Resonance-interaction cascade expansion state observer, device and method

Abstract

The invention belongs to the technical field of permanent magnet synchronous motors, and discloses a resonance-interaction cascade expansion state observer, device and method, and the method comprises the following steps: converting a three-phase stator current into a d-axis current and a q-axis current under a d-q synchronous rotating coordinate system according to a current harmonic model of a permanent magnet synchronous motor; d-axis current and q-axis current are calculated, d-axis voltage and q-axis voltage are calculated, the d-axis current, the q-axis current, the d-axis voltage and the q-axis voltage are injected into the resonance-interaction cascade expansion state observer, and an estimated value and a compensation voltage value of input current are obtained; and injecting the generated compensation voltage value into a vector control current inner ring of the permanent magnet synchronous motor, and adding the compensation voltage value with the d-axis voltage and the q-axis voltage. According to the method, the dynamic performance and the steady-state performance of the system in a small time scale can be improved, the accuracy of the generated compensation voltage can be ensured, the influence of the performance defect of the observer on the current harmonic suppression effect is reduced, and the error of current harmonic tracking is reduced on the premise of ensuring the rapidity.

Description

Technical Field

[0001] This invention belongs to the field of permanent magnet synchronous motor technology, specifically relating to a resonant-interactive cascaded expansion state observer, device, and method. Background Technology

[0002] Currently, extended state observers are widely used in motor control due to their simple mathematical models and high stability. However, when extended state observers track current harmonics, the tracking error is relatively large due to the observer's deficiencies in steady-state and dynamic performance, as well as its lack of ability to suppress current harmonics.

[0003] Chinese Patent Publication No. CN113965129B, entitled "A Small-Time-Scale Interactive Current Harmonic Suppression Method for PMSM Based on Cascaded Quasi-Resonant Extended State Observer," includes: establishing a vector control system for a permanent magnet synchronous motor (PMSM) incorporating phase current measurement offset errors; deriving the first-order pulsation equation of the motor's steady-state speed caused by phase current measurement offset errors; designing an interactive resonance-interactive cascaded extended state observer structure to achieve error-free tracking of the input current during dynamic processes; removing the traditional compensation voltage PI calculation stage and directly generating the compensation voltage using the resonance-interactive cascaded extended state observer, combined with a resonant controller, to eliminate current harmonics of specific frequencies in the current harmonics, ensuring enhanced harmonic suppression effect in steady state. This patent application requires two cascaded extended state observers and still needs to consider the impact of parameter changes during actual motor operation. Summary of the Invention

[0004] To overcome the problems existing in the prior art, the present invention aims to provide a resonant-interactive cascaded extended state observer, device, and method. The resonant-interactive cascaded extended state observer compensation voltage generation method of the present invention occupies few resources in the control system, does not cause insufficient memory in the digital controller, and does not cause significant system lag. It is applicable to current harmonic suppression in permanent magnet synchronous motor vector control systems under different torque conditions.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a resonant-interactive cascaded extended state observer, comprising: The first adder is used to calculate the difference between the cascade observer estimate s1 and the actual input y, and obtain the estimation error e2. The first function β21 is used to adjust the feedback strength of the cascade observer to the estimation error e2 and output the result to the second adder; The second function β22 is used to adjust the feedback strength of the cascade observer to the estimation error e2, and the current harmonic estimate s2 of the cascade observer is obtained through the integrator 1 / s; The second adder is used to calculate the sum of the output of the first function unit β21, the current harmonic estimate s2 of the cascade observer, and the known current disturbance p1, to obtain the feedback value s2+p1 of the cascade observer, and to obtain the estimated value s1 of the cascade observer through the integrator 1 / s. The third adder is used to calculate the sum of the current harmonic estimate s2 of the cascaded observer and the current harmonic estimate z2 of the composite observer to obtain the compensation voltage Δu; The fourth adder is used to calculate the sum of the estimated current harmonic value z2 of the composite observer and the control input voltage u to obtain the known current disturbance p1; The first subtractor is used to calculate the difference between the actual input y and the estimated z1, and obtain the error signal e1 of the composite observation; The third function β11 is used to adjust the feedback strength of the composite observer to the actual input y. The fourth function β12 is used to adjust the feedback strength of the composite observer for current harmonic estimation, so as to obtain the current harmonic estimate z2; The fifth adder is used to calculate the sum of the output of the fourth function β12 after passing through the resonator R(s) and the integrator 1 / s, to obtain the current harmonic estimate z2 generated by the composite observer; The sixth adder is used to calculate the sum of the current harmonic estimate s2 of the cascaded observer and the known current disturbance p1 to obtain the feedback value s2+p1 of the composite observer; The seventh adder is used to calculate the sum of the composite observer feedback value s2+p1 and the output of the third function β11, and to obtain the composite observer estimate z1 through the integrator 1 / s.

[0006] Optionally, the control input voltage u is processed by the first gainer b before being input to the fourth adder.

[0007] Optionally, the cascade observer current harmonic estimate s2 is fed to the sixth adder and adjusted by the second gainer k.

[0008] Secondly, the present invention provides a current harmonic suppression device for a permanent magnet synchronous motor, comprising: the aforementioned resonant-interactive cascaded expansion state observer, and: The first subtractor is used to calculate the difference between the feedback motor speed ω and the given motor speed ω*. The first PI controller is used to input the result of the first subtractor and output the q-axis current iq*. The second subtractor is used to calculate the difference between the q-axis current iq* and the feedback q-axis current iq; The third subtractor is used to calculate the difference between the given d-axis current id* and the id feedback d-axis current; The second PI controller is used to input the result of the second subtractor and output the actual q-axis voltage uq. The third PI controller is used to input the result of the third subtractor and output the actual d-axis voltage ud. The fourth adder is used to calculate the sum of the actual q-axis voltage uq and the q-axis compensation voltage Δuq; The fifth adder is used to calculate the sum of the actual d-axis voltage ud and the d-axis compensation voltage Δud; The Park converter controller is used to input the results of the fourth adder and the fifth adder, and outputs the voltage uα and voltage uβ under the αβ axis. The space vector pulse width modulator is used to input the results of the Park converter controller and output the inverter control signal. The inverter is used to input the result of the space vector pulse width modulator and output three-phase current to the motor; The Clark converter is used to input the three-phase current of the motor and output the two-phase currents id and iq. An encoder is used to obtain feedback motor speed ω; Among them, the resonant-interactive cascaded extended state observer includes cascade observers, composite observers, cascaded structures, and interactive structures; The composite observer is used to input feedback d-axis current id, feedback q-axis current iq, feedback motor speed ω, actual q-axis voltage uq, actual d-axis voltage ud, and output compensation voltage z2; The extended state observer is used to input feedback d-axis current id, feedback q-axis current iq, intermediate state variable p1; and output compensation voltage s2. The cascaded structure is used as input z2 and s2, and outputs △uq and △ud; The interaction structure is used to realize the interaction between the current harmonic estimates p1 and ks2.

[0009] Thirdly, the present invention provides a current harmonic suppression method for a permanent magnet synchronous motor current harmonic suppression device, comprising the following steps: Based on the current harmonic model of permanent magnet synchronous motor, the three-phase stator current is transformed into d-axis current and q-axis current in the dq synchronous rotating coordinate system. Based on the current harmonic model of permanent magnet synchronous motor, calculate the d-axis voltage ud and the q-axis voltage uq in the dq synchronous rotating coordinate system; Inject the d-axis current and q-axis current, d-axis voltage and q-axis voltage into the resonant-interactive cascaded extended state observer to obtain the estimated value of the input current and the compensation voltage value; The compensation voltage value generated by the resonant-interactive cascaded extended state observer is injected into the inner loop of the vector control current of the permanent magnet synchronous motor and added to the d-axis voltage and q-axis voltage.

[0010] Alternatively, the state equation of the resonant-interactive cascaded extended state observer is:

[0011] Where y is the input current of the resonant-interactive cascaded extended state observer, z1 is the estimated value of the input current by the resonant-interactive cascaded extended state observer, u is the input voltage of the resonant-interactive cascaded extended state observer, z2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, s2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, e1 is the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer, e2 is the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer, R(s) is the expression of the resonant controller, β11 and β12 are the coefficients of the resonant-interactive cascaded extended state observer, k is the gain coefficient of the current harmonic estimate interaction value, and b is the gain coefficient of the input voltage.

[0012] Optionally, the formula for calculating the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer is as follows:

[0013] Where y is the input current of the resonant-interactive cascaded extended state observer, s1 is the estimated value of the input current by the resonant-interactive cascaded extended state observer, b is the reciprocal of the stator inductance Ls, u is the input voltage of the resonant-interactive cascaded extended state observer, s2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, z2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, e2 is the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer, and β21 and β22 are the coefficients of the resonant-interactive cascaded extended state observer.

[0014] Fourthly, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for suppressing current harmonics of a permanent magnet synchronous motor.

[0015] Fifthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for suppressing current harmonics in a permanent magnet synchronous motor.

[0016] In a sixth aspect, the present invention provides a computer program product including a computer-readable medium, wherein computer-readable program code is included on the computer-readable medium, the program code executing the permanent magnet synchronous motor current harmonic suppression method.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention employs a resonant-interactive cascaded extended state observer compensation voltage generation method, which can suppress the sixth current harmonic in the d-axis current id and the q-axis current iq. It improves the structure of the traditional extended state observer and has strong robustness, eliminating the need to consider the impact of parameter changes during actual motor operation.

[0018] The resonant-interactive cascaded extended state observer compensation voltage generation method in this invention can ensure a fast dynamic response for harmonic suppression. Compared with the traditional extended state observer current harmonic suppression, the resonant-interactive cascaded extended state observer, combined with the resonator of the resonant controller, can improve the current harmonic suppression effect.

[0019] The resonant-interactive cascaded extended state observer compensation voltage generation method in this invention has a simple and clear design concept, and the method itself is not complex and easy to program. Therefore, it can be integrated into existing mature digital signal processors and run normally without developing new hardware platforms, which can greatly reduce labor and economic costs and facilitate mass production.

[0020] The resonant-interactive cascaded extended state observer compensation voltage generation method in this invention occupies very few resources in the control system, will not cause insufficient memory in the digital controller, and will not cause significant system lag.

[0021] This invention is applicable to the suppression of current harmonics in the vector control system of permanent magnet synchronous motors under different torque conditions.

[0022] The compensation voltage generated by the resonant-interactive cascaded expansion state observer in this invention has a simple and clear design concept, the observer parameters are easy to adjust, and it has the ability to have small current overshoot and fast response during dynamic processes.

[0023] Finally, the calculated compensation voltage is superimposed on the reference voltage to cancel out the harmonic components in the reference voltage, thus suppressing current harmonics. Compared with traditional extended state observers, the resonant-interactive cascaded extended state observer has a faster response speed and higher tracking accuracy throughout the dynamic process, and can achieve error-free tracking of current harmonics, ensuring optimal suppression of steady-state current harmonics. Attached Figure Description

[0024] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way.

[0025] In the attached diagram: Figure 1 This is a principle block diagram of the method of the present invention; Figure 2 It is a block diagram of the principle of generating compensation voltage based on the resonant-interactive cascaded extended state observer; Figure 3 This is a structural block diagram of the resonant-interactive cascaded extended state observer designed in this invention; Figure 4 This is an experimental diagram of the A-phase current without current harmonic suppression in Example 1; Figure 5 The results are experimental results of Fourier analysis of the A-phase current without current harmonic suppression in Example 1. Figure 6 The figure shows an experimental diagram of the d-axis current without current harmonic suppression in Example 1. Figure 7 The figure shows an experimental diagram of the q-axis current without current harmonic suppression in Example 1. Figure 8 The A-phase current waveform of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer under the conditions of 18 N·m load torque and 600 r / min motor speed in Example 2; Figure 9 The Fourier analysis results of the A-phase current of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer in Example 2 are as follows: under the conditions of 18 N·m load torque and 600 r / min motor speed. Figure 10 The d-axis current waveform of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer in Example 2 is shown under the conditions of 18 N·m load torque and 600 r / min motor speed. Figure 11 The q-axis current waveform of the current harmonic suppression method based on the resonant-interactive cascaded expansion state observer is shown in Example 2 under the conditions of 18 N·m load torque and 600 r / min motor speed. Figure 12 The d-axis compensated voltage waveform of the current harmonic suppression method based on the resonant-interactive cascaded expansion state observer under the conditions of 18 N·m load torque and 600 r / min motor speed in Example 2; Figure 13 The Fourier analysis results of the d-axis compensation voltage of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer under the conditions of 18 N·m load torque and 600 r / min motor speed in Example 2 are as follows: Figure 14The q-axis compensated voltage waveform of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer under the conditions of 18 N·m load torque and 600 r / min motor speed in Example 2; Figure 15 The Fourier analysis results of the q-axis compensation voltage of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer under the conditions of 18 N·m load torque and 600 r / min motor speed in Example 2 are shown. Figure 16 The results are the open-loop and closed-loop experimental results of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer under the conditions of 18 N·m load torque and 600 r / min motor speed in Example 3. Figure 17 The dead time of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer in Example 3 is from 5µs to 7µs under the conditions of 18 N·m load torque and 600 r / min motor speed. Figure 18 The d-axis current waveform of the current harmonic suppression method based on the resonant-interactive cascaded expansion state observer in Example 3 under the load torque condition increased from 18 N·m to 26 N·m; Figure 19 The q-axis current waveform of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer in Example 3 under the load torque condition increased from 18 N·m to 26 N·m; Figure 20 The results of Example 4 show that the dead time of the current harmonic suppression method based on the resonant-interactive cascaded extended state observer is from 5µs to 7µs under the conditions of 18 N·m load torque and 4000 r / min motor speed. Detailed Implementation

[0026] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0027] 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 invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified. The present invention will now be described in detail with reference to the accompanying drawings.

[0029] The present invention provides a resonant-interactive cascaded extended state observer, comprising: The first adder is used to calculate the difference between the cascade observer estimate s1 and the actual input y, and obtain the estimation error e2. The first function β21 is used to adjust the feedback strength of the cascade observer to the estimation error e2 and output the result to the second adder; The second function β22 is used to adjust the feedback strength of the cascade observer to the estimation error e2, and the current harmonic estimate s2 of the cascade observer is obtained through the integrator 1 / s; The second adder is used to calculate the sum of the output of the first function unit β21, the current harmonic estimate s2 of the cascade observer, and the known current disturbance p1, to obtain the feedback value s2+p1 of the cascade observer, and to obtain the estimated value s1 of the cascade observer through the integrator 1 / s. The third adder is used to calculate the sum of the current harmonic estimate s2 of the cascaded observer and the current harmonic estimate z2 of the composite observer to obtain the compensation voltage Δu; The fourth adder is used to calculate the sum of the estimated current harmonic value z2 of the composite observer and the control input voltage u to obtain the known current disturbance p1; The first subtractor is used to calculate the difference between the actual input y and the estimated z1, and obtain the error signal e1 of the composite observation; The third function β11 is used to adjust the feedback strength of the composite observer to the actual input y. The fourth function β12 is used to adjust the feedback strength of the composite observer for current harmonic estimation, so as to obtain the current harmonic estimate z2; The fifth adder is used to calculate the sum of the output of the fourth function β12 after passing through the resonator R(s) and the integrator 1 / s, to obtain the current harmonic estimate z2 generated by the composite observer; The sixth adder is used to calculate the sum of the current harmonic estimate s2 of the cascaded observer and the known current disturbance p1 to obtain the feedback value s2+p1 of the composite observer; The seventh adder is used to calculate the sum of the composite observer feedback value s2+p1 and the output of the third function β11, and to obtain the composite observer estimate z1 through the integrator 1 / s.

[0030] The present invention provides a current harmonic suppression device for a permanent magnet synchronous motor, comprising: a resonant-interactive cascaded extended state observer, and: The first subtractor is used to calculate the difference between the feedback motor speed ω and the given motor speed ω*. The first PI controller is used to input the result of the first subtractor and output the q-axis current iq*. The second subtractor is used to calculate the difference between the q-axis current iq* and the feedback q-axis current iq; The third subtractor is used to calculate the difference between the given d-axis current id* and the id feedback d-axis current; The second PI controller is used to input the result of the second subtractor and output the actual q-axis voltage uq. The third PI controller is used to input the result of the third subtractor and output the actual d-axis voltage ud. The fourth adder is used to calculate the sum of the actual q-axis voltage uq and the q-axis compensation voltage Δuq; The fifth adder is used to calculate the sum of the actual d-axis voltage ud and the d-axis compensation voltage Δud; The Park converter controller is used to input the results of the fourth adder and the fifth adder, and outputs the voltage uα and voltage uβ under the αβ axis. The space vector pulse width modulator is used to input the results of the Park converter controller and output the inverter control signal. The inverter is used to input the result of the space vector pulse width modulator and output three-phase current to the motor; The Clark converter is used to input the three-phase current of the motor and output the two-phase currents id and iq. An encoder is used to obtain feedback motor speed ω; Among them, the resonant-interactive cascaded extended state observer includes cascade observers, composite observers, cascaded structures, and interactive structures; The composite observer is used to input feedback d-axis current id, feedback q-axis current iq, feedback motor speed ω, actual q-axis voltage uq, actual d-axis voltage ud, and output compensation voltage z2; The extended state observer is used to input feedback d-axis current id, feedback q-axis current iq, intermediate state variable p1; and output compensation voltage s2. The cascaded structure is used as input z2 and s2, and outputs △uq and △ud; The interaction structure is used to realize the interaction between the current harmonic estimates p1 and ks2.

[0031] A current harmonic suppression method for a permanent magnet synchronous motor current harmonic suppression device according to the present invention includes the following steps: Based on the current harmonic model of permanent magnet synchronous motor, the three-phase stator current is transformed into d-axis current and q-axis current in the dq synchronous rotating coordinate system. Based on the current harmonic model of permanent magnet synchronous motor, calculate the d-axis voltage ud and the q-axis voltage uq in the dq synchronous rotating coordinate system; Inject the d-axis current and q-axis current, d-axis voltage and q-axis voltage into the resonant-interactive cascaded extended state observer to obtain the estimated value of the input current and the compensation voltage value; The compensation voltage value generated by the resonant-interactive cascaded extended state observer is injected into the inner loop of the vector control current of the permanent magnet synchronous motor and added to the d-axis voltage and q-axis voltage.

[0032] This invention employs a resonant-interactive cascaded extended state observer compensation voltage generation method, which can suppress the sixth current harmonic in the d-axis current id and the q-axis current iq. It improves the structure of the traditional extended state observer and has strong robustness, eliminating the need to consider the impact of parameter changes during actual motor operation.

[0033] The resonant-interactive cascaded extended state observer compensation voltage generation method in this invention can ensure a fast dynamic response for harmonic suppression. Compared with the traditional extended state observer current harmonic suppression, the resonant-interactive cascaded extended state observer, combined with the resonator of the resonant controller, can improve the current harmonic suppression effect.

[0034] The resonant-interactive cascaded extended state observer compensation voltage generation method in this invention has a simple and clear design concept, and the method itself is not complex and easy to program. Therefore, it can be integrated into existing mature digital signal processors and run normally without developing new hardware platforms, which can greatly reduce labor and economic costs and facilitate mass production.

[0035] Example 1 like Figure 3 As shown, a resonant interactive cascaded extended state observer of the present invention includes: The first adder is used to calculate the difference between the cascade observer estimate s1 and the actual input y, and obtain the estimation error e2. The first function β21 is used to adjust the feedback strength of the cascade observer to the estimation error e2 and output the result to the second adder; The second function β22 is used to adjust the feedback strength of the cascade observer to the estimation error e2, and the current harmonic estimate s2 of the cascade observer is obtained through the integrator 1 / s; The second adder is used to calculate the sum of the output of the first function unit β21, the current harmonic estimate s2 of the cascade observer, and the known current disturbance p1, to obtain the feedback value s2+p1 of the cascade observer, and to obtain the estimated value s1 of the cascade observer through the integrator 1 / s. The third adder is used to calculate the sum of the current harmonic estimate s2 of the cascaded observer and the current harmonic estimate z2 of the composite observer to obtain the compensation voltage Δu; The fourth adder is used to calculate the sum of the estimated current harmonic value z2 of the composite observer and the control input voltage u processed by the gain link b, so as to obtain the known current disturbance p1; The first subtractor is used to calculate the difference between the actual input y and the estimated z1, and obtain the error signal e1 of the composite observation; The third function β11 is used to adjust the feedback strength of the composite observer to the actual input y. The fourth function β12 is used to adjust the feedback strength of the composite observer for current harmonic estimation, so as to obtain the current harmonic estimate z2; The fifth adder is used to calculate the sum of the output of the fourth function β12 after passing through the resonator R(s) and the integrator 1 / s, to obtain the current harmonic estimate z2 generated by the composite observer; The gain element k is used to adjust the current harmonic estimate s2 of the cascaded observer and send the result to the sixth adder; The sixth adder is used to calculate the sum of the output of the gain element k and the known current disturbance p1, to obtain the feedback value s2+p1 of the composite observer; The seventh adder is used to calculate the sum of the composite observer feedback value s2+p1 and the output of the third function β11, and to obtain the composite observer estimate z1 through the integrator 1 / s.

[0036] The inputs for composite observation are the object's control input u and the input signal y. Composite observations can reconstruct states x1 and x2 using variables z1 and z2 respectively.

[0037] Z1 is the estimate of the actual input y by the composite observations.

[0038] z2 is the current harmonic estimated from the composite observations.

[0039] e1 is the error signal of the composite observation, that is, the difference between the actual input y and the estimated z1.

[0040] The feedback strength of the state estimation error is adjusted using β11, which affects the convergence speed and stability of the composite observation.

[0041] β12 is the feedback gain of the extended state z2, which affects the convergence speed and accuracy of current harmonic estimation. R(s) acts as a resonator to accurately extract the target harmonics.

[0042] The inputs to cascaded observations are the control input u and the output signal y of the controlled object. Cascaded observations can reconstruct the states x1 and x2 using variables s1 and s2, respectively.

[0043] s1 is the estimated value of the cascaded observations relative to the actual input y, and s2 is the current harmonic estimated by the cascaded observations.

[0044] e2 is the error signal of the cascaded observation, that is, the difference between the actual input y and the estimated s1.

[0045] The feedback strength of the state estimation error is adjusted using β21, which affects the convergence speed and stability of cascaded observations.

[0046] β22 is the feedback gain of extended state s2, which affects the convergence speed and accuracy of current harmonic estimation.

[0047] The cascaded structure connects the two eso values ​​into a single unit, allowing for joint estimation of current harmonics. Combined and cascaded observations estimate the total current harmonic z² + s² through the cascaded structure.

[0048] An interactive structure is used to achieve interactive current harmonic estimation.

[0049] p1 is the sum of the current harmonic estimation z2 and the control signal. k is the interaction gain for current harmonic estimation, which affects the convergence speed of current harmonic estimation and the amplitude fluctuations of harmonic suppression dynamics.

[0050] Example 2 like Figure 1 As shown, a method for suppressing current harmonics in a permanent magnet synchronous motor according to the present invention includes the following steps: S1: According to the current harmonic model of a permanent magnet synchronous motor, the three-phase stator current has 6n±1 order (n = 1, 2, 3…) current harmonics. In the dq synchronous rotating coordinate system, ignoring flux linkage harmonics, the three-phase stator current is transformed into d-axis current and q-axis current. The equations for the d-axis and q-axis currents, including current harmonics, are shown below:

[0051] Where i1th is the amplitude of the fundamental current; θ1 is the initial phase angle of the fundamental current; i1th is the amplitude of the fundamental current; i(6n-1)th and i(6n+1)th are the amplitudes of the stator current harmonics; θ6n-1 and θ6n+1 are the initial phase angles of the stator current harmonics; ω is the electric angular velocity; the 6n-1 and 6n+1 harmonics of the stator current are transformed into the 6nth harmonic in the d-axis current and q-axis current.

[0052] S2: According to the current harmonic model of permanent magnet synchronous motor, the voltage equations for the d-axis voltage ud and the q-axis voltage uq in the dq synchronous rotating coordinate system are as follows:

[0053] Where ud and uq are the d-axis and q-axis components of the stator voltage, respectively; id and iq are the d-axis and q-axis components of the stator current, respectively; Ld and Lq are the d-axis and q-axis components of the stator inductance, respectively; Rs is the stator resistance; and ω is the electric angular velocity. f is the flux linkage of the permanent magnet.

[0054] S3: Inject the d-axis current and q-axis current, d-axis voltage and q-axis voltage into the resonant-interactive cascaded extended state observer. The observer can obtain the estimated value of the input current and the compensation voltage value. Combined with the resonant controller, the ability to suppress current harmonics is enhanced.

[0055] S4: Inject the compensation voltage value generated by the resonant-interactive cascaded extended state observer into the inner loop of the vector control current of the permanent magnet synchronous motor, and add it to the d-axis voltage and q-axis voltage.

[0056] Specifically, since the amplitude of stator current harmonics decreases with increasing stator current harmonic order, and the amplitude of lower-order stator current harmonics is larger, the stator current harmonics are the 5th, 7th, 11th, and 13th order stator current harmonics. Considering the 5th, 7th, 11th, and 13th stator current harmonics, the 5th and 7th stator current harmonics are transformed into the 6th harmonic in the d-axis and q-axis currents, and the 11th and 13th stator current harmonics are transformed into the 12th harmonic in the d-axis and q-axis currents. The d-axis and q-axis currents, d-axis voltages, and q-axis voltages are injected into a resonant-interactive cascaded extended state observer. The compensation voltage value is obtained through the observer, and then the compensation voltage value is added to the d-axis and q-axis voltages in the inner current loop.

[0057] Example 3 The present invention provides a current harmonic suppression system for a permanent magnet synchronous motor, comprising: The first calculation module is used to transform the three-phase stator current into d-axis current and q-axis current in the dq synchronous rotating coordinate system based on the current harmonic model of the permanent magnet synchronous motor. The current equations for the d-axis and q-axis, which include current harmonics, are as follows:

[0058] Where i1th is the amplitude of the fundamental current; θ1 is the initial phase angle of the fundamental current; i1th is the amplitude of the fundamental current; i(6n-1)th and i(6n+1)th are the amplitudes of the stator current harmonics; θ6n-1 and θ6n+1 are the initial phase angles of the stator current harmonics; ω is the electric angular velocity; the 6n-1 and 6n+1 harmonics of the stator current are transformed into the 6nth harmonic in the d-axis current and q-axis current.

[0059] The second calculation module, based on the current harmonic model of the permanent magnet synchronous motor, calculates the d-axis voltage ud and the q-axis voltage uq in the dq synchronous rotating coordinate system. The voltage equations are as follows:

[0060] Where ud and uq are the d-axis and q-axis components of the stator voltage, respectively; id and iq are the d-axis and q-axis components of the stator current, respectively; Ld and Lq are the d-axis and q-axis components of the stator inductance, respectively; Rs is the stator resistance; and ω is the electric angular velocity. f is the flux linkage of the permanent magnet.

[0061] The third calculation module injects the obtained d-axis current, q-axis current, d-axis voltage and q-axis voltage into the Quasi-Interactive-Resonant Control Extended State Observer (QR-ICESO), and generates the compensation voltage value to be injected through the Quasi-Interactive-Resonant Control Extended State Observer. The fourth calculation module is used to inject the compensation voltage value generated by the resonant-interactive cascaded expansion state observer into the inner loop of the vector control current of the permanent magnet synchronous motor, and add it to the d-axis voltage and q-axis voltage.

[0062] Because the resonant-interactive cascaded extended state observer has the advantages of good dynamic and steady-state performance, it is independent of motor parameters, has strong system stability and high tracking accuracy. The state equation of a traditional Extended State Observer (ESO) is:

[0063] Where y is the input current of the extended state observer, z1 is the estimated value of the input current by the extended state observer, u is the input voltage of the extended state observer, z2 is the voltage compensation value generated by the extended state observer, e1 is the error between the input current and the current estimate of the extended state observer, β1 and β2 are the coefficients of the extended state observer, and b0 is the reciprocal of the stator inductance Ls.

[0064] Accurate and rapid tracking of current harmonics is a key performance indicator. Therefore, the harmonic tracking transfer function between the estimated current harmonic z2 and the true value x2 is:

[0065] Where β1 and β2 are the coefficients of the extended state observer, and s is the complex plane variable. The harmonic error-free tracking transfer function between the estimated current harmonic value z2 and the true value x2 is:

[0066] Where β1 and β2 are the coefficients of the extended state observer, and s is the complex plane variable. The state equation of the resonant-interactive cascaded extended state observer is:

[0067] Where y is the input current of the resonant-interactive cascaded extended state observer, z1 is the estimated value of the input current by the resonant-interactive cascaded extended state observer, u is the input voltage of the resonant-interactive cascaded extended state observer, z2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, e1 is the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer, s2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, R(s) is the expression of the resonant controller, β1 and β2 are the coefficients of the resonant-interactive cascaded extended state observer, and b0 is the reciprocal of the stator inductance Ls;

[0068] Where y is the input current of the resonant-interactive cascaded extended state observer, s1 is the estimated value of the input current by the resonant-interactive cascaded extended state observer, u is the input voltage of the resonant-interactive cascaded extended state observer, s2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, z2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, e2 is the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer, β21 and β22 are the coefficients of the resonant-interactive cascaded extended state observer, and b0 is the reciprocal of the stator inductance Ls.

[0069] The transfer function of the resonant controller is:

[0070] Where ka is the resonance coefficient, ωa is the resonant angular frequency, ωc is the resonant bandwidth, and s is the complex plane variable.

[0071] To ensure the steady-state and dynamic performance of the observer, the parameters are strictly designed according to the bandwidth method. The parameter design of the resonant-interactive cascaded extended state observer is as follows:

[0072] Where ω0 is the observer bandwidth.

[0073] The harmonic tracking transfer function of the resonant-interactive cascaded extended state observer is:

[0074]

[0075] Wherein, GQR-ICESO-HE(s) is the harmonic tracking transfer function of the resonant-interactive cascaded extended state observer; N0, N1, N2, N3, N4, N4, N5 represent numerator coefficients; s represents complex plane variables; E0, E1, E2, E3, E4, E5 represent denominator coefficients; R(s) is the transfer function of the resonant controller, where ka is the resonant coefficient; ωa is the resonant angular frequency; and ωc is the resonant bandwidth.

[0076] The harmonic error tracking transfer function of the resonant-interactive cascaded extended state observer is:

[0077]

[0078] Wherein, GQR-ICESO-HEE(s) is the harmonic error tracking transfer function of the resonant-interactive cascaded extended state observer; M1, M2, M3, M4, and M5 represent the numerator coefficients; s represents the complex plane variable; E0, E1, E2, E3, E4, and E5 represent the denominator coefficients; R(s) is the transfer function of the resonant controller, where ka is the resonant coefficient; ωa is the resonant angular frequency; and ωc is the resonant bandwidth.

[0079] like Figure 1 As shown, this invention proposes a method for suppressing current harmonics in permanent magnet synchronous motors (PMSMs) based on a resonant-interactive cascaded extended state observer, including current harmonic tracking, generation of compensation voltage, and injection of compensation voltage. This resonant-interactive cascaded extended state observer current harmonic suppression method can be applied to a vector control system for PMSMs. In principle, it utilizes the resonant-interactive cascaded extended state observer compensation voltage generation method, injecting the d-axis current id and q-axis current iq, and the d-axis voltage ud and q-axis voltage uq into the resonant-interactive cascaded extended state observer. The compensation voltage is generated by the resonant-interactive cascaded extended state observer, which has small current overshoot and fast response during dynamic processes. The generated compensation voltage value is then injected into the inner loop of the PMSM vector control current, added to the d-axis voltage ud and q-axis voltage uq. The voltage compensation signal is superimposed with the voltage command output by the inner loop controller and used as the input to the subsequent PWM modulation module. After PWM modulation, it acts on the controlled object (motor) and produces the desired control effect, thus suppressing current harmonics caused by the inverter dead-time effect.

[0080] The following section uses a permanent magnet synchronous motor (PMSM) vector control system as an example to illustrate a method for suppressing current harmonics in a PMSM based on a resonant-interactive cascaded extended state observer. The structure of the compensation voltage extraction method using the resonant-interactive cascaded extended state observer in this embodiment is as follows: Figure 2 As shown.

[0081] like Figure 2The d-axis current id and q-axis current iq, along with the d-axis voltage ud and q-axis voltage uq, are injected into a resonant-interactive cascaded extended state observer. This observer can achieve error-free tracking of the input currents id and iq. Combined with the suppression of harmonics at specific frequencies by the resonant controller, the estimated current obtained by the resonant-interactive cascaded extended state observer has less harmonic content. Furthermore, the observer can directly generate the compensation voltage, eliminating the need for calculation via a PI controller, thus improving the overall dynamic response speed of the system and addressing the impact of motor parameter changes on the compensation voltage during actual motor operation. In the resonant-interactive cascaded extended state observer proposed in this invention, based on the dual ESO cascaded interactive structure, better steady-state performance is achieved, and the ability to suppress current harmonics is improved when combined with a QR controller. Moreover, the newly introduced ESO can effectively estimate some of the harmonics provided by the QR-ESO. Therefore, the resonant-interactive cascaded extended state observer improves dynamic performance. When the harmonic content changes, the resonant-interactive cascaded extended state observer can suppress current harmonics, enabling the system to reach steady state more quickly.

[0082] like Figure 3 The three-phase current of the motor is transformed into the fundamental dq-axis coordinate system through Clark and Parker transformations. The positive-sequence component of the fundamental phase current is transformed into a DC component, and other components are transformed into AC components of various frequencies. Taking the q-axis as an example, the q-axis current is first input into the two extended state observers of the resonant-interactive cascaded extended state observer, and the q-axis current is tracked simultaneously. The resonant-extensive state observer (QR-ESO) incorporates a resonant controller for current harmonic suppression, while the extended state observers improve the dynamic response speed to current harmonics, thus enhancing the dynamic performance of the resonant-interactive cascaded extended state observer. Variable p1 causes s2 to estimate the remaining harmonics except z2, compensating for the initial estimate of QR-ESO and improving the dynamic tracking speed of harmonics and the stability of the system. At the same time, a resonator is introduced into the system to enhance the system's ability to suppress current harmonics. The sum of z2 and s2 is the compensation voltage output by the resonant-interactive cascaded extended state observer, which is injected into the d-axis voltage ud and q-axis voltage uq of the inner current loop to suppress current harmonics.

[0083] Example 4 The experimental results comparison of a certain built-in permanent magnet synchronous motor vector control system in this embodiment without current harmonic suppression are shown in the figure below. Figures 4 to 7 As shown. Figure 4 and Figure 5 The figures show the experimental results of phase A current without current harmonic suppression and its Fourier analysis. Figure 6 and Figure 7 The experimental results are for the d-axis current and q-axis current without current harmonic suppression, respectively. Figure 4 and Figure 5 The A-phase current waveform without current harmonic suppression and its Fast Fourier Transform (FFT) analysis are shown at a motor speed of 600 r / min and a load torque of 18 N·m. From... Figure 4 It can be seen that the sinusoidal waveform of the A-phase current without current harmonic suppression is affected by the dead time, resulting in excessively high levels of the 5th, 7th, 11th, and 13th current harmonics, which negatively impacts the sinusoidal waveform and hinders normal motor operation. Figure 5 In the A-phase current without current harmonic suppression, the fundamental frequency amplitude is 28.57 dB, the 5th current harmonic amplitude is 2.92 dB, the 7th current harmonic amplitude is -0.66 dB, the 11th current harmonic amplitude is -5.73 dB, and the 13th current harmonic amplitude is -9.21 dB, according to FFT analysis. Figure 6 and Figure 7 Waveforms of d-axis and q-axis currents without current harmonic suppression. From Figure 6 As can be seen, without current harmonic suppression, the waveform of the d-axis current resembles a triangular wave, fluctuating within the range of -5A to 5A. Figure 7 In the absence of current harmonic suppression, the waveform of the q-axis current is similar to a triangular wave, with a fluctuation range of 26 A to 28 A.

[0084] Example 5 The experimental results of the current harmonic suppression method using a resonant-interactive cascaded extended state observer for a vector control system of a built-in permanent magnet synchronous motor in this embodiment, under a motor speed of 600 r / min and a load torque of 18 N·m, are shown in the figure below. Figures 8 to 15 As shown. Figure 8 The waveform of phase A current is based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer. The sinusoidal signal waveform is improved, indicating that the harmonic content of phase A current is reduced. Figure 9 The results are Fourier analysis experiments of the A-phase current based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer. The fundamental frequency content amplitude is 28.57 dB, the 5th current harmonic amplitude is -24.05 dB, the 7th current harmonic amplitude is -27.96 dB, the 11th current harmonic amplitude is -9.53 dB, and the 13th current harmonic amplitude is -11.54 dB. Figure 10 These are experimental results of the d-axis current waveform based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer. Figure 11 These are experimental results of the q-axis current waveform based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer. Figure 12The results are experimental results of the d-axis compensated voltage waveform based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer, with a fluctuation range of -20V to 0V. Figure 13 The results are Fourier analysis of the d-axis compensated voltage based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer. The amplitude of the 6th current harmonic is 18.21 dB and the amplitude of the 12th current harmonic is 9.05 dB. Figure 14 The results are experimental results of the q-axis compensated voltage waveform based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer, with fluctuation ranges from 55 A to 60 A. Figure 15 The results are Fourier analysis of the q-axis compensated voltage based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer. The amplitude of the 6th current harmonic is 5.74 dB, and the amplitude of the 12th current harmonic is -13.17 dB.

[0085] Example 6 The experimental results of a vector control system for a built-in permanent magnet synchronous motor in this embodiment, based on the current harmonic suppression method using a resonant-interactive cascaded extended state observer, at a speed of 600 r / min are shown in the figures below. Figures 16 to 19 As shown. Figure 16 The results are from open-loop and closed-loop experiments of the system based on the current harmonic suppression method using a resonant-interactive cascaded extended state observer. Under the compensation voltage generated by the resonant-interactive cascaded extended state observer, the dynamic process of stabilizing the phase a current takes approximately 50 ms. The compensation voltage waveforms on the d-axis and q-axis remain unchanged and are unaffected. Figure 17 Experimental results based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer under the condition that the dead time is from 5µs to 7µs show that when the dead time changes abruptly, the d-axis compensation voltage generated by QR-ICESO increases, and its dynamic process takes 5ms; when the q-axis compensation voltage increases, its dynamic process takes 5ms; and when the q-axis current remains unchanged, its dynamic process takes 5ms. Figure 18 The d-axis current waveform based on the current harmonic suppression method of the resonant-interactive cascaded expansion state observer under the load torque condition of 18 N·m to 26 N·m shows that id fluctuates between -1.5 A and 2 A before the load is increased, and id fluctuates between -1.5 A and 2.5 A after the load is increased. Figure 19 The q-axis current waveform based on the current harmonic suppression method of the resonant-interactive cascaded expansion state observer is obtained under the condition that the load torque increases from 18 N·m to 26 N·m. With the increase of load, iq fluctuates between 26.5 A and 27.5 A, and after the load increases, iq fluctuates between 38.5 A and 39.5 A.

[0086] Example 7 The experimental results of the vector control system of a built-in permanent magnet synchronous motor in this embodiment, based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer, at a speed of 4000 r / min are as follows: Figure 20 As shown. Figure 20 Experimental results based on the current harmonic suppression method of the resonant-interactive cascaded extended state observer under high-speed operation conditions with a dead time ranging from 5µs to 7µs show that when the dead time changes abruptly, the d-axis compensation voltage generated by QR-ICESO decreases, and its dynamic process takes 12ms; the q-axis compensation voltage generated by QR-ICESO increases, and its dynamic process takes 12ms; the q-axis current remains unchanged, and its dynamic process takes 12ms.

[0087] Example 8 The purpose of this embodiment is to provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the permanent magnet synchronous motor current harmonic suppression method.

[0088] Example 9 The purpose of this embodiment is to provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for suppressing current harmonics in a permanent magnet synchronous motor.

[0089] Example 10 The purpose of this embodiment is to provide a computer program product including a computer-readable medium, wherein the computer-readable medium contains computer-readable program code that executes the permanent magnet synchronous motor current harmonic suppression method.

[0090] The steps and methods involved in the apparatus of the above embodiments 8, 9 and 10 correspond to those in embodiment 2. For specific implementation details, please refer to the relevant description section of embodiment 2.

[0091] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes. These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0092] Unless otherwise specified, the working methods or control methods involved in the above embodiments are conventional working methods or control methods in the art.

[0093] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application. 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 it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention, as long as they do not depart from the spirit and scope of the technical solutions of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A resonant-interactive cascaded extended state observer, characterized in that, include: The first adder is used to calculate the difference between the cascade observer estimate s1 and the actual input y, and obtain the estimation error e2. The first function β21 is used to adjust the feedback strength of the cascade observer to the estimation error e2 and output the result to the second adder; The second function β22 is used to adjust the feedback strength of the cascade observer to the estimation error e2, and the current harmonic estimate s2 of the cascade observer is obtained through the integrator 1 / s; The second adder is used to calculate the sum of the output of the first function unit β21, the current harmonic estimate s2 of the cascade observer, and the known current disturbance p1, to obtain the feedback value s2+p1 of the cascade observer, and to obtain the estimated value s1 of the cascade observer through the integrator 1 / s. The third adder is used to calculate the sum of the current harmonic estimate s2 of the cascaded observer and the current harmonic estimate z2 of the composite observer to obtain the compensation voltage Δu; The fourth adder is used to calculate the sum of the estimated current harmonic value z2 of the composite observer and the control input voltage u to obtain the known current disturbance p1; The first subtractor is used to calculate the difference between the actual input y and the estimated z1, and obtain the error signal e1 of the composite observation; The third function β11 is used to adjust the feedback strength of the composite observer to the actual input y. The fourth function β12 is used to adjust the feedback strength of the composite observer for current harmonic estimation, so as to obtain the current harmonic estimate z2; The fifth adder is used to calculate the sum of the output of the fourth function β12 after passing through the resonator R(s) and the integrator 1 / s, to obtain the current harmonic estimate z2 generated by the composite observer; The sixth adder is used to calculate the sum of the current harmonic estimate s2 of the cascaded observer and the known current disturbance p1 to obtain the feedback value s2+p1 of the composite observer; The seventh adder is used to calculate the sum of the composite observer feedback value s2+p1 and the output of the third function β11, and to obtain the composite observer estimate z1 through the integrator 1 / s.

2. The resonant-interactive cascaded extended state observer according to claim 1, characterized in that, The control input voltage u is processed by the first gainer b before being input to the fourth adder.

3. The resonant-interactive cascaded extended state observer according to claim 1, characterized in that, The current harmonic estimate s2 of the cascade observer is sent to the sixth adder and adjusted by the second gainer k.

4. A current harmonic suppression device for a permanent magnet synchronous motor, characterized in that, include: A resonant-interactive cascaded extended state observer according to any one of claims 1 to 3, and: The first subtractor is used to calculate the difference between the feedback motor speed ω and the given motor speed ω*. The first PI controller is used to input the result of the first subtractor and output the q-axis current iq*. The second subtractor is used to calculate the difference between the q-axis current iq* and the feedback q-axis current iq; The third subtractor is used to calculate the difference between the given d-axis current id* and the id feedback d-axis current; The second PI controller is used to input the result of the second subtractor and output the actual q-axis voltage uq. The third PI controller is used to input the result of the third subtractor and output the actual d-axis voltage ud. The fourth adder is used to calculate the sum of the actual q-axis voltage uq and the q-axis compensation voltage Δuq; The fifth adder is used to calculate the sum of the actual d-axis voltage ud and the d-axis compensation voltage Δud; The Park converter controller is used to input the results of the fourth adder and the fifth adder, and outputs the voltage uα and voltage uβ under the αβ axis. The space vector pulse width modulator is used to input the results of the Park converter controller and output the inverter control signal. The inverter is used to input the result of the space vector pulse width modulator and output three-phase current to the motor; The Clark converter is used to input the three-phase current of the motor and output the two-phase currents id and iq. An encoder is used to obtain feedback motor speed ω; Among them, the resonant-interactive cascaded extended state observer includes cascade observers, composite observers, cascaded structures, and interactive structures; The composite observer is used to input feedback d-axis current id, feedback q-axis current iq, feedback motor speed ω, actual q-axis voltage uq, actual d-axis voltage ud, and output compensation voltage z2; The extended state observer is used to input feedback d-axis current id, feedback q-axis current iq, intermediate state variable p1; and output compensation voltage s2. The cascaded structure is used as input z2 and s2, and outputs △uq and △ud; The interaction structure is used to realize the interaction between the current harmonic estimates p1 and ks2.

5. The current harmonic suppression method of the permanent magnet synchronous motor current harmonic suppression device according to claim 4, characterized in that, Includes the following steps: Based on the current harmonic model of permanent magnet synchronous motor, the three-phase stator current is transformed into d-axis current and q-axis current in the dq synchronous rotating coordinate system. Based on the current harmonic model of permanent magnet synchronous motor, calculate the d-axis voltage ud and the q-axis voltage uq in the dq synchronous rotating coordinate system; Inject the d-axis current and q-axis current, d-axis voltage and q-axis voltage into the resonant-interactive cascaded extended state observer to obtain the estimated value of the input current and the compensation voltage value; The compensation voltage value generated by the resonant-interactive cascaded extended state observer is injected into the inner loop of the vector control current of the permanent magnet synchronous motor and added to the d-axis voltage and q-axis voltage.

6. The method for suppressing current harmonics in a permanent magnet synchronous motor according to claim 5, characterized in that, The state equation of the resonant-interactive cascaded extended state observer is: Where y is the input current of the resonant-interactive cascaded extended state observer, z1 is the estimated value of the input current by the resonant-interactive cascaded extended state observer, u is the input voltage of the resonant-interactive cascaded extended state observer, z2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, s2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, e1 is the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer, e2 is the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer, R(s) is the expression of the resonant controller, β11 and β12 are the coefficients of the resonant-interactive cascaded extended state observer, k is the gain coefficient of the current harmonic estimate interaction value, and b is the gain coefficient of the input voltage.

7. The method for suppressing current harmonics in a permanent magnet synchronous motor according to claim 6, characterized in that, The formula for calculating the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer is as follows: Where y is the input current of the resonant-interactive cascaded extended state observer, s1 is the estimated value of the input current by the resonant-interactive cascaded extended state observer, b is the reciprocal of the stator inductance Ls, u is the input voltage of the resonant-interactive cascaded extended state observer, s2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, z2 is the voltage compensation value generated by the resonant-interactive cascaded extended state observer, e2 is the error between the input current and the current estimate of the resonant-interactive cascaded extended state observer, and β21 and β22 are the coefficients of the resonant-interactive cascaded extended state observer.

8. An electronic device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the permanent magnet synchronous motor current harmonic suppression method according to any one of claims 5-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the permanent magnet synchronous motor current harmonic suppression method according to any one of claims 5-7.

10. A computer program product comprising a computer-readable medium, characterized in that, The computer-readable medium contains computer-readable program code that performs the current harmonic suppression method for a permanent magnet synchronous motor according to any one of claims 5-7.

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