Figure 14 This application also provides a permanent magnet synchronous motor (MTPA) control device based on a V / f control framework, which can implement the above-mentioned method. The device includes: The controller command coordinate system transformation module is used to obtain the stator three-phase current value of the permanent magnet synchronous motor, and to perform coordinate transformation on the stator three-phase current value according to the first reference electrical angle to obtain the first q-axis current component in the controller command coordinate system. The power angle compensation module is used to calculate the power angle based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component, and to compensate the first reference electrical angle based on the power angle to obtain the second reference electrical angle. The dq-axis current component extraction module is used to perform coordinate transformation on the stator three-phase current value according to the second reference electrical angle to obtain the second q-axis current component and the second d-axis current component in the actual coordinate system pointing to the magnetic flux of the motor permanent magnet. The oscillation suppression module is used to perform high-pass filtering on the second q-axis current component to obtain a high-frequency oscillation component, determine a frequency adjustment signal based on the high-frequency oscillation component, determine a reference voltage based on the frequency adjustment signal and the reference electrical frequency, and update the first reference electrical angle. The maximum torque-to-current ratio control module is used to adjust the reference voltage based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component to obtain the d-axis voltage component and the q-axis voltage component. The digital control system delay compensation module is used to calculate the digital control delay compensation angle based on the control cycle delay of the digital control system, and to compensate the updated first reference electrical angle based on the digital control delay compensation angle to obtain the third reference electrical angle. The voltage drop compensation module is used to calculate the stator resistance voltage drop compensation amount based on the stator three-phase current value, the virtual resistance setting value, and the preset compensation coefficient. The voltage regulation module is used to determine the voltage modulation signal command based on the d-axis voltage component, the q-axis voltage component, the third reference electrical angle, and the stator resistance voltage drop compensation amount, and to control the stator voltage of the permanent magnet synchronous motor according to the voltage modulation signal command.

[0072] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0073] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0074] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0075] Please see Figure 15 , Figure 15 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 902 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 902 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 using the methods described in the embodiments of this application. The input / output interface 903 is used to implement information input and output; The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904); The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0076] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0077] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0078] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0079] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0080] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0081] This application provides a method and related equipment for MTPA control of a permanent magnet synchronous motor based on a V / f control framework. The method rapidly calculates the power angle based on the electromagnetic torque formula and simultaneously calculates the digital control delay compensation angle based on the control cycle delay of the digital control system. These two factors are used as compensation angles to correct the phase of the rotating coordinate system. This allows for high-precision rotor position angle estimation with relatively low computational load, thereby enabling accurate extraction of the stator current in the actual dq coordinate system. Compared to traditional methods, this significantly reduces computational load and dependence on controller computing resources, while maintaining high estimation accuracy, laying the foundation for maximum torque-to-current ratio control. By extracting the high-frequency oscillation component of the q-axis current to calculate the frequency adjustment signal, the oscillation phenomenon accompanying the speed increase is effectively suppressed, improving the stability of motor operation. Furthermore, by adjusting the current components of the d-axis and q-axis to achieve maximum torque-to-current ratio control, the operating efficiency of the motor is effectively improved.

[0082] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0083] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0084] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0086] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0087] It should be understood that in this application, "at least one (item)" means one or more, and "more than one" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0089] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0090] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0091] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0092] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A control method for a permanent magnet synchronous motor (MTPA) based on a V / f control framework, characterized in that, include: Obtain the stator three-phase current value of the permanent magnet synchronous motor, and perform coordinate transformation on the stator three-phase current value according to the first reference electrical angle to obtain the first q-axis current component in the controller command coordinate system; The power angle is calculated based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component. The first reference electrical angle is then compensated based on the power angle to obtain the second reference electrical angle. Based on the second reference electrical angle, the three-phase current value of the stator is transformed to obtain the second q-axis current component and the second d-axis current component in the actual coordinate system pointing to the magnetic flux linkage of the motor permanent magnet. The second q-axis current component is high-pass filtered to obtain a high-frequency oscillation component. A frequency adjustment signal is determined based on the high-frequency oscillation component. A reference voltage is determined based on the frequency adjustment signal and the reference electrical frequency. The first reference electrical angle is then updated. The reference voltage is adjusted based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component to obtain the d-axis voltage component and the q-axis voltage component. The digital control delay compensation angle is calculated based on the control cycle delay of the digital control system, and the updated first reference electrical angle is compensated based on the digital control delay compensation angle to obtain the third reference electrical angle. The stator resistance voltage drop compensation is calculated based on the stator three-phase current value, the virtual resistance setting value, and the preset compensation coefficient. The voltage modulation signal command is determined based on the d-axis voltage component, the q-axis voltage component, the third reference electrical angle, and the stator resistance voltage drop compensation amount. The stator voltage of the permanent magnet synchronous motor is controlled according to the voltage modulation signal command.

2. The MTPA control method for a permanent magnet synchronous motor based on a V / f control framework according to claim 1, characterized in that, The calculation of the power angle based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component includes: The power angle calculation formula is determined based on the first electromagnetic torque expression and the second electromagnetic torque expression of the permanent magnet synchronous motor. The power angle is calculated based on the first q-axis current component and the power angle calculation formula.

3. The MTPA control method for a permanent magnet synchronous motor based on a V / f control framework according to claim 2, characterized in that, The permanent magnet synchronous motor is a surface-mounted permanent magnet synchronous motor, and the expression for the first electromagnetic torque is: The expression for the second electromagnetic torque is: The formula for calculating the power angle is: Among them, T e For electromagnetic torque, n p U is the extreme logarithm. m It is the peak value of the phase voltage, ψ f It is the permanent magnet flux linkage, X is the reactance of the permanent magnet synchronous motor, δ is the power angle, and ω is the permanent magnet synchronous motor reactance. e L is the electrical angular frequency, and L is the stator inductance. d For the d-axis inductance, L q For q-axis inductance, u q1 Let i be the q-axis voltage component. q1 Let ω be the first q-axis current component. m This refers to the mechanical angular velocity.

4. The MTPA control method for a permanent magnet synchronous motor based on a V / f control framework according to claim 1, characterized in that, The step of determining the frequency adjustment signal based on the high-frequency oscillation component includes: The frequency adjustment signal is calculated using the following formula: Where, Δω e The frequency adjustment signal is given, where K is a preset gain coefficient, s is a Laplace variable, and ω is the frequency adjustment signal. h i is the cutoff frequency. q This is the second q-axis current component.

5. The MTPA control method for a permanent magnet synchronous motor based on a V / f control framework according to claim 1, characterized in that, The step of determining the reference voltage based on the frequency adjustment signal and the reference electrical frequency, and updating the first reference electrical angle, includes: The actual output angular frequency is calculated based on the reference electrical frequency and the frequency adjustment signal; The reference voltage is calculated based on the actual output angular frequency and the permanent magnet flux linkage. The fourth reference electrical angle is obtained by integration based on the actual output angular frequency, and the fourth reference electrical angle is used as the updated first reference electrical angle.

6. The MTPA control method for a permanent magnet synchronous motor based on a V / f control framework according to claim 1, characterized in that, The step of adjusting the reference voltage based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component to obtain the d-axis voltage component and the q-axis voltage component includes: The q-axis voltage component is determined based on the reference voltage; The reference value of the second d-axis current component is determined based on the maximum torque-to-current ratio of the permanent magnet synchronous motor. Calculate the current deviation between the second d-axis current component and the current reference value, and calculate the voltage adjustment amount based on the current deviation value using a proportional-integral controller; The q-axis voltage component is adjusted according to the voltage adjustment amount; The voltage reference value of the d-axis voltage component is determined based on the maximum torque-to-current ratio of the permanent magnet synchronous motor, and the d-axis voltage component is determined based on the voltage reference value.

7. The MTPA control method for a permanent magnet synchronous motor based on a V / f control framework according to claim 1, characterized in that, The digital control delay compensation angle is calculated using the following formula: Where δ1 is the digital control delay compensation angle, T is the digital control sampling period, and ω e It is the electric angular frequency.

8. A permanent magnet synchronous motor (MTPA) control device based on a V / f control framework, characterized in that, The device includes: The controller command coordinate system transformation module is used to obtain the stator three-phase current value of the permanent magnet synchronous motor, and to perform coordinate transformation on the stator three-phase current value according to the first reference electrical angle to obtain the first q-axis current component in the controller command coordinate system. The power angle compensation module is used to calculate the power angle based on the electromagnetic torque formula of the permanent magnet synchronous motor and the first q-axis current component, and to compensate the first reference electrical angle based on the power angle to obtain the second reference electrical angle. The dq-axis current component extraction module is used to perform coordinate transformation on the stator three-phase current value according to the second reference electrical angle to obtain the second q-axis current component and the second d-axis current component in the actual coordinate system pointing to the magnetic flux linkage of the motor permanent magnet. An oscillation suppression module is used to perform high-pass filtering on the second q-axis current component to obtain a high-frequency oscillation component, determine a frequency adjustment signal based on the high-frequency oscillation component, determine a reference voltage based on the frequency adjustment signal and a reference electrical frequency, and update the first reference electrical angle. The maximum torque-to-current ratio control module is used to adjust the reference voltage according to the maximum torque-to-current ratio of the permanent magnet synchronous motor, the second q-axis current component, and the second d-axis current component to obtain the d-axis voltage component and the q-axis voltage component. The digital control system delay compensation module is used to calculate the digital control delay compensation angle based on the control cycle delay of the digital control system, and to compensate the updated first reference electrical angle based on the digital control delay compensation angle to obtain the third reference electrical angle. The voltage drop compensation module is used to calculate the stator resistance voltage drop compensation amount based on the stator three-phase current value, the virtual resistance setting value, and the preset compensation coefficient. The voltage regulation module is used to determine the voltage modulation signal command based on the d-axis voltage component, the q-axis voltage component, the third reference electrical angle, and the stator resistance voltage drop compensation amount, and to control the stator voltage of the permanent magnet synchronous motor according to the voltage modulation signal command.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

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