CN103904975B - A kind of control method of salient-pole synchronous motor - Google Patents

Abstract

The invention relates to a control method of a salient-pole synchronous motor. Firstly, the dq coordinate system is transformed into the jm coordinate system, and the electromagnetic torque expression of the salient-pole synchronous motor in the dq coordinate system is transformed according to the coordinate transformation relationship, and the obtained An electromagnetic torque expression that decomposes the reluctance torque, and then selects the reserved items in the reluctance torque according to the size relationship of the orthogonal axis inductance, so as to realize the control of the salient pole synchronous motor. The control process is insensitive to parameters, there is no curve fitting, and the robustness is effectively improved compared with the MTPA method. In the whole control process of the present invention, it is only necessary to know the three-phase current of the salient pole synchronous motor and the rotor position information, as well as the relationship between the inductance L _d and L _q of the orthogonal axis, and it is not sensitive to the change of the motor parameters. The control is simple, the immunity is good, and the speed range is wide.

Description

A control method for a salient pole synchronous motor

technical field

The invention relates to a control method of a salient-pole synchronous motor, which is a control method by decomposing the reluctance torque of the salient-pole synchronous motor, and belongs to the technical field of AC motor transmission.

Background technique

At present, vector control technology has been widely used in the field of synchronous motor transmission due to its advantages of precise speed control, small torque ripple, and wide speed range. Aiming at the vector control of the salient pole synchronous motor, in order to make full use of its reluctance torque, a maximum torque-to-current ratio (MTPA) control method was developed. From the derivation process of the MTPA method, it can be known that MTPA can obtain the optimal current distribution effect of the orthogonal and direct axes, so as to achieve the maximum electromagnetic torque with the minimum current. In theory, this is an ideal control scheme. However, in practical applications, MTPA cannot achieve its desired effect. The main reasons are: (1) In the process of theoretical derivation, motor parameters such as the rotor flux linkage of the motor and the inductance of the AC/D axis are used. Since these parameters change with the speed, temperature and current of the motor during the operation of the motor, And it is constantly changing, and it is a nonlinear change, which makes the anti-disturbance performance of the control system worse. Therefore, in practical applications, the optimal distribution of the AC and D axis currents and the expected control effect cannot be achieved, and it will cause torque ripple, which will further affect the control accuracy. (2) In the MTPA control method, the calculation formula of the AC-D axis current is very complicated. The usual practice is to fit the AC-D axis current distribution curve offline, and then write it into microcontrollers such as single-chip microcomputers and DSPs for real-time control. The relevant knowledge of the analysis method shows that this offline fitting method can only meet the minimum error on the whole, so there may be large errors in some parts, which will cause the control accuracy to deteriorate. Combined with (1) The reason, the control effect will be further deteriorated.

Contents of the invention

technical problem to be solved

In order to avoid the shortcomings of the prior art, the present invention proposes a salient-pole synchronous motor control method to solve the problem that the maximum torque-to-current ratio (MTPA) method is greatly affected by parameters and calculations in actual use.

Technical solutions

A control method of a salient-pole synchronous motor decomposes the reluctance torque, and then selects a reserved item in the reluctance torque according to the size relationship of the orthogonal axis inductance, thereby realizing the control of the salient-pole synchronous motor. The technical feature is that it contains the following steps in turn:

Step 1: Perform PI adjustment according to the difference between the given speed n ^* and the feedback speed n to obtain the given quadrature axis current $i_q^{*}=K_{\mathrm{pn}}\·e_{\mathrm{no}}+K_{\mathrm{in}}\∫e_{\mathrm{no}}\mathrm{dt},K_{\mathrm{pn}}>0,K_{\mathrm{in}}>0;$ Among them: K _pn and K _in are the proportional and integral coefficients of the PI regulator respectively; e _n =n ^* -n;

Step 2: According to the given quadrature axis current Perform PI adjustment with the difference between the feedback quadrature axis current i _q to obtain a given quadrature axis voltage $u_q^{*}=K_{\mathrm{pq}}\·e_{\mathrm{iq}}+K_{\mathrm{iq}}\∫e_{\mathrm{iq}}\mathrm{dt},K_{\mathrm{pq}}>0,K_{\mathrm{iq}}>0;$ Among them: K _pq and K _iq are the proportional and integral coefficients of the PI regulator respectively; $e_{\mathrm{iq}}=i_q^{*}-i_q;$

Step 3: According to the size relationship of the orthogonal axis inductance, select the corresponding current component in the jm coordinate system for closed-loop adjustment, and output the given direct axis voltage after passing through the current PI regulator Specific steps are as follows:

Step (a) Rotate the dq-axis coordinate system clockwise by 45° to obtain the jm coordinate system;

Step (b) through the coordinate transformation formula Get current i _j , im from current _id , _{i q} ;

Step (c) Obtain the orthogonal axis inductance L _d and L _q according to the type of the motor. If L _d >L _q , perform closed-loop adjustment with the current component _im , and the given parameters are The feedback parameter is i _m ;

If L _d <L _q , the current component i _j is used for closed-loop regulation, and the given parameter is The feedback parameter is i _j ;

Step 4: Use the difference between the given parameter and the feedback parameter of the current component of the closed-loop control in step 3 to perform PI adjustment to obtain the given direct-axis voltage $u_d^{*}=K_{\mathrm{pd}}\&Center\; Dot;e_{\mathrm{id}}+K_{\mathrm{id}}\&Integral;e_{\mathrm{id}}\mathrm{dt},K_{\mathrm{pd}}>0,K_{\mathrm{id}}>0;$ Among them: K _pd and K _id are the proportional and integral coefficients of the PI regulator respectively;

If the current component for closed-loop control is i _m , then

If the current component for closed-loop control is i _j , then

Step 5: By the given orthogonal axis voltage component Get the given space voltage vector According to the space vector pulse width modulation method, the Perform vector synthesis to obtain the control signal required by the inverter.

The parameters of the three PI regulators need to be adjusted according to the characteristics of the salient pole synchronous motor itself and the system performance requirements.

Beneficial effect

A control method for a salient-pole synchronous motor proposed by the present invention, the control principle block diagram is shown in Figure 1: first, the dq coordinate system is transformed into the jm coordinate system, as shown in Figure 2, the salient-pole synchronous motor is converted from the coordinate transformation relationship Transform the electromagnetic torque expression of the motor in the dq coordinate system to obtain an electromagnetic torque expression that decomposes the reluctance torque, and then select the reserved items in the reluctance torque according to the magnitude relationship of the orthogonal axis inductance , so as to realize the control of the salient pole synchronous motor. The control process is insensitive to parameters, there is no curve fitting, and the robustness is effectively improved compared with the MTPA method.

The inventive method has the following beneficial effects:

(1) In the entire control process of the present invention, it is only necessary to know the three-phase current and rotor position information of the salient pole synchronous motor, as well as the relationship between the inductances L _d and L _q of the orthogonal axis. Insensitivity, simple control, good anti-interference, wide speed range;

(2) Since the present invention does not need to perform the curve fitting work of the traditional MTPA, there is no error caused by the curve fitting, the programming is simple, the torque ripple is small, the calculation speed is fast, and the robustness of the control is effectively improved.

Description of drawings

Figure 1: Block diagram of the control principle

Figure 2: dq coordinate system and jm coordinate system

Figure 3: Transformation of dq coordinate system current to jm coordinate system current

Figure 4: Load torque change curve

Figure 5: Simulation results - phase A current, speed, electromagnetic torque curves

detailed description

Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

The invention decomposes the reluctance torque, and then selects the reserved item in the reluctance torque according to the size relationship of the orthogonal axis inductance, thereby realizing the control of the salient pole synchronous motor. The technical feature is that it contains the following steps in turn:

(1) Perform PI adjustment according to the difference between the given speed n ^* and the feedback speed n to obtain the given quadrature axis current $i_q^{*}=K_{\mathrm{pn}}\&CenterDot;e_{\mathrm{no}}+K_{\mathrm{in}}\&Integral;e_{\mathrm{no}}\mathrm{dt},K_{\mathrm{pn}}>0,K_{\mathrm{in}}>0;$ Among them, K _pn and K _in are the proportional and integral coefficients of the PI regulator respectively, e _n =n*-n;

(2) According to the given quadrature axis current Perform PI adjustment with the difference between the feedback quadrature axis current i _q to obtain a given quadrature axis voltage $u_q^{*}=K_{\mathrm{pq}}\&Center\; Dot;e_{\mathrm{iq}}+K_{\mathrm{iq}}\&Integral;e_{\mathrm{iq}}\mathrm{dt},K_{\mathrm{pq}}>0,K_{\mathrm{iq}}>0;$ Among them, K _pq and K _iq are the proportional and integral coefficients of the PI regulator respectively, $e_{\mathrm{iq}}=i_q^{*}-i_q.$

(3) In the I area shown in Figure 1, the orthogonal axis current is first transformed into the jm coordinate system, and according to the size relationship of the orthogonal axis inductance, the corresponding current component in the jm coordinate system is selected for closed-loop adjustment, and the current PI regulator is passed After that, output the given direct axis voltage Specific steps are as follows:

(a) Rotate the dq-axis coordinate system clockwise by 45° to obtain the jm coordinate system;

(b) Through the coordinate transformation formula

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\left[\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; 1</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Get current i _j , im from current _id , _{i q} ;

(c) Obtain the size of the orthogonal axis inductance L _d and L _q from the type of motor, if L _d >L _q , then the closed-loop parameter is i _m , that is, given as im =0, the feedback parameter is _{i m ;} if L _d <L _q , then the closed-loop parameter is i _j , that is, the given is i _j =0, and the feedback parameter is i _j . Here, the embedded permanent magnet synchronous motor and the salient pole electric excitation synchronous motor are taken as examples to illustrate the selection of closed-loop current components:

①The expression of the electromagnetic torque in the dq coordinate system of the embedded permanent magnet synchronous motor is

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; em</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; [</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

In the formula, T _em : electromagnetic torque; p _n : number of pole pairs; ψ _d : d-axis flux linkage; ψ _q : q-axis flux linkage.

By formula (1) get

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; em</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

In the embedded permanent magnet synchronous motor, there is L _d <L _q , that is, L _d - L _q <0, and because are greater than or equal to 0, therefore, i _j =0 can be controlled, then the electromagnetic torque expression becomes

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; em</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

② The expression of the electromagnetic torque in the dq coordinate system of the salient pole electric excitation synchronous motor (without damping winding) is

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; em</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; [</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; af</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

In the formula, M _af : the magnitude of the mutual inductance between the stator one-phase winding and the excitation winding; if _f : the excitation current.

By formula (1) get

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; em</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; af</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$

In the salient pole electric excitation synchronous motor, there is L _d >L _q , that is, L _d - L _q >0, and because are greater than or equal to 0, therefore, can control i _m =0, then the electromagnetic torque expression becomes

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; em</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; af</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

It can be seen from the electromagnetic torque expressions of the embedded permanent magnet synchronous motor and the salient pole electric excitation synchronous motor (without damping windings), that the control method proposed by the present invention firstly decomposes the reluctance torque, and then determines the reluctance Specific reserved items in torque.

(4) Perform PI adjustment on the difference between the given value and the feedback value of the closed-loop current component selected in step (2) to obtain the given direct-axis voltage $u_d^{*}=K_{\mathrm{pd}}\&CenterDot;e_{\mathrm{id}}+K_{\mathrm{id}}\&Integral;e_{\mathrm{id}}\mathrm{dt},K_{\mathrm{pd}}>0,K_{\mathrm{id}}>0;$ Among them, K _pd and K _id are the proportional and integral coefficients of the PI regulator respectively. If the closed-loop current component is selected as i _m , then If the closed-loop current component chooses i _j , then

(5) By the given orthogonal axis voltage component Get the given space voltage vector According to the space vector pulse width modulation method, the Perform vector synthesis to obtain the control signal required by the inverter.

Specific examples are as follows:

Using Matlab2008b/Simulink6.0 for simulation verification. The salient pole synchronous motor used in the simulation is an embedded permanent magnet synchronous motor. The specific parameters are: number of pole pairs p _n =6; stator winding resistance R _s =0.03048Ω; direct axis inductance L _d =0.602mH; Shaft inductance L _q =1.295mH; permanent magnet flux linkage Ψ _r =0.0566wb; given speed n ^* =1500rpm. The simulation conditions are as follows: the simulation time is 0.2s, the simulation step size is 1e-5, and the solution method is ode4 (Runge-Kutta); the starting load torque is 10Nm, which gradually increases to 15Nm at 0.08s, and gradually increases at 0.15s. Decrease to 5Nm, until the end of the simulation at 0.2s, the specific load torque change curve is shown in Figure 4.

The concrete steps that embodiment comprises are as follows:

1. Obtain the current rotor position θ, speed n and stator three-phase current i _A , i _B , i _C through the simulation model of the permanent magnet synchronous motor;

2. Calculate the current component of the permanent magnet synchronous motor in the dq coordinate system:

(2.1). The component of the permanent magnet synchronous motor stator current in the αβ coordinate system is calculated by the following formula:

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 1</span>}& <span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}& <span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}& <span\; class="notranslate">\; -</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; A</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

(2.2). The component of the permanent magnet synchronous motor stator current in the dq coordinate system is calculated by the following formula:

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{cc}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& \mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$

3. Calculate i _j and i _m through the following steps:

(3.1). Rotate the dq coordinate system clockwise by 45° to obtain the jm coordinate system;

(3.2). Calculate the current component of the permanent magnet synchronous motor stator current in the jm coordinate system by the following formula

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\left[\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; 1</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\\ {\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 10</span>}<span\; class="notranslate">\; )</span>$

4. Determine the size of the orthogonal axis inductance L _d and L _q , and determine the closed-loop current component: because L _d <L _q , the closed-loop parameter is i _j , that is, given as i _j =0, and the feedback parameter is i _j ;

5. Implement the operation control of the permanent magnet synchronous motor through the following steps:

(5.1). Set the adjustment parameters of the speed loop PI regulator as K _pn =5, K _in =1; set the adjustment parameters of the two current loop PI regulators K _pq =50, K _iq =10, K _pd =50, K _id =10;

(5.2). Obtain the given quadrature axis voltage u _q * by the following steps:

(5.2.1). $e_{\mathrm{iq}}=i_q^{*}-i_q;$

(5.2.2). $u_q^{*}=K_{\mathrm{pq}}\&Center\; Dot;e_{\mathrm{iq}}+K_{\mathrm{iq}}\&Integral;e_{\mathrm{iq}}\mathrm{dt};$

(5.3). Obtain the given direct axis voltage by the following steps

(5.3.1). $e_{\mathrm{id}}=i_j^{*}-i_j;$

(5.3.2). $u_d^{*}=K_{\mathrm{pd}}\&Center\; Dot;e_{\mathrm{id}}+K_{\mathrm{id}}\&Integral;e_{\mathrm{id}}\mathrm{dt};$

(5.4). According to the rotor position θ of the permanent magnet synchronous motor and the given quadrature axis voltage obtained from (5.2) and (5.3) for a given direct-axis voltage The components of the voltage vector in the αβ coordinate system are calculated by the following formula:

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; *</span>}\\ {\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}^{<span\; class="notranslate">\; *</span>}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{cc}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\\ \mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}& \mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}^{<span\; class="notranslate">\; *</span>}\\ {\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}^{<span\; class="notranslate">\; *</span>}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

(5.5). The voltage vector synthesis is performed according to the space vector pulse width modulation method, and the three-phase switch control signals S _A , S _B , and S _C required by the inverter are calculated through the following steps:

(5.5.1) Judging the sector where the composite vector is located:

by known input make

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}^{<span\; class="notranslate">\; *</span>}\\ {\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}^{<span\; class="notranslate">\; *</span>}\\ {\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}^{<span\; class="notranslate">\; *</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 12</span>}<span\; class="notranslate">\; )</span>$

Calculate N by following principles: if u ₁ >0, then A=1, otherwise A=0; if u ₂ >0, then B=1, otherwise B=0; if u ₃ >0, then C=1, Otherwise C=0. Then N=A+2B+4C.

After obtaining the N value, the sector where the resultant vector is located can be obtained from the corresponding relationship shown in Table 1.

Table 1 Correspondence between N values and sectors

N 1 2 3 4 5 6 sector number II Ⅵ I IV III V

(5.5.2) Determine the action time of the two adjacent vectors corresponding to the sector: Let

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; dc</span>}}}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}\\ \mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; dc</span>}}}<span\; class="notranslate">\; (</span>\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; dc</span>}}}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; -</span>\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 13</span>}<span\; class="notranslate">\; )</span>$

Then the synthetic space voltage vector The action time of two adjacent voltage space vectors can be obtained from Table 2. Among them, T _X represents the action time of the previous vector among the two adjacent vectors, and _TY represents the action time of the latter vector.

Table 2 Vector Action Schedule

sector number I II III IV Ⅴ Ⅵ T _X -Z Z x -X -Y Y T _Y x Y -Y Z -Z -X

When (T _X +T _Y )>T _s is calculated, saturation occurs, making the zero-vector action time a negative value, so the saturation time needs to be processed. When (T _X +T _Y )＞T _s , let

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; Y</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; Y</span>}}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; Y</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 14</span>}<span\; class="notranslate">\; )</span>$

(5.5.3) Calculate the voltage space vector switching point time, so that

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; Y</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}\\ {\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; Y</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 15</span>}<span\; class="notranslate">\; )</span>$

Then the voltage space vector switching point time can be found in Table 3. In Table 3, T _cm1 , T _cm2 , and T _cm3 are respectively the switching point of the voltage space vector.

Table 3 Voltage space vector switching point schedule

sector number I II III IV V Ⅵ T _cm1 T _a T _b T _c T _c T _b T _a T _cm2 T _b T _a T _a T _b T _c T _c T _cm3 T _c T _c T _b T _a T _a T _b

(5.5.4) Pulse generation

Comparing the calculated T _cm1 , T _cm2 , and T _cm3 as the modulation wave with the carrier wave, the control signals S _A , S _B , and S _C of the inverter are finally obtained to drive the motor and realize the control function.

The final simulation results are shown in Figure 5.

Claims (2)

1. A control method for a salient pole type synchronous motor, characterized in that the steps are as follows: Step 1: Perform PI adjustment according to the difference between the given speed n ^* and the feedback speed n to obtain the given quadrature axis current K _pn >0, K _in >0; where: K _pn and K _in are the proportional and integral coefficients of the PI regulator respectively; e _n =n ^* -n; Step 2: According to the given quadrature axis current Perform PI adjustment with the difference between the feedback quadrature axis current i _q to obtain a given quadrature axis voltage K _pq >0, K _iq >0; where: K _pq and K _iq are the proportional and integral coefficients of the PI regulator respectively; Step 3: According to the size relationship of the orthogonal axis inductance, select the corresponding current component in the jm coordinate system for closed-loop adjustment, and output the given direct axis voltage after passing through the current PI regulator Specific steps are as follows: Step (a) rotate the dq-axis coordinate system clockwise by 45° to obtain the jm coordinate system; Step (b) through the coordinate transformation formula $\left[\begin{array}{c}{i}_j\\ i_m\end{array}\right]=\frac{\sqrt{2}}{2}\left[\begin{array}{cc}1& 1\\ 1& -1\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right],$ Get current i _j , im from current _id , _{i q} ; Step (c) Obtain the orthogonal axis inductance L _d and L _q according to the type of the motor. If L _d >L _q , perform closed-loop adjustment with the current component _im , and the given parameters are The feedback parameter is i _m ; If L _d <L _q , the current component i _j is used for closed-loop regulation, and the given parameter is The feedback parameter is i _j ; Step 4: Use the difference between the given parameter and the feedback parameter of the current component of the closed-loop control in step 3 to perform PI adjustment to obtain the given direct-axis voltage K _pd >0, K _id >0; where: K _pd and K _id are the proportional and integral coefficients of the PI regulator respectively; If the current component for closed-loop control is i _m , then If the current component for closed-loop control is i _j , then Step 5: Given the orthogonal axis voltage components After Park inverse transformation, the components of the voltage vector in the αβ coordinate system are obtained Then according to the space vector pulse width modulation method to Perform voltage vector synthesis to obtain the control signal required by the inverter. 2. The control method of the salient pole synchronous motor according to claim 1, characterized in that: the parameters of the three PI regulators need to be adjusted according to the characteristics of the salient pole synchronous motor itself and system performance requirements.