Motor control device and motor control system

Abstract

The application relates to a motor control device and a motor control system. The device comprises a first PI controller, a second PI controller and an adjusting module. The device comprises a first control loop and a second control loop. The first control loop comprises the first PI controller and the adjusting module. The second control loop comprises the second PI controller and the adjusting module. The first PI controller is used for outputting a q-axis voltage signal according to a power error signal. The second PI controller is used for outputting a d-axis voltage signal according to a d-axis current error signal. The adjusting module is used for outputting a driving signal to a motor according to the q-axis voltage signal and the d-axis voltage signal, and is used for outputting the power error signal to the first PI controller according to a three-phase current signal output by the motor, and is used for outputting the d-axis current error signal to the second PI controller according to the three-phase current signal output by the motor. The motor control device can reduce the calculation workload.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a motor control device and a motor control system. Background Technology

[0002] Constant power control of a motor refers to an input command representing the target power of the motor. When the input command remains unchanged, the motor's output power remains constant regardless of load changes. Traditional constant power control is achieved through closed-loop control of the motor power, that is, using the actual power of the motor as the feedback value, and adjusting the loop to make the actual feedback power equal to the target power used as a reference value.

[0003] However, the constant power control method for motors in related technologies suffers from problems such as large computational workload and inability to respond quickly. Utility Model Content

[0004] Therefore, it is necessary to provide a motor control device and motor control system that can reduce the computational workload in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a motor control device, comprising:

[0006] The system comprises a first PI controller, a second PI controller, and an adjustment module; the input terminal of the first PI controller is connected to the first output terminal of the adjustment module, the input terminal of the second PI controller is connected to the second output terminal of the adjustment module, the first input terminal of the adjustment module is connected to the output terminal of the first PI controller, and the second input terminal of the adjustment module is connected to the output terminal of the second PI controller.

[0007] The first PI controller is used to output a q-axis voltage signal based on the power error signal output by the adjustment module;

[0008] The second PI controller is used to output a d-axis voltage signal based on the d-axis current error signal output by the adjustment module;

[0009] The adjustment module is used to output a drive signal based on the q-axis voltage signal and the d-axis voltage signal, output a power error signal based on the three-phase current signal of the motor, and output a d-axis current error signal based on the three-phase current signal; the drive signal is used to drive the motor.

[0010] In one embodiment, the adjustment module includes:

[0011] The feedback component is connected to the output terminal of the first PI controller, the output terminal of the second PI controller, and the input terminal of the motor, respectively, and is used to generate a drive signal based on the q-axis voltage signal and the d-axis voltage signal;

[0012] The detection component is connected to the input terminals of the first PI controller, the second PI controller, and the output terminal of the motor, respectively, and is used to acquire the three-phase current signal output by the motor, and output a power error signal and a d-axis current error signal based on the three-phase current signal.

[0013] In one embodiment, the feedback component includes:

[0014] The first conversion unit is connected to the output terminal of the first PI controller and the output terminal of the second PI controller, respectively, and is used to convert the q-axis voltage signal and the d-axis voltage signal into a three-phase voltage signal.

[0015] The drive unit is connected to the output terminal of the first conversion unit and is used to output a drive signal to the motor according to the three-phase voltage signal.

[0016] In one embodiment, the first transformation unit includes:

[0017] The first conversion subunit is connected to the output terminal of the first PI controller and the output terminal of the second PI controller, respectively, and is used to convert the q-axis voltage signal and the d-axis voltage signal into the α-axis voltage signal and the β-axis voltage signal;

[0018] The second conversion subunit, connected to the first conversion subunit, is used to convert the α-axis voltage signal and the β-axis voltage signal into a three-phase voltage signal.

[0019] In one embodiment, the detection component includes:

[0020] The second conversion unit is connected to the output terminal of the motor and is used to convert the three-phase current signal into an α-axis current signal, a β-axis current signal and an actual d-axis current signal.

[0021] The first calculation unit is connected to the output terminal of the second conversion unit and the second input terminal of the first PI controller, respectively, and is used to output a power error signal based on the α-axis current signal, β-axis current signal, α-axis voltage signal, β-axis voltage signal and power reference signal;

[0022] The second calculation unit is connected to the output terminal of the second conversion unit and the second input terminal of the second PI controller, respectively, and is used to output the d-axis current error signal based on the actual d-axis current signal and the current reference signal.

[0023] In one embodiment, the second transformation unit includes:

[0024] The third conversion subunit is connected to the output terminal of the motor and is used to convert the three-phase current signal into α-axis current signal and β-axis current signal.

[0025] The fourth transformation subunit is connected to the output terminal of the third transformation subunit and is used to convert the α-axis current signal and β-axis current signal into the actual d-axis current signal.

[0026] In one embodiment, the first computing unit includes:

[0027] The first calculation subunit is connected to the output terminal of the second conversion unit and the output terminal of the first conversion subunit, and is used to output the actual power signal according to the α-axis current signal, β-axis current signal, α-axis voltage signal and β-axis voltage signal;

[0028] The second calculation subunit is connected to the output terminal of the first calculation subunit and the second input terminal of the first PI controller, and is used to output a power error signal based on the power reference signal and the actual power signal.

[0029] In one embodiment, the first computing unit further includes:

[0030] The filtering subunit is connected to the output terminal of the first calculation subunit and the input terminal of the second calculation subunit, respectively, and is used to filter the actual power signal.

[0031] In one embodiment, the detection component further includes:

[0032] The third calculation unit is connected to the motor, the first conversion unit, and the second conversion unit, respectively, and is used to acquire the rotor position information of the motor, generate angle information based on the rotor position information, so that the first conversion unit generates the α-axis voltage signal and the β-axis voltage signal based on the q-axis voltage signal, the d-axis voltage signal, and the rotor position information, and the second conversion unit generates the actual d-axis current signal based on the α-axis current signal, the β-axis current signal, and the rotor position information.

[0033] Secondly, this application provides a motor control system, the system including a motor and the motor control device described in any of the above embodiments.

[0034] The aforementioned motor control device and motor control system include a first PI controller, a second PI controller, and an adjustment module. The input terminal of the first PI controller is connected to the first output terminal of the adjustment module, and the input terminal of the second PI controller is connected to the second output terminal of the adjustment module. The first input terminal of the adjustment module is connected to the output terminal of the first PI controller, and the second input terminal of the adjustment module is connected to the output terminal of the second PI controller. The first PI controller can directly output a q-axis voltage signal based on the power error signal output by the adjustment module, and the second PI controller can directly output a d-axis voltage signal based on the d-axis current error signal output by the adjustment module. Compared with related technologies that require a divider and multiple PI controllers to obtain the q-axis voltage signal based on the power error signal, this application only requires one PI controller to obtain the q-axis voltage signal, reducing the computational workload of the control system and facilitating rapid response and parameter adjustment. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology 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.

[0036] Figure 1 This is a schematic diagram of the motor control device in one embodiment;

[0037] Figure 2 This is a schematic diagram of the motor control device in another embodiment;

[0038] Figure 3 This is a schematic diagram of the motor control device in another embodiment;

[0039] Figure 4 This is a schematic diagram of the motor control device in yet another embodiment;

[0040] Figure 5 This is a schematic diagram of the motor control device in another embodiment. Detailed Implementation

[0041] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0043] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0044] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as “below,” “under,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0045] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0046] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0047] As described in the background section, the constant power control loop in related technologies is overly complex. Typically, a three-phase current vector multiplier is used to calculate the actual d-axis power. The actual d-axis power is then compared with the target power to output the target q-axis power, which is sent to a divider. The divider then outputs the target q-axis current, and finally, an adder and a PI controller are used to obtain the q-axis voltage. Alternatively, a PI controller is typically used first to calculate the actual and target power to obtain the q-axis current, and then another PI controller is used to calculate the q-axis current and the given torque current to obtain the q-axis voltage. It is evident that the control loop of the motor control device in related technologies involves numerous dividers, PI controllers, and comparators, resulting in a large computational workload for the motor control device. This hinders rapid response and parameter tuning, and is insufficient for motor control with limited MCU resources or excessively high electrical frequencies.

[0048] In one exemplary embodiment, please refer to Figure 1 This application provides a motor control device, including: a first PI controller 1, a second PI controller 2, and an adjustment module 3. The input terminal of the first PI controller 1 is connected to the first output terminal of the adjustment module 3, the input terminal of the second PI controller 2 is connected to the second output terminal of the adjustment module 3, the first input terminal of the adjustment module 3 is connected to the output terminal of the first PI controller 1, and the second input terminal of the adjustment module 3 is connected to the output terminal of the second PI controller 2.

[0049] The motor control device of this application includes a first control loop and a second control loop. The first control loop includes a first PI controller 1 and an adjustment module 3; the second control loop includes a second PI controller 2 and an adjustment module 3.

[0050] The first PI controller 1 is used to output the q-axis voltage signal Uq based on the power error signal.

[0051] The second PI controller 2 is used to output the d-axis voltage signal Ud based on the d-axis current error signal.

[0052] The adjustment module is used to output drive signal S1 to the motor according to the q-axis voltage signal Uq and the d-axis voltage signal Ud, and to output power error signal △P to the first PI controller 1 according to the three-phase current signals Ia, Ib and Ic output by the motor 4, and to output d-axis current error signal △Id to the second PI controller 2 according to the three-phase current signals Ia, Ib and Ic output by the motor 4.

[0053] Understandably, in some related technologies, it is necessary to first use a PI controller to calculate the q-axis current signal based on the power error signal ΔP, and then use another PI controller to calculate the q-axis voltage signal Uq based on the q-axis current signal and the given torque current. The current loop PI controller requires a bandwidth of 500-2000Hz, which places high demands on the MCU's computing power (execution frequency), current sampling accuracy and delay, and PWM frequency. In order to achieve the best performance, the current loop PI controller needs to add back EMF feedforward and cross-coupled voltage compensation, which increases the complexity of the algorithm. The first PI controller 1 of this application is a slow regulator that does not require complex compensation, and its sensitivity to changes in motor parameters is relatively low under fixed or slowly changing operating conditions. The first PI controller 1 of this application ultimately eliminates steady-state error through integral action, and its dependence on parameters is "masked" by the slow speed of the loop itself. In this application, the q-axis current signal is the "result" of the q-axis voltage signal Uq being applied to the motor windings, rather than the "target" of direct control. When the load suddenly increases, the current will not be forced to follow a potentially large step command as in the current loop PI controller. The rise in current will be naturally limited by the motor inductance, and the change will be relatively smooth.

[0054] Meanwhile, the second PI controller 2 of this application can output a d-axis voltage signal Ud based on the d-axis current error signal output by the adjustment module 3. Finally, the adjustment module 3 can output a drive signal S1 to the motor 4 based on the d-axis voltage signal Ud output by the second PI controller 2 and the q-axis voltage signal Uq output by the first PI controller 1. Then, based on the three-phase current signals Ia, Ib, and Ic output by the motor 4, it outputs a d-axis current error signal ΔId and a power error signal ΔP, thereby completing closed-loop control.

[0055] The aforementioned motor control device includes a first PI controller, a second PI controller, and an adjustment module. The first PI controller and the adjustment module form a first control loop, and the second PI controller and the adjustment module form a second control loop. The first PI controller can directly output a q-axis voltage signal based on the power error signal output by the adjustment module, and the second PI controller can directly output a d-axis voltage signal based on the d-axis current error signal output by the adjustment module. Compared with related technologies that require a divider and multiple PI controllers to obtain the q-axis voltage signal from the power error signal, this application only requires one PI controller to obtain the q-axis voltage signal, reducing the computational workload of the control system and facilitating rapid response and parameter adjustment.

[0056] In one exemplary embodiment, please refer to Figure 2 The adjustment module 3 includes:

[0057] Feedback component 31 is connected to the output terminal of the first PI controller, the output terminal of the second PI controller, and the input terminal of the motor, respectively, and is used to generate drive signals based on the q-axis voltage signal and the d-axis voltage signal.

[0058] The detection component 32 is connected to the input terminal of the first PI controller, the input terminal of the second PI controller, and the output terminal of the motor, respectively, and is used to acquire the three-phase current signal output by the motor, and output the power error signal and the d-axis current error signal based on the three-phase current signal.

[0059] It is understood that the adjustment module 3 may include components such as a subtractor, a Park converter, a Clark converter, and an inverter. This application achieves functional modularity by specifically dividing the adjustment module 3 into a feedback component 21 and a detection component 32. The feedback component 31 is responsible for generating the drive signal, while the detection component 32 is responsible for extracting the error signal. This division of labor makes the system structure clearer and easier to implement and maintain. Modular design reduces coupling between components, improves system reliability and scalability, and further optimizes computational efficiency by using dedicated components to handle specific tasks.

[0060] In one exemplary embodiment, please refer to Figure 3 Feedback component 31 includes:

[0061] The first conversion unit 311 is connected to the output terminal of the first PI controller and the output terminal of the second PI controller, respectively, and is used to convert the q-axis voltage signal and the d-axis voltage signal into a three-phase voltage signal.

[0062] The drive unit 312 is connected to the output terminal of the first conversion unit and is used to output drive signals to the motor according to the three-phase voltage signals.

[0063] Specifically, the first conversion unit 311 includes a first conversion subunit and a second conversion subunit. The first conversion subunit can be an inverse PARK converter, and the second conversion subunit can be an SVPWM (Space Vector Pulse Width Modulation) converter. The first conversion subunit is connected to the output terminals of the first PI controller and the second PI controller, respectively, and is used to convert the q-axis voltage signal and the d-axis voltage signal into the α-axis voltage signal Ualpha and the β-axis voltage signal Upata. The second conversion subunit is connected to the first conversion subunit and is used to convert the α-axis voltage signal Ualpha and the β-axis voltage signal Upata into three-phase voltage signals Ua, Ub, and Uc.

[0064] This application first converts the q-axis voltage signal Uq and the d-axis voltage signal Ud into the α-axis voltage signal Ualpha and the β-axis voltage signal Upata through the first transformation subunit. Then, it converts the α-axis voltage signal Ualpha and the β-axis voltage signal Upata into the three-phase voltage signals Ua, Ub, and Uc. This step-by-step transformation method improves the accuracy and stability of coordinate transformation and avoids the errors that may be caused by direct transformation. The αβ coordinate system serves as an intermediate step, which simplifies the calculation process and reduces the real-time calculation burden.

[0065] The drive unit 312 may include a three-phase inverter, which can convert the input DC three-phase voltage signals Ua, Ub, and Uc into the three-phase AC power required by the motor, thereby driving the motor to generate the required torque and speed.

[0066] In one exemplary embodiment, the detection component 32 includes:

[0067] The second conversion unit 321 is connected to the output terminal of the motor and is used to convert the three-phase current signal into the α-axis current signal, the β-axis current signal and the actual d-axis current signal.

[0068] The first calculation unit 322 is connected to the output terminal of the second conversion unit and the second input terminal of the first PI controller, respectively, and is used to output a power error signal based on the α-axis current signal, β-axis current signal, α-axis voltage signal, β-axis voltage signal and power reference signal.

[0069] The second calculation unit 323 is connected to the output terminal of the second conversion unit and the second input terminal of the second PI controller, respectively, and is used to output the d-axis current error signal according to the actual d-axis current signal and the current reference signal.

[0070] Specifically, the second conversion unit 321 includes a third conversion subunit and a fourth conversion subunit. The third conversion subunit can be a CLACK converter, which is connected to the output terminal of the motor and can convert the three-phase current signals Ia, Ib, and Ic into the α-axis current signal Ialpha and the β-axis current signal Ibata. The fourth conversion subunit can be a PARK converter, which is connected to the output terminal of the third conversion subunit and is used to convert the α-axis current signal Ialpha and the β-axis current signal Ibata into the actual d-axis current signal Id.

[0071] The second transformation unit realizes the transformation from a three-phase stationary coordinate system to a two-phase stationary coordinate system through the third transformation subunit, and the transformation from a two-phase stationary coordinate system to a two-phase rotating coordinate system through the fourth transformation subunit. It processes the current signal step by step, ensuring the accurate extraction of the d-axis current and improving the accuracy of the current feedback.

[0072] The first calculation unit 322 includes a first calculation subunit and a second calculation subunit. The first calculation subunit can be a power calculator. It is connected to the output of the second conversion unit and the output of the first conversion subunit. It can output an actual power signal P_avg based on the α-axis current signal Ialpha, the β-axis current signal Ibata, the α-axis voltage signal Ualpha, and the β-axis voltage signal Ubata, where P_avg = 3 / 2 * (Ualpha * Ialpha + Ubata * Ibeta). The second calculation subunit can be a first subtractor. It is connected to the output of the first calculation subunit and the input of the first PI controller. It is used to output a power error signal based on the power reference signal P_ref and the actual power signal P_avg.

[0073] The second calculation unit 323 may include a second subtractor, which can output a d-axis current error signal based on the actual d-axis current signal Id and the current reference signal Id_ref.

[0074] In one exemplary embodiment, please refer to Figure 5 The first computing unit also includes:

[0075] The filtering subunit is connected to the output of the first calculation subunit and the input of the second calculation subunit, respectively, and is used to filter the actual power signal.

[0076] In the application, the power signal P_act calculated by the power calculator is the instantaneous power of the motor, which includes switching frequency ripple. Therefore, a filtering subunit can be set up to filter the actual power signal to obtain the final required actual power signal P_avg. The filtering subunit can be a low-pass filter.

[0077] In one exemplary embodiment, please continue to refer to Figure 5 The detection components also include:

[0078] The third calculation unit is connected to the motor, the first conversion unit, and the second conversion unit, respectively. It is used to acquire the rotor position information of the motor and generate angle information based on the rotor position information, so that the first conversion unit generates the α-axis voltage signal and the β-axis voltage signal based on the q-axis voltage signal, the d-axis voltage signal, and the rotor position information, and the second conversion unit generates the actual d-axis current signal based on the α-axis current signal, the β-axis current signal, and the rotor position information.

[0079] The third calculation unit can be a position calculator, which can acquire rotor position information and generate angle information to support coordinate transformation. This ensures the synchronization of the dq coordinate system with the rotor position and improves the accuracy of the transformation.

[0080] In one exemplary embodiment, this application provides a motor control system, the system including a motor and the motor control device in any of the above embodiments.

[0081] In summary, the motor control device and motor control system of this application do not require a divider, which shortens the execution time of the entire FOC control process. Simultaneously, it reduces the number of PI controllers in the FOC loop, reducing the design and tuning difficulty for users and decreasing the amount of code. The motor control device of this application is suitable for applications with high dynamic loads and rapid energy changes, such as stamping and die-casting machines. These types of equipment are characterized by short-time, high-peak power operation, requiring faster power response in these applications to avoid insufficient impact force, process failure, or even motor stalling due to insufficient power response.

[0082] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0083] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A motor control device, characterized in that, include: First PI controller, second PI controller, and regulation module; The input terminal of the first PI controller is connected to the first output terminal of the adjustment module, the input terminal of the second PI controller is connected to the second output terminal of the adjustment module, the first input terminal of the adjustment module is connected to the output terminal of the first PI controller, and the second input terminal of the adjustment module is connected to the output terminal of the second PI controller. The first PI controller is used to output a q-axis voltage signal based on the power error signal output by the adjustment module; The second PI controller is used to output a d-axis voltage signal based on the d-axis current error signal output by the adjustment module; The adjustment module is used to output a drive signal based on the q-axis voltage signal and the d-axis voltage signal, output a power error signal based on the three-phase current signal of the motor, and output a d-axis current error signal based on the three-phase current signal; the drive signal is used to drive the motor.

2. The motor control device according to claim 1, characterized in that, The adjustment module includes: The feedback component is connected to the output terminal of the first PI controller, the output terminal of the second PI controller, and the input terminal of the motor, respectively, and is used to generate a drive signal based on the q-axis voltage signal and the d-axis voltage signal; The detection component is connected to the input terminals of the first PI controller, the second PI controller, and the output terminal of the motor, respectively, and is used to acquire the three-phase current signal output by the motor, and output a power error signal and a d-axis current error signal based on the three-phase current signal.

3. The motor control device according to claim 2, characterized in that, The feedback component includes: The first conversion unit is connected to the output terminal of the first PI controller and the output terminal of the second PI controller, respectively, and is used to convert the q-axis voltage signal and the d-axis voltage signal into a three-phase voltage signal. The drive unit is connected to the output terminal of the first conversion unit and is used to output a drive signal to the motor according to the three-phase voltage signal.

4. The motor control device according to claim 3, characterized in that, The first transformation unit includes: The first conversion subunit is connected to the output terminal of the first PI controller and the output terminal of the second PI controller, respectively, and is used to convert the q-axis voltage signal and the d-axis voltage signal into the α-axis voltage signal and the β-axis voltage signal; The second conversion subunit, connected to the first conversion subunit, is used to convert the α-axis voltage signal and the β-axis voltage signal into a three-phase voltage signal.

5. The motor control device according to claim 4, characterized in that, The detection component includes: The second conversion unit is connected to the output terminal of the motor and is used to convert the three-phase current signal into an α-axis current signal, a β-axis current signal and an actual d-axis current signal. The first calculation unit is connected to the output terminal of the second conversion unit and the second input terminal of the first PI controller, respectively, and is used to output a power error signal based on the α-axis current signal, β-axis current signal, α-axis voltage signal, β-axis voltage signal and power reference signal; The second calculation unit is connected to the output terminal of the second conversion unit and the second input terminal of the second PI controller, respectively, and is used to output the d-axis current error signal based on the actual d-axis current signal and the current reference signal.

6. The motor control device according to claim 5, characterized in that, The second transformation unit includes: The third conversion subunit is connected to the output terminal of the motor and is used to convert the three-phase current signal into α-axis current signal and β-axis current signal. The fourth transformation subunit is connected to the output terminal of the third transformation subunit and is used to convert the α-axis current signal and β-axis current signal into the actual d-axis current signal.

7. The motor control device according to claim 5, characterized in that, The first computing unit includes: The first calculation subunit is connected to the output terminal of the second conversion unit and the output terminal of the first conversion subunit, and is used to output the actual power signal according to the α-axis current signal, β-axis current signal, α-axis voltage signal and β-axis voltage signal; The second calculation subunit is connected to the output terminal of the first calculation subunit and the input terminal of the first PI controller, and is used to output a power error signal based on the power reference signal and the actual power signal.

8. The motor control device according to claim 7, characterized in that, The first computing unit further includes: The filtering subunit is connected to the output terminal of the first calculation subunit and the input terminal of the second calculation subunit, respectively, and is used to filter the actual power signal.

9. The motor control device according to claim 5, characterized in that, The detection component also includes: The third calculation unit is connected to the motor, the first conversion unit, and the second conversion unit, respectively, and is used to acquire the rotor position information of the motor, generate angle information based on the rotor position information, so that the first conversion unit generates the α-axis voltage signal and the β-axis voltage signal based on the q-axis voltage signal, the d-axis voltage signal, and the rotor position information, and the second conversion unit generates the actual d-axis current signal based on the α-axis current signal, the β-axis current signal, and the rotor position information.

10. A motor control system, characterized in that, The system includes a motor and a motor control device as described in any one of claims 1-9.

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