A sensorless control method and system for a synchronous reluctance motor

Abstract

This invention proposes a sensorless control method and system for a synchronous reluctance motor, belonging to the technical field of reluctance motors. The method includes: forming an injection sequence using two high-frequency square wave voltage signals with opposite phases; obtaining a remainder by performing a modulo operation on a pseudo-random number with respect to a set value, determining the parity of the remainder, and selecting one phase signal to inject into the synchronous reluctance motor based on the parity determination result; verifying the magnitude of the remainder, and injecting a high-frequency voltage signal based on the magnitude verification result; when a high-frequency voltage signal is injected at a given moment, estimating the rotor position signal at that control moment based on a sampled high-frequency current signal; when no high-frequency voltage signal is injected at that moment, estimating the rotor position signal based on the previous moment, thus achieving sensorless control of the synchronous reluctance motor. This invention improves current quality and significantly suppresses high-frequency torque fluctuations and electromagnetic vibrations.

Description

Technical Field

[0001] This invention belongs to the technical field of reluctance motors, and particularly relates to a sensorless control method and system for synchronous reluctance motors. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Synchronous reluctance motors (SRRMs) are low-cost to manufacture due to the absence of permanent magnets. They generate reluctance torque by utilizing the uneven magnetic circuit distribution of the dq shaft system, thus achieving electromechanical energy conversion. With the continuous development of industrial technology, highly reliable and low-cost electric drive systems are gaining popularity. Therefore, sensorless control technology has seen significant development. In the medium-to-high speed range, a monitor is often constructed to achieve rotor position tracking of the SRRM.

[0004] In the zero / low speed stage, existing technologies mainly use high-frequency square wave voltage injection technology to obtain rotor position. This inevitably introduces current noise, generates significant high-frequency electromagnetic vibration and torque fluctuation, which has a negative impact on the zero / low speed sensorless control performance of synchronous reluctance motors. In particular, in certain specific frequency bands, the high-frequency voltage signal will resonate with the system, causing damage to the motor system. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, this invention proposes a sensorless control method and system for synchronous reluctance motors, which effectively suppresses high-frequency torque fluctuations and electromagnetic vibrations during zero / low-speed sensorless operation of synchronous reluctance motors, and significantly improves the performance of sensorless motor control.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: In a first aspect, the present invention discloses a sensorless control method for a synchronous reluctance motor, comprising: An injection sequence is formed using two high-frequency square wave voltage signals with opposite phases; The remainder is obtained by performing a modulo operation on a pseudo-random number with respect to a set value. Based on the remainder, an even / odd determination is performed. According to the result of the even / odd determination, one phase of the high-frequency square wave voltage signal with opposite phase is selected and injected into the synchronous reluctance motor. The remainder is checked for size, and at each control moment, a high-frequency voltage signal is injected or no high-frequency voltage signal is injected based on the result of the size check. When a high-frequency voltage signal is injected at a given moment, the rotor position signal at that control moment is estimated using a speed estimation algorithm based on the induced high-frequency current signal; when no high-frequency voltage signal is injected at that moment, the rotor position signal is estimated based on the previous moment, thus realizing sensorless control of the synchronous reluctance motor.

[0007] Secondly, the present invention discloses a sensorless control system for a synchronous reluctance motor, comprising: The injection generation module is configured to form an injection sequence using two high-frequency square wave voltage signals with opposite phases. The phase randomization module is configured to: perform a remainder operation on a pseudo-random number with respect to a set value to obtain a remainder, perform parity judgment based on the remainder, and select one phase of the high-frequency square wave voltage signal with opposite phases to inject into the synchronous reluctance motor according to the parity judgment result. The signal injection module is configured to: perform a size check on the remainder, and at each control moment, inject a high-frequency voltage signal or not inject any high-frequency voltage signal according to the result of the size check; The position estimation module is configured to: when a high-frequency voltage signal is injected at a given moment, estimate the rotor position signal at that control moment based on the induced high-frequency current signal using a speed estimation algorithm; when no high-frequency voltage signal is injected at that moment, estimate the rotor position signal based on the previous moment, thereby achieving sensorless control of the synchronous reluctance motor.

[0008] Thirdly, the present invention discloses an electronic device, including a memory and a processor, and computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, complete the steps of the above-described sensorless control method for a synchronous reluctance motor.

[0009] Fourthly, the present invention discloses a computer-readable storage medium for storing computer instructions, which, when executed by a processor, complete the steps of the above-described sensorless control method for a synchronous reluctance motor.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention selects the phase and injection of high-frequency voltage signals based on pseudo-random numbers generated by the controller, enabling and disabling high-frequency voltage injection at any control moment, and achieving random phase selection when enabled. Combined with a rotor position estimation algorithm, the rotor position signal of the synchronous reluctance motor is acquired at any given time. While ensuring sensorless control of the synchronous reluctance motor, the injected high-frequency voltage signal is dispersed, improving current quality and significantly suppressing high-frequency torque fluctuations and electromagnetic vibrations, thus enhancing the performance of sensorless control of the synchronous reluctance motor.

[0011] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0012] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0013] Figure 1 This is a block diagram of the sensorless control system described in Embodiment 1 of the present invention.

[0014] Figure 2 This is a block diagram of high-frequency signal generation as described in Embodiment 1 of the present invention.

[0015] Figure 3 This is a schematic diagram of the signal processing and rotor position observation described in Embodiment 1 of the present invention.

[0016] Figure 4 This is a comparison diagram of the full-load speed and rotor position following conditions as described in Embodiment 1 of the present invention.

[0017] Figure 5 This is a comparison chart showing the results of injecting high-frequency voltage at different rotational speeds as described in Embodiment 1 of the present invention.

[0018] Figure 6 This is a comparison chart of the injected winding response current at different rotational speeds as described in Embodiment 1 of the present invention.

[0019] Figure 7 This is a comparison chart of the torque results under rated load as described in Embodiment 1 of the present invention.

[0020] Figure 8 This is a comparison diagram of the electromagnetic vibration results described in Embodiment 1 of the present invention. Detailed Implementation

[0021] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, 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.

[0022] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0023] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0024] Example 1 In one or more embodiments, a sensorless control method for a synchronous reluctance motor is disclosed, comprising the following steps: Step S1: Two high-frequency square wave voltage signals with opposite phases are used to form an injection sequence. The high-frequency voltage signal is injected during motor operation to obtain rotor position information and ensure the stability and reliability of sensorless control.

[0025] In this embodiment, as Figure 1 The diagram shows the complete control block diagram. For a synchronous reluctance motor, its dq axis control model is as follows: (1) In the formula, , yes dq Shaft injection voltage; , yes dq Shaft current; It is the motor resistance; , yes dq Shaft flux linkage. Therefore, the transient current response model of the synchronous reluctance motor can be obtained as follows: (2) (3) In the formula, , yes dq apparent inductance of the shaft system; , yes dq Incremental inductance of shaft system; , yes dq The shaft system has incrementally coupled inductances, and the two inductances are equal. It is electric angular velocity. For the coupling inductor in d The coupling component generated by the axis, For the coupled inductor in q The coupling component generated by the axis, for d Shaft-corrected inductance, for q Shaft-corrected inductance.

[0026] When a high-frequency voltage signal is injected, the fundamental frequency component of the motor is much lower than the high-frequency component, and its high-frequency equation can be expressed as: (4) In the formula, , yes dq High-frequency injection voltage into the shaft system; , yes dq High-frequency current in the shaft system. Due to the presence of incremental coupling inductance, dq The high-frequency voltage equations of the shaft system cannot be completely decoupled, leading to... dq High-frequency current in the shaft system is simultaneously subjected to dq The influence of high-frequency voltage on the shaft system. Therefore, the expression for high-frequency torque can be obtained as follows: (5) In the formula, yes dq The ratio of the high-frequency current components in the shaft system reveals that the high-frequency current components directly affect the high-frequency torque of the motor. Furthermore, the high-frequency current components directly influence the motor current, thereby exciting electromagnetic force waves of the corresponding frequency, which also generate significant electromagnetic vibrations. Therefore, adjusting the high-frequency voltage signal can directly affect the high-frequency current components of the motor, and consequently, influence the high-frequency torque fluctuations and electromagnetic vibrations during motor operation.

[0027] Step S2: Perform a remainder operation on a pseudo-random number with respect to a set value to obtain a remainder. Based on the remainder, determine whether the signal is odd or even. Based on the result of the odd / even determination, select one phase of the high-frequency square wave voltage signal with opposite phase and inject it into the synchronous reluctance motor.

[0028] like Figure 2 As shown, the process of generating the injected voltage into the motor specifically includes: Based on the pseudo-random signal generated by the inverter, a remainder operation is performed on it. In this embodiment, the dividend is a hardware-generated pseudo-random number, and the divisor is 4.

[0029] Based on hardware-generated pseudo-random numbers, the remainder of these numbers with respect to 4 is determined to be either odd or even. If the remainder is odd, a high-frequency voltage signal of one phase is selected for injection. If the remainder is even, a high-frequency voltage signal of the other phase is selected for injection.

[0030] In this embodiment, to avoid DC bias caused by high-frequency current, the phase of the injected high-frequency square wave voltage is 0° and 180°.

[0031] Based on the odd or even value of the remainder, two high-frequency voltages of different phases can be selected for injection. Therefore, the injected signal can be expressed as: (6) (7) In the formula, This is the phase reversal symbol. For the injected voltage amplitude, For time, To inject a high-frequency voltage signal period, It is a natural number.

[0032] This embodiment randomizes the phase distribution by performing a remainder operation on the pseudo-random numbers generated by the inverter. The odd and even values ​​of the remainders of the pseudo-random numbers determine the phases of high-frequency voltage signals with different phases, thus disrupting the frequency concentration problem of traditional high-frequency square wave injection and reducing the distribution of discrete high-frequency components.

[0033] Step S3: Perform a size check on the remainder. At each control moment, inject a high-frequency voltage signal or do not inject any high-frequency voltage signal according to the result of the size check.

[0034] The generated remainder is validated, and the average of the divisors in the remainder operation is set as the judgment criterion. At each control moment, when the remainder is greater than or equal to the judgment criterion, a high-frequency voltage signal is injected to enable it, and a complete set of high-frequency square wave signals is injected; when the remainder is less than the judgment criterion, the high-frequency voltage signal is disabled, and no high-frequency voltage signal is injected at this time.

[0035] Whether the high-frequency voltage signal is enabled depends on the remainder of the pseudo-random number. When the remainder is greater than or equal to 2, the signal is enabled, and the high-frequency voltage signal is injected in accordance with the above criterion. Conversely, when the remainder is less than 2, the injection of the high-frequency voltage signal is disabled, and no high-frequency voltage signal is injected.

[0036] This approach ensures both the randomness of the injected high-frequency voltage signal at any given time and the possibility of odd and even remainders existing in the previous step. It further disrupts the regularity of the high-frequency voltage signal, weakening the distribution of discrete components.

[0037] In this embodiment, the pseudo-random number generated by the inverter is moduloed, and the remainder is compared with the set value to determine whether to inject a high-frequency voltage signal at the current control moment. By selecting whether to inject the high-frequency voltage signal and the phase at each moment, the high-frequency voltage signal is randomized, which significantly reduces the high-frequency current, high-frequency torque fluctuations and high-frequency electromagnetic vibrations caused by the injection of high-frequency voltage.

[0038] Step S4: When a high-frequency voltage signal is injected at this moment, the rotor position signal at this control moment is estimated based on the induced high-frequency current signal using a speed estimation algorithm; when no high-frequency voltage signal is injected at this moment, the rotor position signal is estimated based on the previous moment, thereby realizing sensorless control of the synchronous reluctance motor.

[0039] In this embodiment, when a high-frequency voltage signal is injected at a given moment, the rotor position at that control moment is accurately estimated based on the induced high-frequency current signal using a speed estimation algorithm. When no high-frequency voltage signal is injected at that moment, the rotor position signal needs to be estimated based on the previous moment. Since the frequency of the controller execution cycle is much higher than the motor's fundamental frequency, it can be assumed that the motor speed does not change when the high-frequency voltage signal is not injected. Therefore, the estimated speed and rotor position signal from the previous moment can be used, combined with the controller execution cycle, to estimate the rotor position and speed signal at the current moment, thereby achieving real-time acquisition of the rotor position and realizing sensorless control of the synchronous reluctance motor.

[0040] Specifically, when a high-frequency voltage signal is injected at a given moment, the rotor position at that control moment is accurately estimated based on the induced high-frequency current signal using a speed estimation algorithm. Specifically, this involves extracting the high-frequency current component sampled from the observation shaft system to obtain the high-frequency current change caused by the high-frequency voltage signal at each control moment; performing shaft system transformation on this change to convert it to the observation shaft system; and obtaining the corresponding demodulated shaft system position. dq The high-frequency current variation in the shaft system requires demodulation processing for further position observation. This demodulation process involves multiplying the high-frequency current component obtained from the demodulated shaft system with the demodulated signal (determined by the positive or negative sign of the injected high-frequency voltage), and then combining this with a phase-locked loop (PLL) to achieve a reliable estimate of the rotor position. A detailed analysis of sensorless control of a synchronous reluctance motor is as follows: Without a high-frequency voltage signal, the rotor position cannot be observed and needs to be estimated based on the result from the previous moment. Since the processing frequency of the hardware system is much higher than the operating frequency of the motor, the synchronous reluctance motor speed can be considered constant during the signal-free phase. Therefore, the rotor position signal at the current moment can be estimated as follows: (8) In the formula, It is the period of each control moment. Let be the rotor position at time t. Therefore, the rotor position at various times can be obtained. Detailed signal processing and rotor position observation are as follows: Figure 3 As shown. Among them, Figure 3 (a) is injected at pseudo-random time. d The high-frequency voltage signal of the shaft is represented by red and blue voltage signals that are out of phase, while the gray area represents the high-frequency voltage signal that is not present. Figure 3 (b) is injection d High-frequency current response caused by high-frequency voltage signal on the shaft; Figure 3 (c) is d The change in the high-frequency current response of the shaft; Figure 3(d) is the demodulated signal, whose positive and negative values ​​are consistent with the positive and negative values ​​of the injected high-frequency voltage amplitude; Figure 3 (e) is in the demodulation shaft system d The change in high-frequency shaft current; Figure 3 (f) is the demodulation shaft system q The change in high-frequency shaft current; When no high-frequency signal is injected, i.e. Figure 3 The gray area represents the pre-injection phase, during which no demodulation is performed. Based on equation (4) and Figure 1 The relationship between the shaft systems in the electric motor can be used to obtain the demodulation shaft system. d m -q m The high-frequency voltage equation is: (9) In the formula, To demodulate the shaft system d Shaft high-frequency voltage, To demodulate the shaft system q Shaft high-frequency voltage, , For matrix transformation inductors, and , , , It is the rotor position error. This is the rotor position compensation value, and .

[0041] When the rotor position error is very small, the change in high-frequency current in the demodulation shaft system can be derived from equation (9): (10) (11) In the formula, To demodulate the shaft system d High-frequency current variation of the shaft. To demodulate the shaft system q High-frequency current variation of the shaft. This is a coefficient that varies with inductance. To inject a high-frequency voltage signal period, for d Shaft high-frequency voltage reference value, for Figure 3 (d) Demodulated signal.

[0042] It can be found that equation (10) contains the rotor position error signal. Solving for the rotor position yields: (12) (13) In the formula, This is a coefficient that varies with inductance. Demodulated q The change in high-frequency shaft current. Demodulated d The change in the high-frequency current of the shaft. Among them, and It is determined by multiplying the change in high-frequency current in the demodulated shaft system with the demodulated signal.

[0043] Therefore, by using a phase-locked loop to control the rotor position error to 0, reliable rotor position tracking can be achieved.

[0044] This invention proposes that injecting a high-frequency voltage signal induces a corresponding high-frequency current, and the rotor position signal is obtained based on this current. When no high-frequency voltage signal is injected, the rotor position signal is calculated based on the estimated rotational speed and rotor position from the previous moment, thus achieving sensorless control at the current moment. The phase and injection time of the injected high-frequency voltage signal are randomized, significantly suppressing the high-frequency voltage component of the injected frequency. This effectively reduces the amplitude of high-frequency current, high-frequency torque, and electromagnetic vibration, enabling the drive of a high-performance synchronous reluctance motor.

[0045] Furthermore, this embodiment uses a 5.5kW synchronous reluctance motor experimental test platform to verify the control strategy described in this invention. The platform includes a 5.5kW synchronous reluctance motor, a vibration acceleration sensor, a torque and speed sensor, a magnetic powder brake, a tension controller, a host computer, a DASP analyzer, and a computer. To fully compare the suppression effect of high-frequency components during random signal injection, this invention compares the test results of a fixed-frequency high-frequency square wave injection technique with the control method described in this invention. Both were tested under full load at 50rpm, 100rpm, and two speed switching conditions without a position sensor.

[0046] like Figure 4 As shown, the full-load speed and rotor position tracking performance under two control methods are compared. Since the PI parameters of the current and speed loops are identical in both methods, the steady-state and dynamic performance of the two algorithms are essentially similar. It can be observed that the control method proposed in this invention has slightly larger rotor position and speed fluctuation errors. This is because the randomness of the injected signal leads to a slightly lower high-frequency current signal-to-noise ratio used for position observation during rotor position demodulation, resulting in larger interference signals in position estimation, which in turn causes larger speed fluctuations. However, the speed estimation error is consistently less than 5%, meeting the allowable range for engineering errors, demonstrating the reliability and feasibility of the proposed algorithm in rotor position tracking.

[0047] like Figure 5 and Figure 6As shown, the FFT (Fourier Transform) and PSD (Power Spectral Density) results of the injected high-frequency voltage and winding response current under different speeds for two control methods are compared. It can be found that the traditional high-frequency voltage injection method generates significant high-frequency components at the injection frequency (312.5Hz) and three times the injection frequency (937.5Hz), resulting in significant high-frequency components in the current in these two regions, thus reducing current noise. However, the method described in this invention effectively weakens the discrete high-frequency components by randomizing the phase and the injected high-frequency voltage, resulting in a more uniform distribution of high-frequency components in both the injected high-frequency voltage and the response high-frequency current, thereby improving current quality.

[0048] like Figure 7 As shown, the FFT and PSD results of torque at rated load are compared under two control methods. It can be found that after the introduction of the pseudo-random signal, the high-frequency torque component caused by the traditional high-frequency square wave injection is effectively suppressed, further improving torque quality. Furthermore, as... Figure 8 The electromagnetic vibration results shown in the comparison also have the same result, that is, the control method proposed in this invention effectively suppresses the high-frequency components caused by high-frequency injection voltage and improves the performance of sensorless control of synchronous reluctance motor.

[0049] The above technical solution proposes a sensorless control technology for zero / low-speed synchronous reluctance motors to suppress high-frequency torque fluctuations and electromagnetic vibrations, mainly involving the processing of injected high-frequency voltage signals. First, based on hardware-generated pseudo-random numbers, the remainder is taken and then odd / even determination is performed to select high-frequency square wave voltage signals under two opposite phases. Second, at each control moment, the remainder is compared with the set value to enable or disable the high-frequency voltage signal at the current moment. These two randomization processes not only effectively disperse the frequency distribution of the injected high-frequency voltage signal but also effectively suppress high-frequency current, torque, and electromagnetic vibrations of the motor, significantly improving the performance of zero / low-speed sensorless control of the synchronous reluctance motor.

[0050] Example 2 In one or more embodiments, a sensorless control system for a synchronous reluctance motor is disclosed, specifically including: The injection generation module is configured to form an injection sequence using two high-frequency square wave voltage signals with opposite phases. The phase randomization module is configured to: perform a remainder operation on a pseudo-random number with respect to a set value to obtain a remainder, perform parity judgment based on the remainder, and select one phase of the high-frequency square wave voltage signal with opposite phases to inject into the synchronous reluctance motor according to the parity judgment result. The signal injection module is configured to: perform a size check on the remainder, and at each control moment, inject a high-frequency voltage signal or not inject any high-frequency voltage signal according to the result of the size check; The position estimation module is configured to: when a high-frequency voltage signal is injected at a given moment, estimate the rotor position signal at that control moment based on the induced high-frequency current signal using a speed estimation algorithm; when no high-frequency voltage signal is injected at that moment, estimate the rotor position signal based on the previous moment, thereby achieving sensorless control of the synchronous reluctance motor.

[0051] Example 3 This embodiment provides an electronic device, including a memory and a processor, as well as computer instructions stored in the memory and running on the processor. When the computer instructions are executed by the processor, they complete the steps of the above-described sensorless control method for a synchronous reluctance motor.

[0052] Example 4 This embodiment provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, complete the steps of the above-described sensorless control method for a synchronous reluctance motor.

[0053] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0054] 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.

[0055] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment, whereby a series of operational steps are performed 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.

[0056] The descriptions of each embodiment in the above embodiments have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. 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 sensorless control method for a synchronous reluctance motor, characterized in that, include: An injection sequence is formed using two high-frequency square wave voltage signals with opposite phases; The remainder is obtained by performing a modulo operation on a pseudo-random number with respect to a set value. Based on the remainder, an even / odd determination is performed. According to the result of the even / odd determination, one phase of the high-frequency square wave voltage signal with opposite phase is selected and injected into the synchronous reluctance motor. The remainder is checked for size, and at each control moment, a high-frequency voltage signal is injected or no high-frequency voltage signal is injected based on the result of the size check. When a high-frequency voltage signal is injected at a given moment, the rotor position signal at that control moment is estimated using a speed estimation algorithm based on the induced high-frequency current signal; when no high-frequency voltage signal is injected at that moment, the rotor position signal is estimated based on the previous moment, thus realizing sensorless control of the synchronous reluctance motor.

2. The sensorless control method for a synchronous reluctance motor as described in claim 1, characterized in that, Based on the parity determination result, one phase of the high-frequency square wave voltage signal with opposite phase is selected and injected into the synchronous reluctance motor. The injected signal is represented as follows: In the formula, This is the phase reversal symbol. For the injected voltage amplitude, For time, To inject a high-frequency voltage signal period, It is a natural number.

3. The sensorless control method for a synchronous reluctance motor as described in claim 1, characterized in that, For the generated remainder, its size is validated, and the average of the divisors in the remainder operation is set as the criterion for judgment. At each control moment, when the remainder is greater than or equal to the judgment criterion, a high-frequency voltage signal is injected to enable it, and a complete set of high-frequency square wave signals is injected; when the remainder is less than the judgment criterion, the high-frequency voltage signal is disabled, and no high-frequency voltage signal is injected at this time.

4. The sensorless control method for a synchronous reluctance motor as described in claim 1, characterized in that, When no high-frequency voltage signal is injected at this moment, the rotor position signal is estimated based on the previous moment, and the estimated rotor position signal is: In the formula, It is the period of each control moment. Let t be the rotor position. It is electric angular velocity.

5. The sensorless control method for a synchronous reluctance motor as described in claim 1, characterized in that, The rotor position signal at the control moment is estimated using a speed estimation algorithm based on the induced high-frequency current signal, including: The high-frequency current component sampled from the observation axis system is extracted to obtain the high-frequency current change caused by the high-frequency voltage signal at each control moment; this change is then converted to the observation axis system, and the corresponding demodulated axis system value is obtained. dq Changes in high-frequency current of the shaft.

6. The sensorless control method for a synchronous reluctance motor as described in claim 5, characterized in that, Obtain the corresponding demodulation axis dq The change in shaft high-frequency current is: In the formula, To demodulate the shaft system d High-frequency current variation of the shaft. To demodulate the shaft system q High-frequency current variation of the shaft. This is a coefficient that varies with inductance. , yes dq Incremental inductance of shaft system yes dq Incremental coupling inductance of shaft system It is the rotor position error. To inject a high-frequency voltage signal period, for d Shaft high-frequency voltage reference value, For demodulated signals, For matrix transformation inductors, , for d Shaft-corrected inductance, for q Shaft-corrected inductance.

7. The sensorless control method for a synchronous reluctance motor as described in claim 5, characterized in that, The estimated rotor position signal at this control moment is: In the formula, It is the rotor position error. This is a coefficient that varies with inductance. Demodulated q The change in high-frequency shaft current. Demodulated d The change in high-frequency shaft current. yes q Axial incremental inductance, yes dq Incremental coupling inductance of shaft system.

8. A sensorless control system for a synchronous reluctance motor, characterized in that, include: The injection generation module is configured to form an injection sequence using two high-frequency square wave voltage signals with opposite phases. The phase randomization module is configured to: perform a remainder operation on a pseudo-random number with respect to a set value to obtain a remainder, perform parity judgment based on the remainder, and select one phase of the high-frequency square wave voltage signal with opposite phases to inject into the synchronous reluctance motor according to the parity judgment result. The signal injection module is configured to: perform a size check on the remainder, and at each control moment, inject a high-frequency voltage signal or not inject any high-frequency voltage signal according to the result of the size check; The position estimation module is configured to: when a high-frequency voltage signal is injected at a given moment, estimate the rotor position signal at that control moment based on the induced high-frequency current signal using a speed estimation algorithm; when no high-frequency voltage signal is injected at that moment, estimate the rotor position signal based on the previous moment, thereby achieving sensorless control of the synchronous reluctance motor.

9. An electronic device, characterized in that, The method includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the sensorless control method for the synchronous reluctance motor according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Used to store computer instructions, which, when executed by a processor, complete the sensorless control method for a synchronous reluctance motor according to any one of claims 1-7.

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