A dual-rotor magnetic gear driving device and a driving control method

Abstract

This invention provides a dual-rotor magnetic gear drive device and drive control method, comprising: a dual-rotor magnetic gear motor, a power drive controller, and a motor base; the power drive controller is fixedly mounted on the motor base and coaxially integrated with the dual-rotor magnetic gear motor; the dual-rotor magnetic gear motor includes, from the outside to the inside, an outer rotor, a stator, and an inner rotor coaxially arranged along the motor's central axis, with the outer rotor rotating in the opposite direction to the inner rotor; the outer rotor includes an outer rotor housing and an outer rotor permanent magnet disposed on the inner wall of the outer rotor housing; the inner rotor includes an inner rotating shaft and an inner rotor permanent magnet disposed on the outer surface of the inner rotating shaft; the stator includes a stator core, winding bushings, and a three-phase armature winding disposed within the stator core, with the winding bushings disposed in stator slots of the stator core; the stator core is provided with multiple stator modulation teeth. The dual-rotor magnetic gear drive device improves the system's transmission accuracy and long-term operational reliability.

Description

Technical Field

[0001] This invention relates to the field of magnetic gear drive technology, specifically to a dual-rotor magnetic gear drive device and its drive control method. Background Technology

[0002] In applications such as electric vehicles, electric propulsion systems, robot drive systems, and high-end aerospace equipment, drive devices typically need to output large torque at low speeds to meet the core requirements of load transmission.

[0003] Traditional drive systems generally employ a combination of a high-speed motor and a mechanical reducer to achieve high torque output at low speeds. While this approach can achieve a given transmission ratio, the mechanical reduction mechanism has inherent drawbacks: complex overall structure, high assembly precision requirements, mechanical wear, high impact noise, and low transmission efficiency during transmission. Long-term operation can also reduce transmission accuracy and system reliability due to gear meshing clearance, resulting in high maintenance costs.

[0004] To avoid the drawbacks of mechanical reduction mechanisms, direct-drive permanent magnet motors are gradually being applied to low-speed, high-torque transmission applications. However, traditional direct-drive motors require increasing the number of stator pole pairs and expanding the overall size to improve output torque, which directly leads to bulky motor size and a significant reduction in power density. This makes it difficult to meet the design requirements of system miniaturization and lightweighting, and also causes a surge in iron losses and eddy current losses, resulting in operating efficiency that cannot meet the requirements of high efficiency and energy saving.

[0005] In recent years, magnetic gear motors based on the principle of magnetic field modulation have become a research hotspot in the industry. This type of motor introduces a magnetic permeation modulation structure into the magnetic circuit, so that a low pole logarithmic magnetic field can excite multiple spatial harmonic components in the air gap. By using the coupling effect of specific harmonic magnetic fields with the output rotor magnetic field, an electromagnetic deceleration effect similar to that of mechanical gears can be achieved, thus completing low-speed, high-torque output while maintaining high power density.

[0006] However, existing magnetic gear motor technology focuses only on optimizing the motor itself, and the drive control system often adopts an independent, separate layout. This results in a dispersed system structure, large installation space occupation, and lengthy power connection wires, which are prone to generating large parasitic inductance and electromagnetic interference. This not only restricts the design of high power density systems but also affects the reliability of overall operation, failing to meet the integrated and high-precision requirements of high-end equipment. Therefore, there is an urgent need in this field to propose a compact, highly integrated, high-torque-density, and highly efficient dual-rotor magnetic gear drive system. Summary of the Invention

[0007] In view of this, the embodiments of this specification provide a dual-rotor magnetic gear drive device and drive control method to improve the transmission accuracy and long-term operational reliability of the system.

[0008] The embodiments in this specification provide the following technical solutions:

[0009] A dual-rotor magnetic gear drive device, comprising: Dual-rotor magnetic gear motor, power drive controller and motor base; The power drive controller is fixedly mounted on the motor base and is coaxially integrated with the dual rotor magnetic gear motor. The power drive controller is electrically connected to the stator winding of the dual rotor magnetic gear motor through electrical connection terminals. The dual-rotor magnetic gear motor consists of an outer rotor, a stator, and an inner rotor arranged coaxially along the central axis of the motor, from the outside to the inside. The outer rotor and the inner rotor rotate in opposite directions. The outer rotor includes an outer rotor housing and an outer rotor permanent magnet disposed on the inner wall of the outer rotor housing; The inner rotor includes an inner shaft and an inner rotor permanent magnet disposed on the outer surface of the inner shaft; The stator includes a stator core, winding bushings, and three-phase armature windings disposed within the stator core. The winding bushings are disposed in the stator slots of the stator core and are used to provide insulation support for the three-phase armature windings. The stator core is equipped with multiple stator modulation teeth, which are used to perform spatial harmonic modulation on the magnetic field generated by the inner rotor.

[0010] Furthermore, the dual-rotor magnetic gear drive also includes a rotary transformer, which comprises a rotary transformer stator and a rotary transformer rotor; The rotor of the rotary transformer is fixedly mounted on the inner shaft of the inner rotor, and the stator of the rotary transformer is mounted on the stator.

[0011] Furthermore, the number of pole pairs of the inner rotor permanent magnet p r The number of stator modulation teeth is 5. N s The number of pole pairs of the external rotor permanent magnet is 24. p o It is 19.

[0012] A drive control method for controlling a dual-rotor magnetic gear drive device via a power drive controller includes the following steps: Configure the pole pair relationship of the inner rotor, stator, and outer rotor to make the number of pole pairs of the permanent magnets of the inner rotor... p r Number of stator modulation teeth N s and the number of pole pairs of the external rotor permanent magnet p o Satisfying the magnetic field modulation relation p o= N s-p r ; Based on the externally input speed command and torque command The target speed of the inner rotor is calculated. and target torque ,in, ; When the rotary transformer is operating normally, the absolute position signal of the inner rotor is acquired in real time through the rotary transformer. For absolute position signals Perform differential calculations to obtain the actual rotational speed of the inner rotor. ; Based on the target torque Permanent magnet flux linkage of the inner rotor permanent magnet and the actual speed of the inner rotor Calculations yielded d Shaft current reference value and q Shaft current reference value ; Real-time acquisition of phase currents in the three-phase armature windings, and conversion using Clark and Park transformations respectively. d Shaft current reference value and q Shaft current reference value Convert to d - q Rotating coordinate system d Actual shaft current value and q Actual shaft current value ; pass d Shaft current reference value , d Actual shaft current value , q Shaft current reference value and q Actual shaft current value Calculations yielded d Shaft voltage reference value and q Shaft voltage reference value ; Transformed by inverse Park transform and inverse Clark transform d Shaft voltage reference value and q Shaft voltage reference value The voltage reference value is converted into a three-phase stationary coordinate system, and then the voltage reference value is converted into a PWM control signal and output to the three-phase armature winding of the stator. After a PWM control signal is applied to the three-phase armature winding, a rotating magnetic field is generated in the air gap, driving the inner rotor to rotate at the target speed. and target torque Rotation, causing the inner rotor to rotate, produces a number of pole pairs. The permanent magnet magnetic field, through a number of After spatial magnetic permeability modulation of the stator modulation teeth, a number of pole pairs is excited in the air gap. p o= N s- p r The dominant harmonic magnetic field interacts with the magnetic field of the outer rotor permanent magnet, generating electromagnetic torque that drives the outer rotor to rotate at a certain speed. Rotate.

[0013] Furthermore, based on the target torque Permanent magnet flux linkage of the inner rotor permanent magnet and the actual speed of the inner rotor Calculations yielded d Shaft current reference value and q Shaft current reference value ,include: Calculate the actual speed of the inner rotor With target speed Speed ​​error ; Speed ​​error The input is fed into the speed PI regulator, based on the speed error. The absolute value of the PI parameter is dynamically adjusted to calculate the inner rotor. q Intermediate value of shaft current reference ,in, ; The load torque of the outer rotor is estimated in real time using a preset load observer. Based on the magnetic field modulation relation Calculate the load used to compensate for the external rotor load. q Shaft current feedforward compensation term ,in, ; Will q Intermediate value of shaft current reference With feedforward compensation term Add them together to get q Axis current synthesis reference value ,right q Axis current synthesis reference value By sequentially limiting the amplitude and the rate of change, we obtain... q Shaft current reference value ,in, , This is the amplitude limiting function. The rate of change is a limiting function. To the maximum allowed q Axis current amplitude, Maximum allowed per control cycle q Change in shaft current.

[0014] Furthermore, through d Shaft current reference value , d Actual shaft current value , q Shaft current reference value and q Actual shaft current value Calculations yielded d Shaft voltage reference value and q Shaft voltage reference value ,include: calculate d Shaft current reference value and d Actual shaft current value of d Shaft current error ; calculate q Shaft current reference value and q Actual shaft current value of q Shaft current error ; Will d Shaft current error Enter to d Axis current PI regulator, and based on d The calculation of the shaft voltage feedforward decoupling term is obtained d Shaft voltage reference value ,in, , The electric angular velocity of the inner rotor. for q Shaft inductance; Will q Shaft current error Enter to q Axis current PI regulator, and based on q The calculation of the shaft voltage feedforward decoupling term is obtained q Shaft voltage reference value ,in, , for d Shaft inductor, It is a permanent magnet flux linkage.

[0015] Furthermore, it also includes: When driving the outer and inner rotors to rotate, flexible collision protection is provided for the outer and inner rotors based on the speed difference between them, including the following steps: Real-time monitoring of the actual speed of the inner rotor and the actual speed of the outer rotor ; According to the magnetic field modulation formula The theoretical speed of the outer rotor was calculated. ; Calculate speed deviation And calculate the rate of change of the rotational speed deviation. ; When the speed deviation The speed deviation exceeds the preset threshold, and the rate of change of the speed deviation is... When the rate of change exceeds the preset threshold, it is determined that the outer rotor has encountered an external collision or a sudden overload. If the outer rotor encounters an external collision or a sudden overload, q Shaft current reference value Adjust to below the preset safety value; Continuous monitoring of speed deviation When the speed deviation After recovering to within the speed deviation threshold and remaining stable for more than the preset recovery time, gradually recover according to the preset slope. q Shaft current reference value .

[0016] Furthermore, it also includes: Real-time monitoring of the dominant harmonic magnetic field, and observation and repair of the dominant harmonic magnetic field, including the following steps: A magnetic field sensing coil is placed near the stator modulation teeth; The actual waveform signal of the dominant harmonic magnetic field is acquired in real time by a magnetic field sensing coil. ,in, t For time; For actual waveform signals Perform a Fast Fourier Transform to extract the pole-log number. The actual amplitude of the harmonic components and actual phase ; Based on the actual speed of the inner rotor Based on the relationship between magnetic field modulation and the theoretical amplitude of harmonic components, calculate the theoretical amplitude of the harmonic components. and theoretical phase ; actual amplitude Compared with theoretical amplitude Compare the actual phases Phase with theory Compare; When the actual amplitude Deviation from theoretical amplitude Exceeding the amplitude threshold, or the actual phase Deviation from theoretical phase When the phase threshold is exceeded, it is determined that the air gap magnetic field has been distorted; If distortion occurs, adjust d Shaft current reference value and / or q Shaft current reference value This is to correct the amplitude and phase of the harmonic components, so that the harmonic components are restored to the preset tolerance range.

[0017] Furthermore, it also includes: Achieving continuous operation of the drive control method through a sensorless control method includes: Real-time monitoring of the absolute position signal output by the rotary transformer Furthermore, the phase current response signal is acquired by injecting a high-frequency voltage signal into the three-phase armature winding or by utilizing the inherent high-frequency harmonics generated during the PWM switching process. High-frequency current response components in the phase current response signal are extracted using a bandpass filter. From the high-frequency current response components, extract the pole pair number generated by the modulation of the inner rotor permanent magnet magnetic field by the stator modulation teeth. Specific harmonic current components; Based on the envelope variation of specific harmonic current components, the observed position of the inner rotor is calculated using a phase-locked loop algorithm. ; Observation position with absolute position signal Real-time comparison is performed, and when the deviation between the two exceeds the preset position deviation threshold and continues to exceed the preset fault confirmation time, the rotary transformer is determined to have failed. If the rotary transformer malfunctions, it automatically switches to a sensorless control mode, using observed position. Replacement of absolute position signal As the angle input for the Park transform and inverse Park transform.

[0018] Furthermore, it also includes: Real-time monitoring of the temperature of the three-phase armature windings of the stator and the power module temperature of the power drive controller ; Based on the actual speed of the inner rotor , q Shaft actual current and the winding temperature of the three-phase armature winding Based on a pre-defined thermal model of the inner rotor permanent magnet, the current temperature of the inner rotor permanent magnet is estimated online. ; Based on the current temperature Query the preset permanent magnet flux linkage-temperature characteristic curve and correct the permanent magnet flux linkage. The value of ; The modified permanent magnet flux Substitution q In the calculation of shaft current feedforward compensation term and voltage feedforward decoupling term, the influence of temperature change on motor control accuracy is compensated.

[0019] Compared with the prior art, the beneficial effects that at least one technical solution adopted in the embodiments of this specification can achieve include at least: By adopting the principle of magnetic field modulation to achieve pure electromagnetic speed reduction transmission, mechanical speed reduction mechanism is completely eliminated, gear wear, transmission backlash and operating noise are eliminated from the source, the later maintenance cost is reduced, and the transmission accuracy and long-term reliability of the system are greatly improved. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is an overall structural diagram of the dual-rotor magnetic gear drive device according to an embodiment of the present invention; Figure 2 This is a cross-sectional structural diagram of the motor of the dual-rotor magnetic gear drive device according to an embodiment of the present invention; Figure 3 This is a front view of the stator of the dual-rotor magnetic gear drive device according to an embodiment of the present invention; Figure 4 This is a rear view of the stator of the dual-rotor magnetic gear drive device according to an embodiment of the present invention; Figure 5 This is a structural diagram of the inner rotor of the dual-rotor magnetic gear drive device according to an embodiment of the present invention; Figure 6 This is a structural diagram of the outer rotor of the dual-rotor magnetic gear drive device according to an embodiment of the present invention.

[0022] The attached figures are labeled as follows: 1. Inner shaft; 2. Inner rotor permanent magnet; 3. Front end cover; 4. Outer rotor housing; 5. Outer rotor permanent magnet; 6. Winding bushing; 7. Stator modulation teeth; 8. Stator fastener; 9. Power drive controller. Detailed Implementation

[0023] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] like Figures 1 to 6 As shown, the dual-rotor magnetic gear drive device of the present invention adopts the following technical solution: The dual-rotor magnetic gear drive device is a high-torque-density and high-efficiency dual-rotor magnetic gear drive system, including a dual-rotor magnetic gear motor, a power drive controller 9, and a motor base. The power drive controller 9 is fixedly installed on the motor base, forming an integrated coaxial layout structure with the dual-rotor magnetic gear motor. The power drive controller 9 is directly electrically connected to the motor stator winding through a dedicated electrical connection terminal, which minimizes the power transmission path, reduces circuit parasitic inductance, and improves the overall power density and electromagnetic compatibility performance of the system. The power drive controller 9 adopts a liquid-cooled heat dissipation structure to meet the high-efficiency heat dissipation requirements under high-power conditions.

[0026] The dual-rotor magnetic gear motor adopts a radial three-layer coaxial nested structure, consisting of an outer rotor, a stator, and an inner rotor, arranged coaxially along the central axis of the motor. A uniform air gap is formed between adjacent moving parts, eliminating mechanical friction contact. The motor housing, together with the front and rear covers, forms a closed protective structure. The inner and outer rotors are supported inside the housing by bearing assemblies, effectively ensuring the structural stability and rotational coaxiality of the motor during operation.

[0027] The outer rotor includes an outer rotor housing 4 and an outer rotor permanent magnet 5. The outer rotor permanent magnet 5 is evenly arranged circumferentially along the inner wall of the outer rotor housing 4 to form a complete magnetic pole structure. In this embodiment, the outer rotor adopts a 19-pole permanent magnet structure. The outer rotor is supported and installed inside the motor housing by a bearing assembly. An output flange is provided on the outer side of the outer rotor housing 4, which can be directly connected to an external load for outputting low-speed, high-torque.

[0028] The stator is located in the radially intermediate region between the outer and inner rotors, and includes the stator core, stator modulation teeth 7, winding bushings 6, stator fasteners 8, and three-phase armature windings. The stator core is formed by stacking high-permeability silicon steel sheets and has 24 evenly distributed stator slots. The winding bushings 6 are embedded inside the stator slots to provide insulation and mechanical support for the three-phase armature windings. The three-phase armature windings are wound in the stator slots and can generate a controllable rotating magnetic field in the air gap when three-phase alternating current is applied. The stator modulation teeth 7, as the core component of the magnetic circuit, have the dual functions of winding support and magnetic permeability modulation, and are used to perform spatial harmonic modulation of the inner rotor magnetic field. The stator core is fixedly connected to the motor housing by the stator fasteners to ensure the overall stability of the stator structure.

[0029] The inner rotor includes an inner shaft 1 and an inner rotor permanent magnet 2. The inner rotor permanent magnet 2 is evenly arranged circumferentially along the outer surface of the inner shaft 1 to form a complete magnetic pole structure. In this embodiment, the inner rotor adopts a 5-pole permanent magnet structure. The inner shaft 1 is mounted between the front end cover 3 and the rear end cover of the motor through a bearing assembly, so that the inner rotor can rotate at high speed and stably under the action of the stator's rotating magnetic field. A rotary transformer rotor is fixedly mounted on the inner shaft, and a rotary transformer stator is installed at the corresponding position on the stator structure. The two work together to form a rotor position detection device, which collects the motor rotor position signal in real time and provides data support for closed-loop control.

[0030] During operation of the drive system, the power drive controller 9 supplies controllable three-phase alternating current to the stator three-phase armature windings, establishing a rotating magnetic field in the air gap. The inner rotor permanent magnet 2 generates a 5-pole permanent magnet magnetic field. Under the magnetic permeability modulation of the 24 stator magnetic permeability modulation teeth, this magnetic field forms multiple spatial harmonic magnetic field components of different orders in the air gap. The number of harmonic magnetic field pole pairs matching the outer rotor magnetic pole structure satisfies the following relationship:

[0031] In the formula: The number of pole pairs of the internal rotor. The number of stator modulation teeth. This represents the number of pole pairs of the external rotor.

[0032] In this embodiment, the number of pole pairs of the inner rotor is... Number of stator modulation teeth Number of external rotor pole pairs Therefore, a spatial harmonic magnetic field matching the magnetic pole structure of the outer rotor is formed in the air gap. This harmonic magnetic field interacts with the magnetic field of the permanent magnet 5 of the outer rotor, realizing the spatial harmonic conversion from a low-pole logarithmic magnetic field to a high-pole logarithmic magnetic field, thereby generating electromagnetic torque and driving the outer rotor to rotate at low speed, realizing electromagnetic speed reduction transmission without mechanical deceleration.

[0033] In this embodiment, the dual-rotor magnetic gear high torque density high efficiency drive system is composed of two main parts: the motor body and the power drive controller 9. The power drive controller 9 is fixedly mounted on the motor base and integrates a power inverter module, a control module and a current detection module. It is directly connected to the stator winding through a dedicated motor terminal, which greatly shortens the length of the system connection wires, improves the structural compactness, effectively reduces parasitic inductance and suppresses electromagnetic interference, thereby improving the system operating efficiency.

[0034] The motor body adopts a dual-rotor magnetic gear structure, consisting of an outer rotor, a stator, and an inner rotor. The three are arranged coaxially along the axis to form a three-layer radial nested structure. The outer rotor is located on the outermost side of the motor. Multiple fan-shaped permanent magnets are installed on the inner wall of the outer rotor housing. The permanent magnets are arranged alternately along the circumference to form a 19-pole magnetic structure. The outer rotor is supported and engaged with the stator and inner rotor through bearing assemblies, and is connected to the front cover through fasteners. The front cover is equipped with an output shaft, which can directly output low-speed, high-torque to external loads.

[0035] The stator is positioned between the outer and inner rotors. The stator teeth, made of high-permeability silicon steel sheets, number 24 in total. These teeth are arranged circumferentially, alternating with 24 hollow sector-shaped ceramic winding bushings, and are connected to the stator mounting. A three-phase armature winding is embedded inside the stator. A rotary transformer stator is fixed inside the stator mounting, coaxially positioned with the inner rotor. The inner rotor is located at the innermost part of the motor. Sector-shaped permanent magnets 2 are attached to the outer wall of the inner shaft 1, forming a 5-pole structure. A rotary transformer rotor is fixed on the inner shaft 1, cooperating with the rotary transformer stator on the stator mounting to form a rotor rotation angle detection unit.

[0036] During system operation, the power drive controller 9 supplies controllable three-phase current to the stator three-phase armature winding, causing the stator to generate a rotating magnetic field in the air gap. Under the action of this rotating magnetic field, the inner rotor permanent magnet generates electromagnetic torque and achieves rotation. The five pairs of pole magnetic fields generated by the inner rotor permanent magnet form multiple spatial harmonic magnetic field components in the air gap under the magnetic permeability modulation of the 24 stator modulation teeth. Among them, the spatial harmonic magnetic field matching the number of pole pairs of the outer rotor 19 interacts with the magnetic field of the outer rotor permanent magnet, thereby generating electromagnetic torque and driving the outer rotor to rotate at low speed, realizing electromagnetic deceleration transmission without mechanical contact.

[0037] The entire machine abandons the traditional mechanical reducer and has the characteristics of no wear and low noise. Relying on the integrated design and optimized magnetic circuit structure, it has high torque density, high efficiency and high reliability, and can be widely adapted to various precision transmission scenarios.

[0038] In one embodiment of the present invention, the drive control of the dual-rotor magnetic gear drive device by the power drive controller 9 includes the following steps: 1. System initialization and pole pair configuration.

[0039] Before starting the system, first configure the number of pole pairs of the inner rotor using a host computer or parameter configuration tool. p r Number of stator modulation teeth N s and number of pole pairs of the external rotor p o Write the parameters into the parameter memory of the power drive controller 9 so that the three satisfy the magnetic field modulation relationship. p o= N s- p r .

[0040] 2. Conversion of external rotor commands to internal rotor targets.

[0041] The power drive controller 9 receives speed commands for the external rotor from an external upper-level controller. (Unit: revolutions per minute) and torque command (Unit: N·m). Based on the magnetic field modulation formula and the counter-rotation characteristics of the outer and inner rotors, the controller calculates the target speed of the inner rotor. and target torque : , The negative sign indicates that the inner rotor and the outer rotor rotate in opposite directions. When configured... p r =5, N s =24, p o When =19, the transmission ratio in this embodiment is The outer rotor outputs a larger torque at a lower speed, while the inner rotor operates at a higher speed.

[0042] 3. Internal rotor position detection and speed calculation.

[0043] During normal operation of the rotary transformer, the power drive controller 9 acquires the absolute position signal of the inner rotor in real time through the rotary transformer. (Unit: radians). The rotary transformer rotor is fixedly mounted on the inner rotating shaft 1, and the rotary transformer stator is mounted on the stator. The two work together to output a high-precision absolute position signal.

[0044] Controller for absolute position signal Perform differential calculations to obtain the actual rotational speed of the inner rotor. (Unit: revolutions per minute): The actual rotational speed It will be used for closed-loop speed control.

[0045] 4. Calculation of d-axis current reference value and q-axis current reference value.

[0046] Based on the target torque of the inner rotor Permanent magnet flux (In this embodiment) Determined by the magnetic properties of the inner rotor permanent magnet 2 (which is a known constant) and the actual rotational speed of the inner rotor. Controller calculation d Shaft current reference value and q Shaft current reference value .

[0047] 4.1 q Calculation of shaft current reference value.

[0048] First, calculate the actual speed of the inner rotor. With target speed Speed ​​error:

[0049] The speed error is input to the speed PI controller. To balance dynamic response speed and steady-state accuracy, this embodiment uses variable parameter PI control: when | When the value is greater than the first threshold (e.g., 100 rpm), take the larger scaling factor K. p and integral coefficient K i To expedite the response; when | When the speed is less than the second threshold (e.g., 10 rpm), a smaller proportional and integral coefficient is used to suppress overshoot. The calculation yields... q Intermediate value of shaft current reference:

[0050] Meanwhile, the load torque of the outer rotor is estimated in real time through a preset load observer. Based on the magnetic field modulation relation Calculate the load used to compensate for the external rotor load. q Shaft current feedforward compensation term:

[0051] Will q The intermediate value of the shaft current reference is added to the feedforward compensation term to obtain... q Axis current synthesis reference value .

[0052] To prevent current commands from exceeding hardware physical limits, sequentially... Perform amplitude limiting and rate of change limiting. Amplitude limiting restricts the command to... Within the range, among which, The capacity of the power drive controller 9 and the rated current of the motor are jointly determined. In this embodiment, we take... =200 Amperes. The rate of change limit restricts the amount of command change per control cycle (100 microseconds in this embodiment) to a limit of 200 Amperes. Within the range, among which, From DC bus voltage and q The shaft inductance determines this. Ultimately, we obtain... q Shaft current reference value:

[0053] 4.2 d Calculation of shaft current reference value.

[0054] d-axis current reference value Based on the actual speed of the inner rotor Confirmed. When Below base speed (This embodiment) When (=3000 rpm), use =0 control strategy to maximize torque-to-current ratio, i.e. =0. When When the base velocity is exceeded, the region enters the field weakening control region, and the field weakening control function is applied. Calculate the negative d The shaft current reference value is used to maintain voltage balance and prevent inverter output voltage saturation.

[0055] 5. Current sampling and coordinate transformation.

[0056] The power drive controller 9 collects the phase current of the three-phase armature winding in real time through a current sensor. , , First, the phase currents in the three-phase stationary coordinate system are converted into currents in the two-phase stationary coordinate system using Clark transformation. , .

[0057] Then, the absolute position signal of the inner rotor is acquired using a rotary transformer via Park transform. Converting the current in a two-phase stationary coordinate system into... d - q Actual current value in rotating coordinate system and .

[0058] 6. Calculation of current error and voltage reference value.

[0059] calculate d Shaft current error andq Shaft current error .

[0060] Will d Shaft current error input to d Axis current PI regulator, and based on d Calculation of shaft voltage feedforward decoupling term d Shaft voltage reference value:

[0061] in, The electric angular velocity of the inner rotor is... for q Shaft inductance, feedforward term For q Axis current pair d The coupling effect of the axis.

[0062] Will q Shaft current error input q Axis current PI regulator, and based on q Calculation of shaft voltage feedforward decoupling term q Shaft voltage reference value:

[0063] in, for d Shaft inductor, For permanent magnet flux linkage, feedforward term Used for compensation d The coupled back electromotive force generated by the shaft current and the rotating back electromotive force of the permanent magnet.

[0064] 7. Voltage reference value coordinate inverse transformation and PWM modulation.

[0065] Will d - q Shaft voltage reference value and The voltage reference value is converted to a two-phase stationary coordinate system by inverse Park transformation. , . Then, the voltage reference value is converted to a three-phase stationary coordinate system using the inverse Clark transformation. , , .

[0066] Finally, the three-phase voltage reference values ​​are converted into PWM control signals using space vector pulse width modulation (SVPWM) technology and output to the three-phase armature windings of the stator.

[0067] 8. Implementation of electromagnetic speed reduction transmission.

[0068] After a PWM control signal is applied to the three-phase armature winding, a rotating magnetic field is generated in the air gap, driving the inner rotor to rotate at the target speed. and target torque Rotation. The number of pole pairs generated by the rotation of the inner rotor is... p r A permanent magnet magnetic field of =5 passes through a quantity of... N s = After spatial magnetic permeability modulation of the 7th stator modulation tooth of the 24th stator, a pole pair number of 7th pole pair is excited in the air gap. p o= N s- p r The dominant harmonic magnetic field is 19. This dominant harmonic magnetic field interacts with the magnetic field of the outer rotor permanent magnet 5, generating electromagnetic torque and driving the outer rotor to rotate at a speed of 19. Rotation enables electromagnetic speed reduction transmission without mechanical contact.

[0069] 9. Flexible collision protection.

[0070] During the rotation of the outer and inner rotors, the power drive controller 9 monitors the actual speed of the inner rotor in real time. and the actual speed of the outer rotor The actual speed of the outer rotor Position data can be obtained through a position sensor mounted on the outer rotor or through a sensorless algorithm based on back EMF observation.

[0071] According to the magnetic field modulation formula The controller calculates the theoretical speed of the outer rotor. And calculate the speed deviation. and its rate of change .

[0072] when Exceeding the preset speed deviation threshold (e.g., 50 rpm), and When the rate of change exceeds a preset threshold (e.g., 500 rpm), the controller determines that the outer rotor has encountered an external collision or a sudden overload. In response to this determination, the controller immediately... q Shaft current reference value By reducing the current to a preset safety value (e.g., 20% of the rated current), the electromagnetic torque output by the inner rotor is rapidly reduced, allowing the speed deviation to increase further, thereby achieving passive compliant buffering and avoiding mechanical hard collisions.

[0073] The controller continuously monitors the speed deviation. ,when After the speed deviation threshold is recovered and stabilized for more than a preset recovery time (e.g., 1 second), the q-axis current reference value is gradually restored according to a preset slope (e.g., 10% of the rated current per second). This brings the system back to normal operating status.

[0074] 10. Active observation and correction of harmonic magnetic fields.

[0075] To further improve control accuracy, this embodiment places a magnetic field sensing coil (such as a Hall sensor or a miniature flux coil) near the stator modulation tooth 7 to acquire the actual waveform signal of the air gap magnetic field in real time. .

[0076] controller to Perform a Fast Fourier Transform to extract the pole-log number. p o The actual amplitude of the harmonic component =19 and actual phase At the same time, based on the actual speed of the inner rotor Using the magnetic field modulation formula, calculate the theoretical amplitude of this harmonic component. and theoretical phase .

[0077] The actual amplitude is compared with the theoretical amplitude, and the actual phase is compared with the theoretical phase. When the actual amplitude deviates from the theoretical amplitude by more than an amplitude threshold (e.g., 5%), or the actual phase deviates from the theoretical phase by more than a phase threshold (e.g., 5 degrees), it is determined that the air gap magnetic field has been distorted. In response to this determination, the controller adjusts the d-axis current reference value. and / or q-axis current reference value This is to correct the amplitude and phase of the harmonic components and restore them to the preset tolerance range.

[0078] 11. Redundant observation without position sensors.

[0079] To ensure the system can continue to operate even in the event of a rotary transformer failure, this embodiment also provides a sensorless redundant observation function.

[0080] The controller monitors the absolute position signal output by the rotary transformer in real time. Simultaneously, the phase current response signal is acquired by injecting a high-frequency voltage signal (e.g., 1kHz frequency, 10V amplitude) into the three-phase armature winding or by utilizing the inherent high-frequency harmonics generated during the PWM switching process. The high-frequency current response component is extracted using a bandpass filter, from which a specific harmonic current component with a pole pair number of po=19, generated by the modulation of the inner rotor permanent magnet magnetic field by the stator modulation teeth, is extracted.

[0081] Based on the envelope variation of this specific harmonic current component, the observed position of the inner rotor is calculated using a phase-locked loop algorithm. Observation location The absolute position signal output by the rotary transformer Real-time comparison is performed. When the deviation between the two exceeds a preset position deviation threshold (e.g., 5 degrees) and continues for more than a preset fault confirmation time (e.g., 100 milliseconds), the rotary transformer is determined to have failed.

[0082] In response to the fault diagnosis, the controller automatically switches to a sensorless control mode, using the observed position. Replacement of absolute position signal As the angle input for the Park transform and inverse Park transform, it maintains the continuous operation of the system.

[0083] This method utilizes a specific harmonic current component with a pole pair count generated by modulating the permanent magnet magnetic field of the inner rotor through the stator modulation teeth. The observed position of the inner rotor is calculated by injecting a high-frequency signal or using PWM inherent harmonic excitation, combined with a phase-locked loop algorithm. This observation method fully leverages the inherent modulation characteristics of the dual-rotor magnetic gear motor, providing redundant position signals even in the event of a resolver failure without the need for additional hardware sensors. By comparing the observed position with the resolver signal in real time, rapid fault diagnosis and automatic switching are achieved, significantly improving the system's fault tolerance and operational reliability. It is particularly suitable for applications with extremely high reliability requirements, such as aerospace and robotics.

[0084] 12. Online estimation and compensation of temperature rise of the internal rotor permanent magnet.

[0085] Because the inner rotor rotates at high speed and is in a closed environment, it is difficult to directly measure its temperature. This embodiment performs temperature compensation through indirect estimation.

[0086] The controller monitors the temperature of the three-phase armature windings of the stator in real time. (Through temperature sensors embedded in the windings) and the power module temperature of the power drive controller 9 Based on the actual speed of the inner rotor q-axis actual current and winding temperature Based on the pre-defined thermal rise model of the inner rotor permanent magnet, the current temperature of the inner rotor permanent magnet is estimated online. .

[0087] according to The preset permanent magnet flux linkage-temperature characteristic curve is queried (in this embodiment, the temperature coefficient of the NdFeB permanent magnet is approximately -0.11% / ℃), and the permanent magnet flux linkage is corrected. The value of . The corrected The values ​​are substituted into the calculation of the q-axis current feedforward compensation term and the voltage feedforward decoupling term to compensate for the impact of temperature changes on the motor control accuracy.

[0088] To address the engineering challenge of direct temperature measurement due to the enclosed rotation of the inner rotor, this method monitors the stator winding temperature, power module temperature, and inner rotor speed. q The shaft current, combined with a pre-defined permanent magnet temperature rise model, is used to estimate the current temperature of the inner rotor permanent magnet online. The permanent magnet flux linkage parameters are corrected based on the temperature and incorporated into feedforward compensation and voltage decoupling calculations to compensate for the impact of temperature changes on control accuracy. This method effectively solves the performance drift problem caused by eddy current losses and frictional heating of the permanent magnet, ensuring the system's control accuracy and output stability across the entire temperature range.

[0089] 13. Thermal management and coordinated control.

[0090] The power drive controller 9 employs a liquid-cooled heat dissipation structure. The controller monitors the power module temperature in real time. Stator winding temperature And the coolant inlet and outlet temperatures. and Combined with externally input speed commands and torque command The system predicts the temperature rise trend within a preset time window (e.g., 10 seconds).

[0091] When predicted or The preset safety threshold will be exceeded within this time window (e.g.) >85℃ or At temperatures above 120℃, the controller automatically implements a derating strategy: limiting the q-axis current reference value. The system sets its maximum value, reduces the PWM switching frequency, actively adjusts the current phase angle to reduce copper or iron losses, and sends a power derating request to the vehicle controller or upper-level control system. Once the temperature returns to below the safe threshold, the derating strategy is gradually lifted, restoring the system's rated performance.

[0092] By integrating the liquid-cooled heat dissipation structure of the drive controller, the system monitors the power module temperature, stator winding temperature, and coolant parameters in real time to predict the system temperature rise trend. When the predicted temperature exceeds the safety threshold, a derating strategy is automatically implemented (limiting the q-axis current, reducing the switching frequency, adjusting the current phase angle, or sending a power reduction request) to prevent the system from overheating and being damaged. After the temperature recovers, the derating is gradually lifted, achieving a dynamic balance between thermal safety and system performance.

[0093] 14. Fault diagnosis and fault-tolerant operation.

[0094] The controller monitors the output signals of the rotary transformer, current sensor, and temperature sensor in real time, constructs a mathematical model of the motor based on the number of pole pairs pr of the inner rotor, the number of modulation teeth Ns of the stator, and the number of pole pairs po of the outer rotor, and generates expected values ​​for each sensor based on this model. The actual output values ​​of each sensor are compared with the expected values. When the actual output value of any sensor deviates from the expected value by more than a preset fault threshold, the sensor is determined to have failed.

[0095] Depending on the type of faulty sensor, the controller executes the corresponding fault-tolerant control strategy: If the rotary transformer fails, switch to the above-mentioned sensorless redundant observation mode. If a phase current sensor fails, the system switches to two-phase current reconstruction three-phase current mode. If the temperature sensor malfunctions, switch to the temperature estimation mode based on the thermal model.

[0096] The controller records fault codes and sends fault alarm signals to the upper-level control system via the communication interface, facilitating timely handling by maintenance personnel.

[0097] Rapid sensor fault diagnosis is achieved by comparing actual and expected values. Corresponding fault-tolerance strategies are implemented based on the fault type: switching to a sensorless mode for a rotary transformer fault, employing a two-phase reconstructed three-phase current mode for a current sensor fault, and switching to a thermal model estimation mode for a temperature sensor fault. This comprehensive fault diagnosis and fault-tolerance mechanism, combined with fault code logging and alarm functions, improves the system's maintainability and task reliability.

[0098] Beneficial effects of the embodiments of the present invention: Employing the principle of magnetic field modulation to achieve pure electromagnetic speed reduction transmission completely eliminates mechanical reduction mechanisms, eradicating gear wear, transmission backlash, and operating noise at the source, reducing later maintenance costs, and significantly improving system transmission accuracy and long-term operational reliability. Through precise magnetic circuit matching of 5 pairs of inner-pole rotors, a 24-tooth stator, and 19 pairs of outer-pole rotors, efficient magnetic field modulation and torque amplification are achieved, enabling low-speed, high-torque output in a compact size, effectively improving system torque and power density. The power drive controller and motor body adopt an integrated layout, significantly shortening the power phase line connection length, reducing parasitic inductance and electromagnetic interference in the power circuit, reducing the number of external wiring connections, and improving system compactness and electromagnetic compatibility performance. The power drive controller is equipped with a liquid-cooled heat dissipation structure, adapting to high-power continuous operation conditions, and with optimized magnetic circuit design to reduce motor losses, the overall system operating efficiency is significantly improved.

[0099] By pre-configuring the number of pole pairs of the inner rotor, the number of modulation teeth of the stator, and the number of pole pairs of the outer rotor to satisfy the magnetic field modulation relationship, and converting the speed and torque commands of the outer rotor into the target speed and target torque of the inner rotor according to the transmission ratio, decoupling control of the inner and outer rotors is achieved. This method fully utilizes the inherent reduction characteristics of the magnetic gear motor, enabling the inner rotor to operate at a higher speed and the outer rotor to output a large torque at a lower speed. A stable transmission ratio can be obtained without a mechanical reduction mechanism, fundamentally eliminating problems such as gear wear, transmission backlash, and operating noise. In the speed loop control, a variable parameter PI regulator is used, dynamically adjusting the proportional and integral coefficients according to the absolute value of the speed error: high gain is used to accelerate the response speed when the error is large, and low gain is used to suppress overshoot when the error is small, balancing dynamic response and steady-state accuracy. At the same time, the load torque of the outer rotor is estimated in real time through a load observer, and the target torque is calculated based on the magnetic field modulation relationship. q The shaft current feedforward compensation term offsets the impact of load changes on rotational speed in advance, significantly improving the system's anti-disturbance capability and dynamic response performance.

[0100] Utilizing the independent rotational structure of the inner and outer rotors of a dual-rotor magnetic gear motor, the actual rotational speeds of the inner and outer rotors are monitored in real time. The theoretical rotational speed of the outer rotor is calculated based on the magnetic field modulation formula. External collisions or sudden overloads are detected by analyzing the rotational speed deviation and its rate of change. Upon detection of a collision, the speed is immediately reduced... q The shaft current reference value rapidly reduces the output torque of the inner rotor, allowing for further increases in speed deviation and achieving passive compliance buffering. This mechanism requires no additional torque sensor and relies on the inherent characteristics of the motor to achieve intrinsically safe collision protection.

[0101] The above description is merely a specific embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any substitution of equivalent components or equivalent changes and modifications made within the scope of protection of this patent should still fall within the scope of this patent. Furthermore, the technical features, technical features and technical solutions, and technical solutions in this invention can be freely combined and used.

Claims

1. A dual-rotor magnetic gear drive device, characterized in that, include: Dual-rotor magnetic gear motor, power drive controller (9) and motor base; The power drive controller (9) is fixedly installed on the motor base and is coaxially integrated with the dual rotor magnetic gear motor. The power drive controller (9) is electrically connected to the stator winding of the dual rotor magnetic gear motor through an electrical connection terminal. The dual-rotor magnetic gear motor comprises, from the outside to the inside, an outer rotor, a stator, and an inner rotor arranged coaxially along the central axis of the motor, wherein the outer rotor and the inner rotor rotate in opposite directions. The outer rotor includes an outer rotor housing (4) and an outer rotor permanent magnet (5) disposed on the inner wall of the outer rotor housing (4). The inner rotor includes an inner rotating shaft (1) and an inner rotor permanent magnet (2) disposed on the outer surface of the inner rotating shaft (1). The stator includes a stator core, a winding bushing (6), and a three-phase armature winding disposed in the stator core. The winding bushing (6) is disposed in the stator slot of the stator core and is used to provide insulation support for the three-phase armature winding. The stator core is provided with multiple stator modulation teeth (7), which are used to perform spatial harmonic modulation on the magnetic field generated by the inner rotor.

2. The dual-rotor magnetic gear drive device according to claim 1, characterized in that, The dual-rotor magnetic gear drive device also includes a rotary transformer, which includes a rotary transformer stator and a rotary transformer rotor. The rotary transformer rotor is fixedly mounted on the inner shaft of the inner rotor, and the rotary transformer stator is mounted on the stator.

3. The dual-rotor magnetic gear drive device according to claim 1, characterized in that, The number of pole pairs of the inner rotor permanent magnet (2) p r The number of stator modulation teeth (7) is 5. N s The number of pole pairs of the outer rotor permanent magnet (5) is 24. p o It is 19.

4. A drive control method, wherein a power drive controller (9) is used to drive and control the dual-rotor magnetic gear drive device according to any one of claims 1 to 3, characterized in that, Includes the following steps: Configure the pole pair number relationship of the inner rotor, stator and outer rotor so that the number of pole pairs of the inner rotor permanent magnet (2) is... p r The number of stator modulation teeth (7) N s The number of pole pairs of the outer rotor permanent magnet (5) p o Satisfying the magnetic field modulation relation p o= N s- p r ; Based on the externally input speed command and torque command The target rotational speed of the inner rotor is calculated. and target torque ,in, ; When the rotary transformer is operating normally, the absolute position signal of the inner rotor is acquired in real time through the rotary transformer. For the absolute position signal Perform differential calculations to obtain the actual rotational speed of the inner rotor. ; According to the target torque The permanent magnet flux linkage of the inner rotor permanent magnet (2) and the actual rotational speed of the inner rotor Calculations yielded d Shaft current reference value and q Shaft current reference value ; The phase currents of the three-phase armature windings are acquired in real time, and the phase currents are converted into phase currents using Clark and Park transformations, respectively. d Shaft current reference value and stated q Shaft current reference value Convert to d - q Rotating coordinate system d Actual shaft current value and q Actual shaft current value ; Through the above d Shaft current reference value The above d Actual shaft current value The above q Shaft current reference value and stated q Actual shaft current value Calculations yielded d Shaft voltage reference value and q Shaft voltage reference value ; The inverse Park transform and inverse Clark transform are used to transform the... d Shaft voltage reference value and stated q Shaft voltage reference value The voltage reference value is converted into a three-phase stationary coordinate system, and then the voltage reference value is converted into a PWM control signal and output to the three-phase armature winding of the stator. After the PWM control signal is applied to the three-phase armature winding, a rotating magnetic field is generated in the air gap, driving the inner rotor to rotate at the target speed. and the target torque Rotation, causing the inner rotor to rotate, produces a number of pole pairs. The permanent magnet magnetic field, through a number of After the spatial magnetic permeability modulation of the stator modulation tooth (7) is performed, a number of pole pairs is excited in the air gap. p o= N s- p r The dominant harmonic magnetic field interacts with the magnetic field of the outer rotor permanent magnet (5) to generate electromagnetic torque, driving the outer rotor to rotate at a speed of Rotate.

5. The drive control method according to claim 4, characterized in that, According to the target torque The permanent magnet flux linkage of the inner rotor permanent magnet (2) and the actual rotational speed of the inner rotor Calculations yielded d Shaft current reference value and q Shaft current reference value ,include: Calculate the actual rotational speed of the inner rotor. With the target rotational speed Speed ​​error ; The speed error The input is sent to the speed PI regulator, based on the speed error. The absolute value of the PI parameter is dynamically adjusted to calculate the inner rotor. q Intermediate value of shaft current reference ,in, ; The load torque of the outer rotor is estimated in real time using a preset load observer. Based on the magnetic field modulation relationship Calculate the load used to compensate for the external rotor load. q Shaft current feedforward compensation term ,in, ; The q Intermediate value of shaft current reference With the aforementioned feedforward compensation term Add them together to get q Axis current synthesis reference value Regarding the above q Axis current synthesis reference value By sequentially limiting the amplitude and the rate of change, we obtain... q Shaft current reference value ,in, , This is the amplitude limiting function. The rate of change is a limiting function. To the maximum allowed q Axis current amplitude, Maximum allowed per control cycle q Change in shaft current.

6. The drive control method according to claim 4, characterized in that, Through the above d Shaft current reference value The above d Actual shaft current value The above q Shaft current reference value and stated q Actual shaft current value Calculations yielded d Shaft voltage reference value and q Shaft voltage reference value ,include: Calculate the d Shaft current reference value With the d Actual shaft current value of d Shaft current error ; Calculate the q Shaft current reference value With the q Actual shaft current value of q Shaft current error ; The d Shaft current error Enter to d Axis current PI regulator, and based on d The calculation of the shaft voltage feedforward decoupling term is obtained d Shaft voltage reference value ,in, , The electric angular velocity of the inner rotor is... for q Shaft inductance; The q Shaft current error Enter to q Axis current PI regulator, and based on q The calculation of the shaft voltage feedforward decoupling term is obtained q Shaft voltage reference value ,in, , for d Shaft inductor, It is a permanent magnet flux linkage.

7. The drive control method according to claim 4, characterized in that, Also includes: When driving the outer rotor and the inner rotor to rotate, flexible collision protection is provided for the outer rotor and the inner rotor based on the speed difference between the two rotors, including the following steps: Real-time monitoring of the actual speed of the inner rotor and the actual speed of the outer rotor ; According to the magnetic field modulation formula The theoretical rotational speed of the outer rotor was calculated. ; Calculate speed deviation And calculate the rate of change of the rotational speed deviation. ; When the speed deviation The speed deviation exceeds a preset threshold, and the rate of change of the speed deviation is... When the rate of change exceeds a preset threshold, it is determined that the outer rotor has encountered an external collision or a sudden overload; If the outer rotor encounters an external collision or a sudden overload, the q Shaft current reference value Adjust to below the preset safety value; Continuously monitor the speed deviation When the speed deviation After the rotational speed has recovered to within the preset speed deviation threshold and stabilized for more than a preset recovery time, it gradually recovers according to a preset slope. q Shaft current reference value .

8. The drive control method according to claim 4, characterized in that, Also includes: Real-time monitoring of the dominant harmonic magnetic field, and observation and repair of the dominant harmonic magnetic field, including the following steps: A magnetic field sensing coil is placed near the stator modulation tooth (7); The actual waveform signal of the dominant harmonic magnetic field is acquired in real time by the magnetic field sensing coil. ,in, t For time; For the actual waveform signal Perform a Fast Fourier Transform to extract the pole-log number. The actual amplitude of the harmonic components and actual phase ; Based on the actual speed of the inner rotor Based on the magnetic field modulation relationship, calculate the theoretical amplitude of the harmonic components. and theoretical phase ; The actual amplitude With the theoretical amplitude Compare the actual phases. With the theoretical phase Compare; When the actual amplitude Deviation from the theoretical amplitude Exceeding the amplitude threshold, or the actual phase Deviation from the theoretical phase When the phase threshold is exceeded, it is determined that the air gap magnetic field has been distorted; If distortion occurs, adjust d Shaft current reference value and / or q Shaft current reference value This is to correct the amplitude and phase of the harmonic components, so that the harmonic components are restored to a preset tolerance range.

9. The drive control method according to claim 4, characterized in that, Also includes: Achieving continuous operation of the drive control method through a sensorless control method includes: Real-time monitoring of the absolute position signal output by the rotary transformer The phase current response signal is acquired by injecting a high-frequency voltage signal into the three-phase armature winding or by utilizing the inherent high-frequency harmonics generated during the PWM switching process. The high-frequency current response component in the phase current response signal is extracted by using a bandpass filter; From the high-frequency current response components, extract the pole pair number generated by the modulation of the inner rotor permanent magnet magnetic field by the stator modulation teeth. Specific harmonic current components; Based on the envelope variation of the specific harmonic current component, the observed position of the inner rotor is calculated using a phase-locked loop algorithm. ; The observation location With the absolute position signal Real-time comparison is performed, and when the deviation between the two exceeds a preset position deviation threshold and continues for a preset fault confirmation time, the rotary transformer is determined to have failed. If the rotary transformer malfunctions, it automatically switches to a sensorless control mode, using the observed position. Replace the absolute position signal As the angle input for the Park transform and inverse Park transform.

10. The drive control method according to claim 4, characterized in that, Also includes: Real-time monitoring of the temperature of the three-phase armature windings of the stator and the power module temperature of the power drive controller (9) ; Based on the actual speed of the inner rotor , q Shaft actual current and the winding temperature of the three-phase armature winding Based on a pre-defined thermal model of the inner rotor permanent magnet, the current temperature of the inner rotor permanent magnet is estimated online. ; Based on the current temperature Query the preset permanent magnet flux linkage-temperature characteristic curve and correct the permanent magnet flux linkage. The value of ; The corrected permanent magnet magnetic flux Substitution q In the calculation of shaft current feedforward compensation term and voltage feedforward decoupling term, the influence of temperature change on motor control accuracy is compensated.

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