A high-speed motor drive control method and system

Abstract

This invention discloses a high-speed motor drive control method and system. By extracting the d-axis and q-axis currents of a permanent magnet synchronous motor in the fundamental rotating coordinate system in real time, this invention accurately separates and determines the harmonic current components, and then calculates the harmonic suppression voltage accordingly, which is then superimposed on the fundamental voltage command as a compensation quantity. In this way, the invention effectively counteracts low-order current harmonics caused by inverter dead-zone effects, motor cogging, and magnetic circuit saturation, significantly improving the sinusoidal nature of the current waveform under high-speed motor operation. Based on this, by suppressing harmonic currents, the invention significantly reduces the motor output torque pulsation caused by harmonics, thereby improving the stability of the motor during high-speed operation, effectively avoiding mechanical vibration and electromagnetic noise, and enhancing the system's control accuracy and dynamic response capability. Therefore, this invention ensures stable, efficient, and precise motor operation in the high-speed domain.

Description

Technical Field

[0001] This invention belongs to the field of motor drive technology, specifically relating to a high-speed motor drive control method and system. Background Technology

[0002] High-speed permanent magnet synchronous motors (HS-PMSMs) are increasingly widely used in high-end industrial fields such as aerospace, flywheel energy storage, high-speed machining centers, and molecular pumps due to their advantages such as high power density, fast dynamic response, and high-speed direct drive capability. In actual high-speed motor inverter drive systems, dead time needs to be added during the switching state transition within a single cycle to prevent single-phase bridge arm shoot-through. However, dead time causes an error between the set value and the actual value of the inverter output voltage, which affects the position and width of the pulse, leading to an increase in the harmonic content of the inverter output voltage and causing low-order current harmonics in the motor.

[0003] Meanwhile, the motor's structure (such as rotor magnetic pole structure, cogging effect, magnetic circuit saturation effect, etc.) is also one of the factors causing low-order current harmonics in the motor. Low-order current harmonics can cause pulsation in the motor's output torque, which can affect the smoothness of the motor when it runs at high speed, causing motor vibration and noise, and reducing the control accuracy and stability of the system. Therefore, based on the aforementioned shortcomings, there is an urgent need to provide a high-speed motor drive control method that can achieve harmonic suppression to ensure stable and accurate operation of the motor in the high-speed domain. Summary of the Invention

[0004] The purpose of this invention is to provide a high-speed motor drive control method and system to solve the problem of low-order current harmonics in the existing technology when driving high-speed motors, which causes pulsation of motor output torque.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: Firstly, a high-speed motor drive control method is provided, including: Obtain the motor parameters and real-time three-phase current of the permanent magnet synchronous motor; The real-time three-phase current is converted to the fundamental rotating coordinate system to obtain the d-axis current and q-axis current of the permanent magnet synchronous motor; Based on the d-axis current and q-axis current, the harmonic current components of the permanent magnet synchronous motor are determined. The harmonic suppression voltage is calculated based on the harmonic current components. The q-axis reference current control equation is constructed, and the q-axis reference current of the permanent magnet synchronous motor at the current moment is calculated based on the q-axis reference current control equation and the motor parameters. Obtain the d-axis reference current, and determine the motor fundamental voltage based on the d-axis reference current and the q-axis reference current; The fundamental voltage of the motor is compensated by using harmonic suppression voltage to obtain the compensated fundamental voltage; Using the compensated fundamental voltage, a real-time space vector pulse width modulation signal for the permanent magnet synchronous motor is generated, and the real-time drive control of the permanent magnet synchronous motor is performed using the real-time space vector pulse width modulation signal.

[0006] Based on the above-disclosed content, this invention accurately separates and determines harmonic current components by extracting the d-axis and q-axis currents of a permanent magnet synchronous motor in the fundamental rotating coordinate system in real time. It then calculates the harmonic suppression voltage and adds it as a compensation to the fundamental voltage command. This method effectively counteracts low-order current harmonics caused by inverter dead-zone effects, motor cogging, and magnetic circuit saturation, significantly improving the sinusoidal nature of the current waveform during high-speed motor operation. Furthermore, by suppressing harmonic currents, this invention significantly reduces motor output torque pulsation caused by harmonics, thereby improving the stability of the motor during high-speed operation, effectively avoiding mechanical vibration and electromagnetic noise, and enhancing the system's control accuracy and dynamic response capability. Therefore, this invention ensures stable, efficient, and precise motor operation in the high-speed domain, making it highly suitable for large-scale application and promotion.

[0007] In one possible design, the harmonic current components include: the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component. The harmonic suppression voltage is calculated based on the harmonic current components, including: Based on the motor parameters, the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component, the initial compensation voltages for the fifth harmonic d-axis, the fifth harmonic q-axis, the seventh harmonic d-axis, and the seventh harmonic q-axis are calculated respectively. Obtain the target current value, and use the target current value, as well as the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component to calculate the corresponding deviation compensation voltage for each of the fifth harmonic d-axis, fifth harmonic q-axis, seventh harmonic d-axis, and seventh harmonic q-axis. The fifth harmonic d-axis compensation voltage is calculated using the initial compensation voltage of the fifth harmonic d-axis and the corresponding deviation compensation voltage. The fifth harmonic q-axis compensation voltage is also calculated using the initial compensation voltage of the fifth harmonic q-axis and the corresponding deviation compensation voltage. The d-axis compensation voltage of the seventh harmonic is calculated using the initial compensation voltage of the seventh harmonic d-axis and the corresponding deviation compensation voltage. The q-axis compensation voltage of the seventh harmonic is calculated using the initial compensation voltage of the seventh harmonic q-axis and the corresponding deviation compensation voltage. Based on the fifth harmonic d-axis compensation voltage and the seventh harmonic d-axis compensation voltage, the d-axis suppression voltage is calculated, and based on the fifth harmonic q-axis compensation voltage and the seventh harmonic q-axis compensation voltage, the q-axis suppression voltage is calculated. The harmonic suppression voltage is determined using the d-axis suppression voltage and the q-axis suppression voltage.

[0008] In one possible design, the motor parameters include: the direct-axis inductance, quadrature-axis inductance, fundamental resistance, and current speed of the permanent magnet synchronous motor; Specifically, based on motor parameters, the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component, the initial compensation voltages for the fifth harmonic d-axis, fifth harmonic q-axis, seventh harmonic d-axis, and seventh harmonic q-axis are calculated, including: The initial compensation voltages for the fifth harmonic d-axis, the fifth harmonic q-axis, the seventh harmonic d-axis, and the seventh harmonic q-axis are calculated using the following formulas. ; In the formula, These represent the initial compensation voltages along the d-axis, q-axis, d-axis, and q-axis of the fifth harmonic, respectively. These represent the d-axis current component of the fifth harmonic, the q-axis current component of the fifth harmonic, the d-axis current component of the seventh harmonic, and the q-axis current component of the seventh harmonic, respectively. Indicates the fundamental frequency resistance. Indicates the current rotational speed. These represent direct-axis inductance and quadrature-axis inductance, respectively.

[0009] In one possible design, the deviation compensation voltage corresponding to the fifth harmonic d-axis is calculated using the target current value and the fifth harmonic d-axis current component, including: Based on the target current value and the fifth harmonic d-axis current component, the harmonic current deviation and the rate of change of current deviation are calculated. An input-output fuzzy rule table is constructed, wherein the input in the input-output fuzzy rule table is the fuzzy quantity corresponding to the harmonic current deviation and the rate of change of the current deviation, and the output is the fuzzy quantity corresponding to the deviation compensation voltage of the fifth harmonic d-axis. Using the aforementioned input-output fuzzy rule table, fuzzy inference is performed on the deviation compensation voltage of the fifth harmonic d-axis to obtain a fuzzy output set after fuzzy inference. The fuzzy output set is defuzzified to obtain the first initial deviation compensation voltage corresponding to the d-axis of the fifth harmonic. The second initial deviation compensation voltage is calculated based on the harmonic current deviation. Based on the harmonic current deviation, an adaptive weighting value is calculated; Using the first initial deviation compensation voltage, the second initial deviation compensation voltage, and the adaptive weighting value, the deviation compensation voltage corresponding to the d-axis of the fifth harmonic is calculated.

[0010] In one possible design, the motor parameters include: the current speed of the permanent magnet synchronous motor, wherein the q-axis reference current control equation is constructed, including: Obtain the rated speed of the permanent magnet synchronous motor, and calculate the speed error based on the current speed and the rated speed; Determine the load torque of the permanent magnet synchronous motor at the current moment; Based on the speed error and the load torque at the current moment, the first adaptive control coefficient at the current moment is calculated; The second adaptive control coefficient is calculated based on the speed error and its first derivative. The q-axis reference current control equation is constructed using the speed error, the first derivative of the speed error, the first adaptive control coefficient, the second adaptive control coefficient, and the load torque at the current moment.

[0011] In one possible design, the load torque of the permanent magnet synchronous motor at the current moment is determined, including: Obtain the estimated speed and load torque of the permanent magnet synchronous motor at the previous moment, and the electromagnetic torque at the current moment; The speed estimation error is calculated based on the estimated speed and the current speed. The moment of inertia of the permanent magnet synchronous motor is obtained, and the load torque state equation is constructed based on the moment of inertia, speed estimation error and electromagnetic torque at the current moment. The load torque increment of the permanent magnet synchronous motor at the current moment is calculated using the load torque state equation. The load torque of the permanent magnet synchronous motor at the current moment is calculated based on the load torque increment and the load torque of the permanent magnet synchronous motor at the previous moment.

[0012] In one possible design, based on the moment of inertia, speed estimation error, and electromagnetic torque at the current moment, the load torque state equation is constructed, including: The load torque state equation is constructed according to the following formula; ; In the formula, These represent the load torque increment and speed increment at the current moment, respectively. All represent observed coefficients. This indicates the speed estimation error. Indicates the current rotational speed. This indicates the estimated rotational speed. Indicates the damping coefficient. This represents the moment of inertia of a permanent magnet synchronous motor. This represents the load torque of the permanent magnet synchronous motor at the current moment. This represents the electromagnetic torque at the current moment. Indicates time.

[0013] In one possible design, the q-axis reference current control equation is constructed using the speed error, the first derivative of the speed error, the first adaptive control coefficient, the second adaptive control coefficient, and the load torque at the current moment, including: The q-axis reference current control equation is calculated using the following formula; ; In the formula, This represents the q-axis reference current of the permanent magnet synchronous motor at the current moment. Indicates control factor. Represents the convergence coefficient. This indicates the speed error. The first derivative of the speed error is represented by... This represents the first adaptive control coefficient. Represents a constant. Represents the linear adjustment coefficient. This represents the second adaptive control coefficient. This represents the load torque of the permanent magnet synchronous motor at the current moment. Indicates the reference compensation gain. This represents the q-axis reference current at the previous moment. Indicates a time interval.

[0014] Secondly, a high-speed motor drive control system is provided, including: The acquisition unit is used to acquire the motor parameters and real-time three-phase current of the permanent magnet synchronous motor. The current calculation unit is used to convert the real-time three-phase current to the fundamental rotating coordinate system to obtain the d-axis current and q-axis current of the permanent magnet synchronous motor. The harmonic extraction unit is used to determine the harmonic current components of the permanent magnet synchronous motor based on the d-axis current and the q-axis current. The harmonic suppression unit is used to calculate the harmonic suppression voltage based on the harmonic current components. The fundamental voltage unit is used to construct the q-axis reference current control equation and calculate the q-axis reference current of the permanent magnet synchronous motor at the current moment based on the q-axis reference current control equation and the motor parameters. The fundamental voltage unit is also used to obtain the d-axis reference current and determine the motor fundamental voltage based on the d-axis reference current and the q-axis reference current. The fundamental voltage unit is also used to compensate the fundamental voltage of the motor using harmonic suppression voltage to obtain the compensated fundamental voltage. The drive control unit is used to generate a real-time space vector pulse width modulation signal for the permanent magnet synchronous motor using the compensated fundamental voltage, so as to perform real-time drive control of the permanent magnet synchronous motor using the real-time space vector pulse width modulation signal.

[0015] Thirdly, a high-speed motor drive control device is provided. Taking the device as an electronic device as an example, it includes a memory, a processor, and a transceiver that are connected in sequence. The memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the high-speed motor drive control method as described in the first aspect or any possible design of the first aspect.

[0016] Fourthly, a storage medium is provided, on which instructions are stored, which, when executed on a computer, perform the high-speed motor drive control method as described in the first aspect or any possible design of the first aspect.

[0017] Fifthly, a computer program product containing instructions is provided, which, when executed on a computer, cause the computer to perform the high-speed motor drive control method as described in the first aspect or any possible design of the first aspect.

[0018] Beneficial effects: (1) This invention extracts the d-axis and q-axis currents of the permanent magnet synchronous motor in the fundamental rotating coordinate system in real time, thereby accurately separating and determining the harmonic current components, and then calculates the harmonic suppression voltage accordingly, which is then superimposed on the fundamental voltage command as a compensation quantity. In this way, the method can effectively offset the low-order current harmonics caused by the inverter dead zone effect, motor tooth cogging and magnetic circuit saturation, and significantly improve the sinusoidal nature of the current waveform under high-speed motor operation. Based on this, this invention significantly reduces the motor output torque pulsation caused by harmonics by suppressing harmonic current, thereby improving the stability of the motor when running at high speed, effectively avoiding mechanical vibration and electromagnetic noise, and enhancing the control accuracy and dynamic response capability of the system. Therefore, this invention ensures the stable, efficient and accurate operation of the motor in the high-speed domain, and is therefore very suitable for large-scale application and promotion.

[0019] (2) This invention does not require additional hardware filters, which reduces system cost and size. Harmonic active suppression can be achieved through software algorithms. Therefore, it is particularly suitable for high-speed drive applications with stringent requirements for reliability and dynamic performance, such as aerospace and flywheel energy storage. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating the steps of the high-speed motor drive control method provided in an embodiment of the present invention. Figure 2 A schematic diagram of the input / output fuzzy rule table provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the high-speed motor drive control system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0022] It should be understood that although the terms first, second, etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0023] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0024] Example: See Figure 1 As shown, the high-speed motor drive control method provided in this embodiment separates the real-time harmonic current components of the permanent magnet synchronous motor, thereby calculating the harmonic suppression voltage and adding it as a compensation quantity to the fundamental voltage command. In this way, the method can effectively counteract low-order current harmonics caused by factors such as inverter dead-zone effect, motor cogging, and magnetic circuit saturation, significantly improving the sinusoidal nature of the current waveform under high-speed motor operation. Based on this, by suppressing harmonic current, the method significantly reduces the motor output torque pulsation caused by harmonics, thereby improving the stability of the motor during high-speed operation and effectively avoiding mechanical vibration and electromagnetic noise. Therefore, it is very suitable for large-scale application and promotion. For example, this method can be executed by, but is not limited to, computer equipment with certain computing resources, such as servers, edge computers, industrial computers, and other electronic devices. It is understood that the aforementioned execution entity does not constitute a limitation on the embodiments of this application. Accordingly, the operation steps of this method can be, but are not limited to, the steps S1 to S8 described below.

[0025] S1. Obtain the motor parameters and real-time three-phase current of the permanent magnet synchronous motor. In specific implementations, the aforementioned motor parameters may include, but are not limited to, the direct-axis inductance, quadrature-axis inductance, fundamental resistance, and the current speed of the permanent magnet synchronous motor (i.e., the speed at the current moment). The aforementioned motor parameters are mainly used for subsequent harmonic voltage calculation and the construction of the reference current equation. At the same time, this embodiment will also collect the three-phase current of the permanent magnet synchronous motor at the current moment (i.e., the aforementioned real-time three-phase current) so as to determine the harmonic current components of the permanent magnet synchronous motor at the current moment based on the three-phase current. Based on this, the harmonic suppression voltage is specifically calculated and then compensated into the fundamental voltage of the motor to achieve effective suppression of harmonic current.

[0026] Optionally, the extraction process of harmonic current components is as shown in steps S2 and S3 below.

[0027] S2. The real-time three-phase current is converted to the fundamental rotating coordinate system to obtain the d-axis and q-axis currents of the permanent magnet synchronous motor. In specific implementation, in order to obtain the harmonic current components, the three-phase current needs to be transformed to the fundamental rotating coordinate system. That is, the real-time three-phase current is first transformed by Clarke transformation (from the three-phase coordinate system to the two-phase coordinate system). Then, using the rotor position of the permanent magnet synchronous motor at the current moment, and combined with the two-phase current obtained by Clarke transformation, Park transformation is performed to obtain the current in the fundamental synchronous rotating coordinate system, that is, the d-axis current and q-axis current. Among them, the d-axis current mainly contains the DC component (fundamental current), while the q-axis current is mainly the AC fluctuation caused by harmonics.

[0028] After obtaining the d-axis current and q-axis current, the harmonic components can be extracted, as shown in step S3 below.

[0029] S3. Based on the d-axis current and q-axis current, the harmonic current components of the permanent magnet synchronous motor are determined. In this embodiment, the harmonic current components to be extracted are mainly the 5th and 7th harmonic components. Under the fundamental synchronous rotating coordinate system, the 5th harmonic is characterized as follows: The fluctuation is 6wt (where w represents the electric angular frequency), and the 7th harmonic exhibits a fluctuation of +6wt. Therefore, it is possible, but not limited to, to perform a negative-sequence 6th Park transformation on the q-axis current and the q-axis current to obtain the 5th harmonic d-axis current component, the 5th harmonic q-axis current component, the 7th harmonic d-axis current component, and the 7th harmonic q-axis current component.

[0030] Optionally, the formulas for calculating the fifth harmonic d-axis current component and the fifth harmonic q-axis current component are as follows: ; In the formula, These represent the d-axis current component and the q-axis current component of the fifth harmonic, respectively. The electric angular frequency is represented by t, and time is represented by t. This indicates the rotor position (electric angle) of the permanent magnet synchronous motor at the current moment. These are the d-axis current and the q-axis current.

[0031] Similarly, the formulas for calculating the d-axis current component and the q-axis current component of the seventh harmonic are as follows: ; In the formula, These represent the d-axis current component and the q-axis current component of the seventh harmonic, respectively.

[0032] Thus, after extracting the harmonic current components, the harmonic suppression voltage can be calculated by combining the motor parameters, so that it can be used as a compensation amount to compensate the fundamental voltage. The calculation process of the harmonic suppression voltage is shown in step S4 below.

[0033] S4. Calculate the harmonic suppression voltage based on the harmonic current components. In specific applications, this embodiment first calculates the initial compensation voltages corresponding to the fifth and seventh harmonic dq axes based on the aforementioned harmonic current components. Then, based on this, by setting the target current of the dq axis and calculating the deviation compensation voltage by using the error between the real-time extracted harmonic current components and the target current, the initial compensation voltage is corrected to obtain the actual compensation voltages corresponding to the fifth and seventh harmonic dq axes. Finally, the harmonic suppression voltage is calculated based on this.

[0034] Optionally, the aforementioned calculation process may be, but is not limited to, the steps S41 to S46 below.

[0035] S41. Based on the motor parameters, the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component, calculate the initial compensation voltage of the fifth harmonic d-axis, the initial compensation voltage of the fifth harmonic q-axis, the initial compensation voltage of the seventh harmonic d-axis, and the initial compensation voltage of the seventh harmonic q-axis, respectively.

[0036] In specific implementation, examples, but not limited to, can be used to calculate the aforementioned initial compensation voltages for the fifth harmonic d-axis, the fifth harmonic q-axis, the seventh harmonic d-axis, and the seventh harmonic q-axis according to the following formulas.

[0037] ; In the formula, These represent the initial compensation voltages along the d-axis, q-axis, d-axis, and q-axis of the fifth harmonic, respectively. These represent the d-axis current component of the fifth harmonic, the q-axis current component of the fifth harmonic, the d-axis current component of the seventh harmonic, and the q-axis current component of the seventh harmonic, respectively. Indicates the fundamental frequency resistance. Indicates the current rotational speed. These represent direct-axis inductance and quadrature-axis inductance, respectively.

[0038] Thus, after calculating the initial compensation voltages corresponding to the d-axis and q-axis of the fifth and seventh harmonics using the aforementioned formula, the deviation compensation voltage can be calculated, as shown in step S42 below.

[0039] S42. Obtain the target current value, and using the target current value, as well as the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component, calculate the corresponding deviation compensation voltages for each of the fifth harmonic d-axis, fifth harmonic q-axis, seventh harmonic d-axis, and seventh harmonic q-axis. In specific applications, the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component are set to 0 as the control target for deviation calculation. Therefore, the target current value is set to 0. Based on this, this embodiment provides a deviation calculation method with a dual compensation mechanism, and takes the fifth harmonic d-axis current component as an example to illustrate the calculation process of its corresponding deviation compensation voltage, which can be, but is not limited to, the steps S42a to S42g below.

[0040] S42a. Based on the target current value and the fifth harmonic d-axis current component, the harmonic current deviation and the rate of change of current deviation are calculated. In this embodiment, the difference between the fifth harmonic d-axis current component and the target current value is calculated as the harmonic current deviation. Then, the harmonic current deviation is divided by the control period to obtain the rate of change of current deviation. After obtaining the aforementioned parameters, this embodiment sets a fuzzy controller for the fifth harmonic d-axis current component, thereby using the aforementioned harmonic current deviation and the rate of change of current deviation as inputs to the fuzzy controller, and then outputting the first initial deviation compensation voltage of the current fifth harmonic d-axis current component to complete the calculation of the first compensation voltage.

[0041] The fuzzy reasoning process of the first initial deviation compensation voltage is shown in steps S42b to S42d below.

[0042] S42b. Construct an input-output fuzzy rule table, wherein the input in the input-output fuzzy rule table is the fuzzy quantity corresponding to the harmonic current deviation and the rate of change of the current deviation, and the output is the fuzzy quantity corresponding to the deviation compensation voltage of the fifth harmonic d-axis; in specific implementation, the input-output fuzzy rule table may, but is not limited to, refer to [reference needed]. Figure 2 As shown; the fuzzy subsets in the input-output fuzzy rule table include: NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), and PB (positive large); at the same time, the universe of discourse of the fuzzy subsets corresponding to harmonic current deviation, current deviation change rate, and deviation compensation voltage is set to [-F,F], and the universe of discourse of the harmonic current deviation and current deviation change rate are [-E,E] and [-Ec,Ec], respectively; optionally, for example, the universe of discourse of the fuzzy subset is [-1,1], the universe of discourse of the harmonic current deviation and current deviation change rate are [-15,15] and [-50,50], respectively, and the universe of discourse of the deviation compensation voltage is [-U,U], where U takes the value of 10.

[0043] Thus, after constructing the input and output fuzzy rule table, fuzzy inference can be performed based on it, as shown in step S42c below.

[0044] S42c. Using the aforementioned input-output fuzzy rule table, perform fuzzy inference for the fifth harmonic d-axis deviation compensation voltage to obtain a fuzzy output set after fuzzy inference. In specific implementation, the deviation quantization factor and the rate of change quantization factor can be calculated first based on the aforementioned universe of discourse, i.e., the deviation quantization factor is F / E, and the rate of change quantization factor is F / Ec. Then, the deviation quantization factor can be multiplied by the harmonic current deviation to obtain the deviation fuzzy value. Similarly, the rate of change quantization factor can be multiplied by the current deviation change rate to obtain the rate of change fuzzy value. Then, based on the aforementioned deviation fuzzy value and rate of change fuzzy value, and using a membership function (such as a Gaussian membership function), the harmonic current deviation and the current deviation change can be calculated. The membership degree of the rate to each fuzzy quantity (e.g., membership degree to NB, membership degree to NM, etc.) is calculated. Then, the Mamdan method is used for fuzzy inference, that is, the activation degree (i.e., matching strength) corresponding to each rule is calculated using the membership degree and the pre-built fuzzy rule base, thereby obtaining the fuzzy output set under each rule. Next, for the different fuzzy output sets generated by multiple rules, they need to be aggregated (e.g., by taking the union) to form a single overall fuzzy output set. Finally, the overall fuzzy output set is defuzzified, which can transform the overall fuzzy output set into a specific real number output result. Of course, the aforementioned Mamdan method is a commonly used technique for fuzzy inference, and its principle will not be elaborated in detail.

[0045] Furthermore, the deblurring process is shown in step S42d below.

[0046] S42d. Defuzzify the fuzzy output set to obtain the first initial deviation compensation voltage corresponding to the d-axis of the fifth harmonic. In specific implementation, examples include, but are not limited to, using the centroid method or the weighted average method for defuzzification. Optionally, this embodiment preferably uses the weighted average method. Finally, multiply the defuzzification result by a scaling factor to obtain the first initial deviation compensation voltage. The scaling factor is U / F.

[0047] Thus, after calculating the first initial deviation compensation voltage through the aforementioned steps S42a to S42d, the second deviation compensation calculation can be performed, as shown in step S42e below.

[0048] S42e. Calculate the second initial deviation compensation voltage based on the harmonic current deviation; in specific implementation, the second initial deviation compensation voltage can be calculated using, for example, but not limited to, the following formula.

[0049] ; In the formula, This represents the second initial deviation compensation voltage. This represents the harmonic current deviation (i.e., the current deviation at the current time t). For time 0 to t, the first Harmonic current deviation at time t. These represent the deviation coefficients, which can be preset after empirical adjustment based on the characteristics of the motor system; thus, the second initial deviation compensation voltage is calculated using a mathematical model with fixed parameters.

[0050] Therefore, after calculating the second initial deviation compensation voltage, the adaptive weighting value can be calculated, as shown in step S42f below.

[0051] S42f. Calculate the adaptive weighting value based on the harmonic current deviation; in specific implementation, the following formula can be used, but is not limited to, to calculate the adaptive weighting value.

[0052] ; In the formula, Indicates adaptive weighted value, This represents the weighted control coefficient, which is a positive constant.

[0053] Thus, after calculating the adaptive weighting value, the two initial deviation compensation voltages can be weighted to obtain the actual deviation compensation voltage corresponding to the fifth harmonic d-axis, as shown in step S42g below.

[0054] S42g. Using the first initial deviation compensation voltage, the second initial deviation compensation voltage, and the adaptive weighting value, the deviation compensation voltage corresponding to the d-axis of the fifth harmonic is calculated; in specific implementation, the deviation compensation voltage corresponding to the d-axis of the fifth harmonic is: ,in, This represents the first initial deviation compensation voltage.

[0055] After calculating the deviation compensation voltage corresponding to the fifth harmonic d-axis through the aforementioned steps S42a to S42g, the deviation compensation voltages corresponding to the fifth harmonic q-axis, seventh harmonic d-axis, and seventh harmonic q-axis can be calculated in the same way. Then, the actual compensation voltages corresponding to the fifth harmonic d-axis, fifth harmonic q-axis, seventh harmonic d-axis, and seventh harmonic q-axis can be calculated by combining the aforementioned initial compensation voltages. The calculation process is shown in steps S43 and S44 below.

[0056] S43. Calculate the fifth harmonic d-axis compensation voltage using the initial compensation voltage of the fifth harmonic d-axis and the corresponding deviation compensation voltage, and calculate the fifth harmonic q-axis compensation voltage using the initial compensation voltage of the fifth harmonic q-axis and the corresponding deviation compensation voltage. In practice, the fifth harmonic d-axis compensation voltage is obtained by adding the initial compensation voltage of the fifth harmonic d-axis to the corresponding deviation compensation voltage. Similarly, the calculation method for the fifth harmonic q-axis compensation voltage is the same, and will not be elaborated further here.

[0057] S44. Calculate the seventh harmonic d-axis compensation voltage using the initial compensation voltage of the seventh harmonic d-axis and the corresponding deviation compensation voltage, and calculate the seventh harmonic q-axis compensation voltage using the initial compensation voltage of the seventh harmonic q-axis and the corresponding deviation compensation voltage. In specific implementation, the calculation methods for the seventh harmonic d-axis compensation voltage and q-axis compensation voltage can be found in step S43 above, and will not be repeated here.

[0058] After calculating the fifth harmonic dq-axis compensation voltage and the seventh harmonic dq-axis compensation voltage, the d-axis and q-axis suppression voltages can be calculated based on these, as shown in step S45 below.

[0059] S45. Based on the fifth harmonic d-axis compensation voltage and the seventh harmonic d-axis compensation voltage, calculate the d-axis suppression voltage, and based on the fifth harmonic q-axis compensation voltage and the seventh harmonic q-axis compensation voltage, calculate the q-axis suppression voltage. In specific implementation, the fifth harmonic d-axis compensation voltage plus the seventh harmonic d-axis compensation voltage is used to obtain the d-axis suppression voltage; similarly, the fifth harmonic q-axis compensation voltage plus the seventh harmonic q-axis compensation voltage is used to obtain the q-axis suppression voltage. Then, the two can be used to form the harmonic suppression voltage, as shown in step S46 below.

[0060] S46. The harmonic suppression voltage is determined using the d-axis suppression voltage and the q-axis suppression voltage.

[0061] In steps S41 to S46 above, this embodiment uses a dual-compensation mechanism to calculate the deviation compensation voltage, and then uses this to correct the initial compensation voltage obtained using harmonic current components. This has the following advantages: (1) The dual compensation mechanism has high control accuracy. Traditional single control relies on a precise mathematical model with fixed parameters. When the motor speed changes suddenly or the load changes drastically, the fixed mathematical parameters may not be able to adapt to the new working conditions, resulting in a worse harmonic suppression effect or even system oscillation. The dual compensation control mechanism allows fuzzy control to play a major role when the deviation is large. It takes advantage of its model-independent and fast response to quickly pull the system back to a stable state. When the deviation is small and the system is close to a steady state, the control based on the mathematical model plays a major role (i.e., the second initial deviation compensation voltage takes effect), thereby ensuring the accuracy of the control.

[0062] (2) This method introduces an adaptive weighting value, which, when the input deviation increases, Decrease, 1- Increasing the weight of the first initial deviation compensation voltage is equivalent to increasing the weight of the fuzzy control (i.e., increasing the weight of the fuzzy control) and decreasing the weight of the second initial deviation compensation voltage; conversely, decreasing the weight of the fuzzy control is equivalent to decreasing the weight of the fuzzy control and increasing the weight of the second deviation compensation voltage. In this way, the system can respond quickly and avoid loss of control under sudden operating conditions (such as a sudden increase in load), while under steady-state operating conditions, the second initial deviation compensation voltage is used as the main regulator, achieving precise regulation. Based on this, this dynamic adjustment mechanism eliminates the need to readjust parameters for each speed and load in this embodiment, making it more adaptable to complex and changing operating environments.

[0063] (3) Stronger anti-interference capability: Permanent magnet synchronous motor is a strongly coupled, nonlinear system, and its parameters will change during operation. Fuzzy control itself is not sensitive to the parameter changes of the controlled object. Therefore, when the system faces parameter perturbation or external disturbance, it can still maintain a stable harmonic suppression effect and will not easily diverge.

[0064] Based on this, after calculating the harmonic suppression voltage, the fundamental voltage can be calculated; the process is shown in steps S5 and S6 below.

[0065] S5. Construct the q-axis reference current control equation, and calculate the q-axis reference current of the permanent magnet synchronous motor at the current moment based on the q-axis reference current control equation and the motor parameters. Traditionally, the calculation of the fundamental voltage relies on a speed PI loop to calculate the q-axis reference current, which, along with the d-axis reference current (usually set to 0), is input to the current PI controller to output the fundamental voltage (i.e., using a dual closed-loop feedback regulation of the current loop and speed loop). However, traditional speed PI loop-based reference current technology has limited control capability when facing multiple disturbances, and often produces overshoot (i.e., step response overshoot) to accelerate response speed, failing to meet the requirements of high-precision motor control. Therefore, this embodiment proposes a reference current control method that does not rely on a speed PI loop to solve the aforementioned defects. The construction process of the aforementioned q-axis reference current control equation can be, but is not limited to, the steps S51-S55 below.

[0066] S51. Obtain the rated speed of the permanent magnet synchronous motor and calculate the speed error based on the current speed and the rated speed. After calculating the speed error, it is necessary to calculate the load torque of the permanent magnet synchronous motor at the current moment so that the load torque can be introduced into the q-axis reference current control equation. The calculation process of the load torque is shown in step S52 below.

[0067] S52. Determine the load torque of the permanent magnet synchronous motor at the current moment; In specific applications, this embodiment calculates the load torque increment at the current moment relative to the previous moment by using the load torque state equation of adjacent moments, and then calculates the load torque of the permanent magnet synchronous motor at the current moment based on this, as shown in the following steps S52a to S52e.

[0068] S52a. Obtain the estimated speed and load torque of the permanent magnet synchronous motor at the previous moment, and the electromagnetic torque at the current moment; in specific implementation, the formula for calculating the electromagnetic torque is: ; In the formula, This represents the electromagnetic torque at the current moment. This represents the number of pole pairs of the motor. The permanent magnet flux linkage (preset value, can be set to 0.175). This refers to the aforementioned q-axis current.

[0069] Thus, based on the aforementioned formula, after calculating the electromagnetic torque at the current moment, the difference between the current rotational speed and the estimated rotational speed at the previous moment can be calculated, as shown in step S52b below.

[0070] S52b. Calculate the speed estimation error based on the estimated speed and the current speed.

[0071] After calculating the speed estimation error, the load torque state equation can be constructed by combining the rotational inertia of the permanent magnet synchronous motor and the aforementioned electromagnetic torque, as shown in step S52c below.

[0072] S52c. Obtain the moment of inertia of the permanent magnet synchronous motor, and construct the load torque state equation based on the moment of inertia, speed estimation error, and electromagnetic torque at the current moment.

[0073] In practical applications, examples, but not limited to, using the following formula, can be used to construct the aforementioned load torque state equation.

[0074] ; In the formula, These represent the load torque increment and speed increment at the current moment, respectively. All represent observed coefficients (which are preset constants). This indicates the speed estimation error. Indicates the current rotational speed. This indicates the estimated rotational speed. This represents the damping coefficient (which can be set to 0.008). This represents the moment of inertia of the permanent magnet synchronous motor (a preset value, which can be set to...). ), This represents the load torque of the permanent magnet synchronous motor at the current moment. This represents the electromagnetic torque at the current moment. Indicates time.

[0075] Thus, as shown in the aforementioned formula, the load torque increment can be calculated using the speed estimation error between the previous and current moments. After obtaining the load torque increment, the load torque at the current moment can be calculated. Then, substituting this into... In the calculation formula, combined with parameters such as the electromagnetic rotation speed at the current moment and the estimated rotation speed at the previous moment, the rotation speed increment at the current moment can be calculated. Finally, based on the rotation speed increment, the estimated rotation speed at the current moment can be calculated. In this way, the load torque and estimated rotation speed at the current moment can be stored for calculation in the next cycle. Based on this, the load torque at different moments can be calculated in real time in the aforementioned manner.

[0076] The process of calculating the load torque at the current moment based on the load torque state equation is shown in steps S52d and S52e below.

[0077] S52d. Using the load torque state equation, calculate the load torque increment of the permanent magnet synchronous motor at the current moment; in practical implementation, substitute the speed estimation error into the equation. The calculation formula can be used to obtain the load torque increment. Then, combined with the load torque of the permanent magnet synchronous motor at the previous moment, the load torque can be updated, that is, the load torque at the current moment can be obtained. The process is shown in step S52e below.

[0078] S52e. Calculate the load torque of the permanent magnet synchronous motor at the current moment based on the load torque increment and the load torque of the permanent magnet synchronous motor at the previous moment; in this embodiment, the load torque at the current moment can be obtained by adding the load torque at the previous moment to the load torque increment.

[0079] After calculating the load torque of the permanent magnet synchronous motor at the current moment through the aforementioned steps S52a to S52e, the adaptive control coefficient can be calculated, as shown in steps S53 and S54 below.

[0080] S53. Based on the speed error and the load torque at the current moment, calculate the first adaptive control coefficient at the current moment; in specific implementation, for example, but not limited to, the first adaptive control coefficient can be calculated according to the following formula.

[0081] ; In the formula, This represents the first adaptive control coefficient. This indicates the speed error. This represents the load torque of the permanent magnet synchronous motor at the current moment. Both represent constants greater than 0.

[0082] After calculating the first adaptive control coefficient based on the aforementioned formula, the second adaptive control coefficient can be calculated, as shown in step S54 below.

[0083] S54. Calculate the second adaptive control coefficient based on the speed error and its first derivative. In specific applications, the following formula can be used, but is not limited to, to calculate the aforementioned second adaptive control coefficient.

[0084] ; In the formula, This represents the second adaptive control coefficient. This represents the base value (preset value) of the adaptive control coefficient. This is the adaptive gain value. This represents a sensitivity factor greater than 0. This indicates the speed error. The first derivative of the speed error is represented by... This represents the convergence coefficient.

[0085] in, ; In the formula, These represent the set maximum and minimum gain values, respectively. , representing the linear combination of the speed error and its derivative (which is equivalent to constructing the terminal sliding surface of the permanent magnet synchronous motor). These represent the maximum and minimum linear combination values, respectively.

[0086] Thus, the second adaptive control coefficient changes adaptively with the change in the speed error of the permanent magnet synchronous motor.

[0087] After calculating the two adaptive control coefficients, the q-axis reference current control equation can be constructed by combining the load torque, speed error and corresponding first derivative at the current moment, as shown in step S55 below.

[0088] S55. Using the speed error, the first derivative of the speed error, the first adaptive control coefficient, the second adaptive control coefficient, and the load torque at the current moment, the q-axis reference current control equation is constructed.

[0089] In practical implementation, examples, but not limited to, using the following formula, can be used to construct the q-axis reference current control equation.

[0090] The q-axis reference current control equation is calculated using the following formula; ; In the formula, This represents the q-axis reference current of the permanent magnet synchronous motor at the current moment. This represents the control factor (which can take a value of 200). This represents the convergence coefficient (with a value of 85). This indicates the speed error. The first derivative of the speed error is represented by... This represents the first adaptive control coefficient. Represents a constant (e.g., a value of 50). This represents the linear adjustment coefficient (with a value of 5 or 10). This represents the second adaptive control coefficient. This represents the load torque of the permanent magnet synchronous motor at the current moment. This represents the reference compensation gain (with a value of 1.2). This represents the q-axis reference current at the previous moment. Indicates a time interval.

[0091] In this embodiment, the design basis of the first term on the left side of the q-axis reference current control equation is the rotational speed error and its corresponding rate of change. Therefore, the result of the first term is equivalent to a change in the reference current. Thus, by combining the time interval and the reference current at the previous moment, the q-axis reference current at the current moment can be accumulated.

[0092] Thus, as can be seen from the aforementioned formula, the q-axis reference current control equation constructed in this embodiment has the following advantages compared to traditional techniques: (1) The load torque of the permanent magnet synchronous motor at the current moment is estimated in real time and compensated into the q-axis reference current, thus significantly improving the anti-interference performance of the system.

[0093] (2) The step response has no overshoot. In this embodiment, the calculation of the reference current does not depend on the velocity PI loop, but introduces a linear combination value based on the velocity error and its derivative (i.e., the sliding surface). The term is the exponentially approaching term of the sliding surface. Thus, by using the nonlinear control method of the sliding surface and exponential approach, the q-axis reference current can be calculated, and overshoot can be suppressed.

[0094] (3) Strong adaptability; Traditional speed PI loop control: parameters are fixed and it is difficult to adapt to different working conditions. However, the first adaptive control coefficient in the reference current equation constructed in this embodiment changes adaptively with the speed error and the load torque of the motor, and the second adaptive control coefficient changes adaptively with the speed error. Thus, this embodiment realizes parameter self-tuning and can adapt to different operating states.

[0095] After constructing the q-axis reference current control equation through the aforementioned steps S51 to S55, the error between the current speed and the rated speed in the motor parameters can be substituted into the aforementioned formula to obtain the q-axis reference current at the current moment. Then, based on this, the fundamental voltage of the motor at the current moment can be determined, as shown in step S6 below.

[0096] S6. Obtain the d-axis reference current and determine the motor fundamental voltage based on the d-axis reference current and the q-axis reference current. In specific implementation, as mentioned above, the d-axis reference current is usually set to 0. Therefore, by inputting the current d-axis reference current and q-axis reference current to the current PI controller, the fundamental voltage can be obtained, that is, the d-axis fundamental voltage and the q-axis fundamental voltage are obtained respectively. Then, the fundamental voltage can be compensated by combining it with the harmonic suppression voltage calculated above. The process is shown in step S7 below.

[0097] S7. The fundamental voltage of the motor is compensated using the harmonic suppression voltage to obtain the compensated fundamental voltage. In this embodiment, the d-axis fundamental voltage is obtained by subtracting the d-axis suppression voltage from the harmonic suppression voltage. Similarly, the q-axis fundamental voltage is obtained by subtracting the q-axis suppression voltage from the harmonic suppression voltage. Then, the permanent magnet synchronous motor can be driven and controlled based on this, as shown in step S8 below.

[0098] S8. Using the compensated fundamental voltage, a real-time space vector pulse width modulation (SVPWM) signal for the permanent magnet synchronous motor is generated, and the real-time drive control of the permanent magnet synchronous motor is performed using the real-time space vector pulse width modulation signal. In specific implementation, the compensated fundamental voltage is sent to the SVPWM module for pulse width modulation to obtain the real-time space vector pulse width modulation signal. That is, in the SVPWM module, the compensated fundamental voltage is converted into a voltage vector in the stationary coordinate system, which determines the magnitude and direction of the voltage synthesized by the motor stator. Then, based on this, switching signals for driving the inverter are generated. The inverter cuts and combines the DC bus voltage according to these switching signals to generate three-phase sinusoidal currents on the three-phase stator windings of the motor, thereby achieving precise control of the permanent magnet synchronous motor.

[0099] In this way, after completing the precise control at the current moment, the three-phase current at the next moment is collected, and the above steps are repeated; by repeating this process continuously, the real-time precise drive control of the permanent magnet synchronous motor can be achieved.

[0100] Therefore, through the high-speed motor drive control method described in detail in steps S1 to S8 above, this invention accurately separates and determines the harmonic current components by extracting the d-axis and q-axis currents of the permanent magnet synchronous motor in the fundamental rotating coordinate system in real time. It then calculates the harmonic suppression voltage and adds it as a compensation to the fundamental voltage command. This method effectively counteracts low-order current harmonics caused by inverter dead-zone effects, motor cogging, and magnetic circuit saturation, significantly improving the sinusoidal nature of the current waveform under high-speed motor operation. Based on this, by suppressing harmonic currents, this invention significantly reduces the motor output torque pulsation caused by harmonics, thereby improving the stability of the motor during high-speed operation, effectively avoiding mechanical vibration and electromagnetic noise, and enhancing the system's control accuracy and dynamic response capability. Therefore, this invention ensures stable, efficient, and precise motor operation in the high-speed domain, making it highly suitable for large-scale application and promotion.

[0101] like Figure 3 As shown, the second aspect of this embodiment provides a hardware system for implementing the high-speed motor drive control method described in the first aspect of the embodiment, comprising: The acquisition unit is used to acquire the motor parameters and real-time three-phase current of the permanent magnet synchronous motor.

[0102] The current calculation unit is used to convert the real-time three-phase current to the fundamental rotating coordinate system to obtain the d-axis current and q-axis current of the permanent magnet synchronous motor.

[0103] The harmonic extraction unit is used to determine the harmonic current components of the permanent magnet synchronous motor based on the d-axis current and q-axis current.

[0104] The harmonic suppression unit is used to calculate the harmonic suppression voltage based on the harmonic current components.

[0105] The fundamental voltage unit is used to construct the q-axis reference current control equation and calculate the q-axis reference current of the permanent magnet synchronous motor at the current moment based on the q-axis reference current control equation and the motor parameters.

[0106] The fundamental voltage unit is also used to obtain the d-axis reference current and determine the motor fundamental voltage based on the d-axis reference current and the q-axis reference current.

[0107] The fundamental voltage unit is also used to compensate the fundamental voltage of the motor using harmonic suppression voltage to obtain the compensated fundamental voltage.

[0108] The drive control unit is used to generate a real-time space vector pulse width modulation signal for the permanent magnet synchronous motor using the compensated fundamental voltage, so as to perform real-time drive control of the permanent magnet synchronous motor using the real-time space vector pulse width modulation signal.

[0109] The working process, working details and technical effects of the system provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0110] like Figure 4 As shown, the third aspect of this embodiment provides a high-speed motor drive control device. Taking the device as an electronic device as an example, it includes: a memory, a processor, and a transceiver that are connected in sequence. The memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the high-speed motor drive control method as described in the first aspect of the embodiment.

[0111] For specific examples, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; specifically, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as the CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state.

[0112] In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. For example, the processor may not be limited to microprocessors of the STM32F105 series, reduced instruction set computer (RISC) microprocessors, x86 architecture processors, or processors with integrated neural network processing units (NPUs). The transceiver may be, but is not limited to, a Wi-Fi transceiver, a Bluetooth transceiver, a General Packet Radio Service (GPRS) transceiver, a ZigBee (a low-power LAN protocol based on the IEEE 802.15.4 standard) transceiver, a 3G transceiver, a 4G transceiver, and / or a 5G transceiver. Furthermore, the device may also include, but is not limited to, a power module, a display screen, and other necessary components.

[0113] The working process, working details and technical effects of the electronic device provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0114] The fourth aspect of this embodiment provides a storage medium for storing instructions containing the high-speed motor drive control method described in the first aspect of the embodiment. That is, the storage medium stores instructions that, when executed on a computer, perform the high-speed motor drive control method as described in the first aspect of the embodiment.

[0115] The storage medium refers to a carrier for storing data, which may include, but is not limited to, floppy disks, optical disks, hard disks, flash memory, USB flash drives, and / or memory sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0116] The working process, working details and technical effects of the storage medium provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0117] The fifth aspect of this embodiment provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform the high-speed motor drive control method as described in the first aspect of the embodiment, wherein the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0118] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A high-speed motor drive control method, characterized in that, include: Obtain the motor parameters and real-time three-phase current of the permanent magnet synchronous motor; The real-time three-phase current is converted to the fundamental rotating coordinate system to obtain the d-axis current and q-axis current of the permanent magnet synchronous motor; Based on the d-axis current and q-axis current, the harmonic current components of the permanent magnet synchronous motor are determined. The harmonic suppression voltage is calculated based on the harmonic current components. The q-axis reference current control equation is constructed, and the q-axis reference current of the permanent magnet synchronous motor at the current moment is calculated based on the q-axis reference current control equation and the motor parameters. Obtain the d-axis reference current, and determine the motor fundamental voltage based on the d-axis reference current and the q-axis reference current; The fundamental voltage of the motor is compensated by using harmonic suppression voltage to obtain the compensated fundamental voltage; Using the compensated fundamental voltage, a real-time space vector pulse width modulation signal for the permanent magnet synchronous motor is generated, and the real-time drive control of the permanent magnet synchronous motor is performed using the real-time space vector pulse width modulation signal.

2. The method according to claim 1, characterized in that, The harmonic current components include: the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component. The harmonic suppression voltage is calculated based on the harmonic current components, including: Based on the motor parameters, the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component, the initial compensation voltages for the fifth harmonic d-axis, the fifth harmonic q-axis, the seventh harmonic d-axis, and the seventh harmonic q-axis are calculated respectively. Obtain the target current value, and use the target current value, as well as the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component to calculate the corresponding deviation compensation voltage for each of the fifth harmonic d-axis, fifth harmonic q-axis, seventh harmonic d-axis, and seventh harmonic q-axis. The fifth harmonic d-axis compensation voltage is calculated using the initial compensation voltage of the fifth harmonic d-axis and the corresponding deviation compensation voltage. The fifth harmonic q-axis compensation voltage is also calculated using the initial compensation voltage of the fifth harmonic q-axis and the corresponding deviation compensation voltage. The d-axis compensation voltage of the seventh harmonic is calculated using the initial compensation voltage of the seventh harmonic d-axis and the corresponding deviation compensation voltage. The q-axis compensation voltage of the seventh harmonic is calculated using the initial compensation voltage of the seventh harmonic q-axis and the corresponding deviation compensation voltage. Based on the fifth harmonic d-axis compensation voltage and the seventh harmonic d-axis compensation voltage, the d-axis suppression voltage is calculated, and based on the fifth harmonic q-axis compensation voltage and the seventh harmonic q-axis compensation voltage, the q-axis suppression voltage is calculated. The harmonic suppression voltage is determined using the d-axis suppression voltage and the q-axis suppression voltage.

3. The method according to claim 2, characterized in that, The motor parameters include: the direct-axis inductance, quadrature-axis inductance, fundamental resistance, and current speed of the permanent magnet synchronous motor. Specifically, based on motor parameters, the fifth harmonic d-axis current component, the fifth harmonic q-axis current component, the seventh harmonic d-axis current component, and the seventh harmonic q-axis current component, the initial compensation voltages for the fifth harmonic d-axis, fifth harmonic q-axis, seventh harmonic d-axis, and seventh harmonic q-axis are calculated, including: The initial compensation voltages for the fifth harmonic d-axis, the fifth harmonic q-axis, the seventh harmonic d-axis, and the seventh harmonic q-axis are calculated using the following formulas. ； In the formula, These represent the initial compensation voltages along the d-axis, q-axis, d-axis, and q-axis of the fifth harmonic, respectively. These represent the d-axis current component of the fifth harmonic, the q-axis current component of the fifth harmonic, the d-axis current component of the seventh harmonic, and the q-axis current component of the seventh harmonic, respectively. Indicates the fundamental frequency resistance. Indicates the current rotational speed. These represent direct-axis inductance and quadrature-axis inductance, respectively.

4. The method according to claim 2, characterized in that, Using the target current value and the fifth harmonic d-axis current component, the deviation compensation voltage corresponding to the fifth harmonic d-axis is calculated, including: Based on the target current value and the fifth harmonic d-axis current component, the harmonic current deviation and the rate of change of current deviation are calculated. An input-output fuzzy rule table is constructed, wherein the input in the input-output fuzzy rule table is the fuzzy quantity corresponding to the harmonic current deviation and the rate of change of the current deviation, and the output is the fuzzy quantity corresponding to the deviation compensation voltage of the fifth harmonic d-axis. Using the aforementioned input-output fuzzy rule table, fuzzy inference is performed on the deviation compensation voltage of the fifth harmonic d-axis to obtain a fuzzy output set after fuzzy inference. The fuzzy output set is defuzzified to obtain the first initial deviation compensation voltage corresponding to the d-axis of the fifth harmonic. The second initial deviation compensation voltage is calculated based on the harmonic current deviation. Based on the harmonic current deviation, an adaptive weighting value is calculated; Using the first initial deviation compensation voltage, the second initial deviation compensation voltage, and the adaptive weighting value, the deviation compensation voltage corresponding to the d-axis of the fifth harmonic is calculated.

5. The method according to claim 1, characterized in that, The motor parameters include: the current speed of the permanent magnet synchronous motor, wherein the q-axis reference current control equation is constructed, including: Obtain the rated speed of the permanent magnet synchronous motor, and calculate the speed error based on the current speed and the rated speed; Determine the load torque of the permanent magnet synchronous motor at the current moment; Based on the speed error and the load torque at the current moment, the first adaptive control coefficient at the current moment is calculated; The second adaptive control coefficient is calculated based on the speed error and its first derivative. The q-axis reference current control equation is constructed using the speed error, the first derivative of the speed error, the first adaptive control coefficient, the second adaptive control coefficient, and the load torque at the current moment.

6. The method according to claim 5, characterized in that, Determine the load torque of the permanent magnet synchronous motor at the current moment, including: Obtain the estimated speed and load torque of the permanent magnet synchronous motor at the previous moment, and the electromagnetic torque at the current moment; The speed estimation error is calculated based on the estimated speed and the current speed. The moment of inertia of the permanent magnet synchronous motor is obtained, and the load torque state equation is constructed based on the moment of inertia, speed estimation error and electromagnetic torque at the current moment. The load torque increment of the permanent magnet synchronous motor at the current moment is calculated using the load torque state equation. The load torque of the permanent magnet synchronous motor at the current moment is calculated based on the load torque increment and the load torque of the permanent magnet synchronous motor at the previous moment.

7. The method according to claim 6, characterized in that, Based on the moment of inertia, speed estimation error, and electromagnetic torque at the current moment, the load torque state equation is constructed, including: The load torque state equation is constructed according to the following formula; ； In the formula, These represent the load torque increment and speed increment at the current moment, respectively. All represent observed coefficients. This indicates the speed estimation error. Indicates the current rotational speed. This indicates the estimated rotational speed. Indicates the damping coefficient. This represents the moment of inertia of a permanent magnet synchronous motor. This represents the load torque of the permanent magnet synchronous motor at the current moment. This represents the electromagnetic torque at the current moment. Indicates time.

8. The method according to claim 5, characterized in that, Using the speed error, the first derivative of the speed error, the first adaptive control coefficient, the second adaptive control coefficient, and the load torque at the current moment, the q-axis reference current control equation is constructed, including: The q-axis reference current control equation is calculated using the following formula; ； In the formula, This represents the q-axis reference current of the permanent magnet synchronous motor at the current moment. Indicates control factor. Represents the convergence coefficient. This indicates the speed error. The first derivative of the speed error is represented by... This represents the first adaptive control coefficient. Represents a constant. Represents the linear adjustment coefficient. This represents the second adaptive control coefficient. This represents the load torque of the permanent magnet synchronous motor at the current moment. Indicates the reference compensation gain. This represents the q-axis reference current at the previous moment. Indicates a time interval.

9. A high-speed motor drive control system, characterized in that, include: The acquisition unit is used to acquire the motor parameters and real-time three-phase current of the permanent magnet synchronous motor. The current calculation unit is used to convert the real-time three-phase current to the fundamental rotating coordinate system to obtain the d-axis current and q-axis current of the permanent magnet synchronous motor. The harmonic extraction unit is used to determine the harmonic current components of the permanent magnet synchronous motor based on the d-axis current and the q-axis current. The harmonic suppression unit is used to calculate the harmonic suppression voltage based on the harmonic current components. The fundamental voltage unit is used to construct the q-axis reference current control equation and calculate the q-axis reference current of the permanent magnet synchronous motor at the current moment based on the q-axis reference current control equation and the motor parameters. The fundamental voltage unit is also used to obtain the d-axis reference current and determine the motor fundamental voltage based on the d-axis reference current and the q-axis reference current. The fundamental voltage unit is also used to compensate the fundamental voltage of the motor using harmonic suppression voltage to obtain the compensated fundamental voltage. The drive control unit is used to generate a real-time space vector pulse width modulation signal for the permanent magnet synchronous motor using the compensated fundamental voltage, so as to perform real-time drive control of the permanent magnet synchronous motor using the real-time space vector pulse width modulation signal.

10. A computer program product containing instructions, characterized in that, When the instructions are executed on the computer, the computer performs the high-speed motor drive control method as described in any one of claims 1 to 8.

Images