CN105680754A - D-axis and A-axis current vector composite controller of permanent-magnet synchronous motor - Google Patents

Abstract

The invention relates to a D-axis and A-axis current vector composite controller of a permanent-magnet synchronous motor. The D-axis and A-axis current vector composite controller is characterized by comprising a position sensor, a speed measurement feedback link, a counter potential feed-forward compensator, a rotational speed closed-loop controller, an A-axis current composite controller, a D-axis current composite controller and a vector converter. By the D-axis and A-axis current vector composite controller, decoupling composite control is separately carried out on i<d> and i<q> under a dq coordinate, the speed regulation range is wide, phase shift of a phase current closed-loop control structure caused by limited bandwidth of the controller is prevented, and the D-axis and A-axis current vector composite controller has favorable performance in all ranges of speed regulation; through the adoption of a composite controls structure with combination of feed-forward and feedback, the dynamic characteristic is improved, the feedback control gain is reduced, and the gain margin of the system is improved; feed-forward is designed on the basis of the dynamic characteristic of an object, and D-axis and A-axis current vector composite controller is clear in physical concept, simple in structure and stable in working, and is easy to be implemented; and meanwhile, feedback control is introduced, the control precision is improved, and an error caused by model inaccuracy and disturbance is overcome.

Description

The rectangular axis electric current vector complex controll device of a kind of permanent-magnet synchronous motor

Technical field

The invention belongs to motor control technology field, it relates to the rectangular axis electric current vector composite control method of a kind of permanent-magnet synchronous motor. The control that the method is applicable in aerospace, military equipment and industrial production to high precision electrical servo system.

Background technology

The vector control method that current high precision electromechanical servo system adopts, it is necessary to accurately detect rotor position angle θ and each phase stator electric current in real time, by setting up the dq number of axle model realization direct-axis current i of motor_dWith quadrature axis current i_qUneoupled control. Conventional current closed-loop vector controlled has two kinds of basic structures: the current control based on reference stator system of coordinates and the current control based on rotor reference system of coordinates.

Based on the current control structure of reference stator system of coordinates, the reference of direct-axis current and quadrature axis electric current is given quantitativelyInput to vector arithmetic unit, carry out Park according to current motor rotor position angle^-1Conversion and Clarke^-1Conversion obtains each with reference to given current i of stator_A ^*、i_B ^*、i_C ^*, and make each phase current i of stator by phase current closed loop_A、i_B、i_CQuick tracing preset value, reaches the control effects of expectation. The method is directly to armature current closed-loop control, it is not necessary to pay close attention to electric machine structure parameter, and control is simple, it is easy to realize. But each phase current of stator is carried out closed loop by the phase current controller in the method, error signal is sinusoidal alternating signal, and its frequency is directly proportional to motor rotating speed. When high speed operation of motor, the exchange current of high frequency causes because of the limited gain of controller and passband exporting producing bigger phase shift and error.

Based on the current control structure of rotor reference system of coordinates, the phase current under measured stator coordinate utilize Clarke conversion calculate two-phase alternating current stream i under orthogonal static α β coordinate_α、i_β, and then utilize Park to convert i by parameter of rotor position angle θ_α、i_βThe Rectified alternating current stream i of two decoupling zeros being transformed under orthogonal rotation dq coordinate_d、i_q. The reference of direct-axis current and quadrature axis electric current is given quantitativelyWithRespectively with coordinate transform after i_dAnd i_qAsk poor, and input to magnetic linkage control device and torque controller, obtain direct-axis voltage u respectively_dWith quadrature axis voltage u_q, recycle current motor rotor position angle θ and carry out Park^-1Conversion and Clarke^-1Conversion obtains each phase control voltage u of stator_A、u_B、u_C.Different from the phase current closed loop controlling structure based on reference stator system of coordinates, the method under dq coordinate to solution coupling signal i_dAnd i_qControl, instead of the phase current become during offset of sinusoidal controls, and avoids the phase shift that aforementioned phase current closed loop controlling structure causes because of controller bandwidth, all has good performance in full speed governing territory. Magnetic linkage control device and torque controller in the method generally adopt PI control, and the kinetic characteristic of integration amount meeting influential system and phase place nargin. The control method that this kind only is undertaken by Error Feedback regulating needs work output to change and could form correction control action kou after forming deviation, limits the dynamic property of system, with control gain is too high also can the stability of influential system. The aspect such as detection and the precision resolved, real-time and processing speed of rotor position and electric current is all required very high by above-mentioned vector control method. Especially in real time the electric current signal of detection is when being interfered, by the control performance of direct influential system.

Summary of the invention

For the problems referred to above, the present invention proposes the rectangular axis electric current vector complex controll device of a kind of permanent-magnet synchronous motor, control texture is as shown in Figure 1, it is characterised in that contain: a position transducer, a speed measure feedback link, a counter potential feed-forward compensator, a speed closed loop controller, a quadrature axis electric current complex controll device, a direct-axis current complex controll device and a vector umformer. Wherein:

Described position transducer (BQ) is connected with motor rotor coaxial with speed measure feedback link (FBS). Wherein, the angle theta between the d axle of rotation and static A axle, is measured by position transducer, for determining Park coordinate transform and Park^-1The transformation matrix element value of coordinate transform; Rotor angle of electric machine speed omega is recorded by speed measure feedback link, for speed closed loop control.

Described vector umformer comprises a N-2Clarke conversion, a Park conversion, a Park^-1Conversion, a 2-NClarke^-1Conversion. Wherein N-2Clarke is transformed to stator coordinate to the conversion of orthogonal static coordinate, is input as N phase stator current i₁、i₂、…、i_N, export as the two-phase alternating current stream i under α β coordinate_α、i_β. Park is transformed to orthogonal static coordinate extremely orthogonal rotating coordinate transformation, the two-phase alternating current stream i being input as under α β coordinate_α、i_β, surveyed θ angle as transformation matrix parameter taking position transducer, after conversion, obtained the direct-axis current i under dq rotational coordinates_dWith quadrature axis current i_q。Park^-1The inverse transformation being transformed to Park conversion, for by orthogonal rotating coordinate transformation extremely orthogonal static coordinate, being input as the direct-axis component u of electric machine control voltage phasor under dq rotational coordinates_dWith quadrature axis component u_q, surveyed θ angle as transformation matrix parameter taking position transducer, under obtaining α β coordinate, two-phase alternating current presses u_α、u_β。2-NClarke^-1Being transformed to orthogonal static coordinate to stator coordinate transform, under being input as α β coordinate, two-phase alternating current presses u_α、u_β, export as N phase stator voltage u under stator coordinate₁、u₂、…、u_N. For two-phase induction motor, its winding orthogonal space, it is not necessary to N-2Clarke conversion and 2-NClarke^-1Conversion, measured i₁、i₂It is i_α、i_β, controller exports u_α、u_βIt is u₁、u₂。

Described counter potential feed-forward compensator is a proportioning element, and it is input as motor rotor speed with reference to command value ω^*, this command value, by the given input in outside, is generally obtained by communication data bus, network, analog channel or all kind of modulations digital channel etc. The Proportional coefficient K of described proportioning element_ESize by the back electromotive-force constant K of permanent-magnet synchronous motor_EMFDetermine.Rotational speed setup signal ω^*Input to described counter potential feed-forward compensator and obtain counter potential Front Feed Compensation: u_FFV=K_E·ω^*。

Described speed closed loop controller comprises a subtractor and a rpm governor (ASR), and it is input as described motor rotor speed with reference to command value ω^*. Described subtractor is used for realizing spinner velocity external reference input ω^*With rotor velocity ω subtract each other computing, obtain rotating speed error; Above-mentioned error through described rpm governor (ASR), obtain to system needed for the quadrature axis current reference that is directly proportional of moment to quantitatively:Wherein G_ASRS transport function that () is rpm governor.

Described quadrature axis electric current complex controll device comprises a direct axis reactance feed-forward compensator, an armature resistance quadrature axis feed-forward compensator and a quadrature axis closed-loop current control device. Wherein, described direct axis reactance feed-forward compensator comprises a multiplier, a proportioning element, and its reference being input as direct-axis current is to quantitativelyWith rotational speed setup signal ω^*; The reference of direct-axis current is given quantitativelyDetermine by predetermined control strategy, described inWith ω^*Input to multiplier be multiplied after gained product input to proportioning element, the Proportional coefficient K of this proportioning element_LdSize by the straight axle inductance L of permanent-magnet synchronous motor_dDetermine; The product of above-mentioned multiplier obtains direct axis reactance electric voltage feed forward compensation amount through proportioning element:Described armature resistance quadrature axis feed-forward compensator is a proportioning element, and its reference being input as quadrature axis electric current is to quantitativelyThe Proportional coefficient K of described proportioning element_RSize by the armature resistance R of permanent-magnet synchronous motor_sDetermine; The given input of quadrature axis current referenceThe quadrature axis component of armature resistance feedforward compensation voltage is obtained through described armature resistance quadrature axis feed-forward compensator:Described quadrature axis closed-loop current control device comprises a subtractor and a torque controller (ATR), and its reference being input as described quadrature axis electric current is to quantitativelyDescribed subtractor realizes the given input of quadrature axis current referenceWith quadrature axis current i_qSubtract each other computing, obtain quadrature axis current error signal; Above-mentioned quadrature axis current error signal, through described torque controller (ATR), obtains quadrature axis closed-loop current control amount:Wherein G_ATRS transport function that () is torque controller.

Above-mentioned counter potential Front Feed Compensation u_FFV, direct axis reactance electric voltage feed forward compensation amount u_LFFd, armature resistance feedforward compensation quadrature axis component u_RFFq, quadrature axis closed-loop current control amount u_FBKqSue for peace, obtain control voltage quadrature axis component: u_q=u_FFV+u_LFFd+u_RFFq+u_FBKq。

Described direct-axis current complex controll device comprises a quadrature axis reactance feed-forward compensator, a straight axle feed-forward compensator of armature resistance and a direct-axis current closed loop controller. Wherein, described quadrature axis reactance feed-forward compensator comprises a multiplier, a proportioning element, and its reference being input as quadrature axis electric current is to quantitativelyWith rotational speed setup signal ω^*, described inWith ω^*Input to multiplier be multiplied after gained product input to ratio ring, the Proportional coefficient K of this proportioning element_LqSize by the quadrature axis inductance L of permanent-magnet synchronous motor_qDetermine; The product of above-mentioned multiplier obtains quadrature axis reactance electric voltage feed forward compensation amount through proportioning element:The straight axle feed-forward compensator of described armature resistance is a proportioning element, and its reference being input as direct-axis current is to quantitativelyThe Proportional coefficient K of described proportioning element_RSize by the armature resistance R of permanent-magnet synchronous motor_sDetermine; Direct-axis current is with reference to given inputThe direct-axis component of armature resistance feedforward compensation voltage is obtained through the straight axle feed-forward compensator of described armature resistance:Described direct-axis current closed loop controller comprises a subtractor and an excitation regulator (A Ψ R), and its reference being input as direct-axis current is to quantitativelyDescribed subtractor realizes direct-axis current with reference to given inputWith direct-axis current i_dSubtract each other computing, obtain direct-axis current error signal;Above-mentioned direct-axis current error signal, through described excitation regulator (A Ψ R), obtains direct-axis current closed-loop control amount:Wherein G_AΨRS transport function that () is excitation regulator.

Above-mentioned armature resistance feedforward compensation direct-axis component u_RFFdWith direct-axis current closed-loop control amount u_FBKdSue for peace, subtract quadrature axis reactance electric voltage feed forward compensation amount u_LFFq, obtain control voltage direct-axis component: u_d=u_RFFd+u_FBKd-u_LFFq。

Consider that above-mentioned rpm governor (ASR), torque controller (ATR) and excitation regulator (A Ψ R) are generally designed to PI controller, then the mathematical expression formula obtaining rectangular axis electric current complex control algorithm by above-mentioned control texture is:

$\left\{\begin{array}{c}{i}_q^{*}=K_{\mathrm{\&omega;}}\&lsqb;({\mathrm{\&omega;}}^{*}-\mathrm{\&omega;})+\frac{1}{T_I^{\mathrm{\&omega;}}}{\&Integral;}_0^t({\mathrm{\&omega;}}^{*}-\mathrm{\&omega;})dt\&rsqb;\\ u_d=-K_{Lq}{i}_q^{*}{\mathrm{\&omega;}}^{*}+K_R{i}_d^{*}+K_c\&lsqb;(i_d^{*}-i_d)+\frac{1}{T_I^c}{\&Integral;}_0^t(i_d^{*}-i_d)dt\&rsqb;\\ u_q=K_{Ld}{i}_d^{*}{\mathrm{\&omega;}}^{*}+K_R{i}_q^{*}+K_c\&lsqb;(i_q^{*}-i_q)+\frac{1}{T_I^c}{\&Integral;}_0^t(i_q^{*}-i_q)dt\&rsqb;\end{array}\right.$

In formula, K_ω、K_cIt is respectively speed ring and electric current loop proportional gain,It is respectively speed ring and electric current loop integration time constant.

It is an advantage of the current invention that:

(1) to pulsation direct current signal i under dq coordinate_d、i_qCarry out uneoupled control, speed-regulating range width, avoid the phase shift that phase current closed loop controlling structure causes because of controller limited bandwidth, in full speed governing territory, all have good performance.

(2) adopt compound control structure compared to pure feedback control improving while kinetic characteristic, reduce feedback control gain, it is to increase the gain nargin of system.

(3) compound control structure that feed forward control combines is adopted with feedback control. Feed forward control according to the design of object dynamic characteristic, have clear physics conception, structure simple, realize easily, the advantage of working stability; Introduce feedback control simultaneously, there is higher control accuracy, and overcome the error because model out of true and interference cause.

Accompanying drawing explanation

Fig. 1: the inventive method control texture block diagram.

Embodiment

The present invention will be further described to adopt drawings and Examples below, and accompanying drawing described herein is used to provide a further understanding of the present invention, forms the part of the application, does not form limitation of the invention.

The present embodiment, for three-phase permanent magnet synchronous motor, comprises U, V, W three-phase windings, and any two alternate phase differential are 120 °. Adopt rotating transformer as rotor position sensing device, and obtain rotor velocity simultaneously. Integrated conductor Hall effect sensor is adopted to measure three-phase stator electric current. Rotational speed setup signal ω^*Controller is transferred to by the timing of external digital bus. Controller adopts the TMS320C28x of company of Texas Instruments (TexasInstruments is called for short TI)^TMSeries of digital signals process chip, inner containing an Interruption source, and realize the control to motor rotating speed and electric current according to the following steps:

(1) the inner Interruption service routine of controller is with sampling period T_sTime sampling current sensor signal, obtains three-phase stator phase current, obtains rotor position electrical angle θ, rotor velocity ω by rotating transformer simultaneously. This interrupt service routine obtains direct-axis current with reference to quantitatively according to predetermined control strategySuch as: as employing i_dDuring=0 control strategy, direct-axis current is with reference to giving quantitativelyIt is 0. Meanwhile, motor rotor speed external reference instruction ω is obtained in real time from communication data bus^*。

(2) by three-phase stator phase current i_U、i_V、i_WTwo-phase alternating current stream i under Clarke conversion obtains α β coordinate_α、i_β。

(3) i step (2) obtained_α、i_βRectangular axis current i under Park conversion obtains dq rotational coordinates_d、i_q。

(4) by spinner velocity Setting signal ω^*Subtract each other with rotor velocity ω, obtain rotating speed error signal, this error signal through rpm governor (ASR), obtain to system needed for the given input of quadrature axis current reference that is directly proportional of moment

(5) by spinner velocity Setting signal ω^*With Proportional coefficient K in counter potential feed-forward compensator_EIt is multiplied, obtains counter potential Front Feed Compensation: u_FFV=K_E·ω^*。

(6) the given input of quadrature axis current reference step (4) calculatedWith Proportional coefficient K in armature resistance quadrature axis feed-forward compensator_RIt is multiplied, obtains armature resistance feedforward compensation voltage quadrature axis component:

(7) the given input of quadrature axis current reference step (4) calculatedThe i obtained is resolved with step (3)_qSubtracting each other, obtain quadrature axis current error signal, this signal, through torque controller (ATR), obtains quadrature axis closed-loop current control amount: $u_{FBKq}=G_{ATR}\left(s\right)\&CenterDot;(i_q^{*}-i_q).$

(8) the given input of quadrature axis current reference step (4) calculatedWith spinner velocity Setting signal ω^*Being multiplied, this product is proportioning element K in quadrature axis reactance feed-forward compensator_Lq, obtain quadrature axis reactance electric voltage feed forward compensation amount: $u_{LFFq}=K_{Lq}\&CenterDot;i_q^{*}\&CenterDot;{\mathrm{\&omega;}}^{*}.$

(9) by direct-axis current with reference to given inputWith Proportional coefficient K in the straight axle feed-forward compensator of armature resistance_RIt is multiplied, obtains armature resistance feedforward compensation voltage direct-axis component:

(10) by direct-axis current with reference to given inputThe i obtained is resolved with step (3)_dSubtracting each other, obtain direct-axis current error signal, this signal, through excitation regulator (A Ψ R), obtains direct-axis current closed-loop control amount: $u_{FBKd}=G_{A\mathrm{\&Psi;}R}\left(s\right)\&CenterDot;(i_d^{*}-i_d).$

(11) by direct-axis current with reference to given inputWith spinner velocity Setting signal ω^*Being multiplied, this product is proportioning element K in direct axis reactance feed-forward compensator_Ld, obtain direct axis reactance electric voltage feed forward compensation amount:

(12) u that will calculate respectively in step (5), step (6), step (7), step (11)_FFV、u_RFFq、u_FBKq、u_LFFdSue for peace, obtain control voltage quadrature axis component: u_q=u_FFV+u_LFFd+u_RFFq+u_FBKq。

(13) u that will calculate respectively in step (9), step (10)_RFFd、u_FBKdSue for peace, subtract in step (8) u calculated_LFFq, obtain control voltage direct-axis component: u_d=u_RFFd+u_FBKd-u_LFFq。

(14) control voltage rectangular axis component u step (12), step (13) calculated respectively_d、u_qThrough Park^-1Conversion, under obtaining α β coordinate, two-phase alternating current presses u_α、u_β。

(15) two-phase alternating current pressure u under α β coordinate step (14) calculated_α、u_βThrough Clarke^-1Conversion, obtains three-phase stator control voltage u₁、u₂、u₃。

Above-described specific implementation method; the object of the present invention, technical scheme and useful effect have been described in detail; it is it should be understood that; the foregoing is only the specific embodiment of the present invention; the protection domain being not intended to limit the present invention; within all spirit in the inventive method and principle, any amendment of making, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (4)

1. the rectangular axis electric current vector complex controll device of a permanent-magnet synchronous motor, it is characterised in that contain a: position transducer, a speed measure feedback link, a counter potential feed-forward compensator, a speed closed loop controller, a quadrature axis electric current complex controll device, a direct-axis current complex controll device and a vector umformer; Wherein:

Described position transducer (BQ) is connected with motor rotor coaxial with speed measure feedback link (FBS); Angle theta between the d axle rotated and static A axle, is measured by position transducer, for determining Park coordinate transform and Park^-1The transformation matrix element value of coordinate transform; Rotor angle of electric machine speed omega is recorded by speed measure feedback link, for speed closed loop control;

Described vector umformer comprises a N-2Clarke conversion, a Park conversion, a Park^-1Conversion, a 2-NClarke^-1Conversion; Wherein N-2Clarke is transformed to stator coordinate to the conversion of orthogonal static coordinate, is input as N phase stator current i₁、i₂、…、i_N, export as the two-phase alternating current stream i under α β coordinate_α、i_β; Park is transformed to orthogonal static coordinate to orthogonal rotating coordinate transformation, is input as under α β coordinate two-phase alternating current stream i_α、i_β, surveyed θ angle as transformation matrix parameter taking position transducer, after conversion, obtained the direct-axis current i under dq rotational coordinates_dWith quadrature axis current i_q; Park^-1The inverse transformation being transformed to Park conversion, for by orthogonal rotating coordinate transformation extremely orthogonal static coordinate, being input as the direct-axis component u of electric machine control voltage phasor under dq rotational coordinates_dWith quadrature axis component u_q, surveyed θ angle as transformation matrix parameter taking position transducer, under obtaining α β coordinate, two-phase alternating current presses u_α、u_β; 2-NClarke^-1Being transformed to orthogonal static coordinate to stator coordinate transform, under being input as α β coordinate, two-phase alternating current presses u_α、u_β, export as N phase stator voltage u under stator coordinate₁、u₂、…、u_N; For two-phase induction motor, its winding orthogonal space, it is not necessary to N-2Clarke conversion and 2-NClarke^-1Conversion, measured i₁、i₂It is i_α、i_β, controller exports u_α、u_βIt is u₁、u₂;

Described speed closed loop controller comprises a subtractor and a rpm governor (ASR), and it is input as the reference command value ω of motor rotor speed^*, this command value, by the given input in outside, is generally obtained by communication data bus, network, analog channel or all kind of modulations digital channel etc.; Described subtractor is used for realizing spinner velocity external reference input ω^*With rotor velocity ω subtract each other computing, obtain rotating speed error; Above-mentioned error through described rpm governor (ASR), obtain to system needed for the quadrature axis current reference that is directly proportional of moment to quantitatively:Wherein G_ASRS transport function that () is rpm governor.

2. counter potential feed-forward compensator described in claim 1, it is characterised in that containing a proportioning element, it is input as the reference command value ω of motor rotor speed^*; The Proportional coefficient K of described proportioning element_ESize by the back electromotive-force constant K of permanent-magnet synchronous motor_EMFDetermine; Rotational speed setup signal ω^*Counter potential Front Feed Compensation is obtained: u through described counter potential feed-forward compensator_FFV=K_E·ω^*。

3. the electric current of quadrature axis described in claim 1 complex controll device, it is characterised in that contain: a direct axis reactance feed-forward compensator, an armature resistance quadrature axis feed-forward compensator and a quadrature axis closed-loop current control device; Wherein:

Described direct axis reactance feed-forward compensator comprises a multiplier and a proportioning element, and its reference being input as direct-axis current is to quantitative i_d ^*With rotational speed setup signal ω^*; Quantitative i is given in the reference of direct-axis current_d ^*Determine by the control strategy adopted, described i_d ^*With ω^*Input to multiplier be multiplied after gained product input to described proportioning element; The Proportional coefficient K of described proportioning element_LdSize by the straight axle inductance L of permanent-magnet synchronous motor_dDetermine; The product of above-mentioned multiplier obtains direct axis reactance electric voltage feed forward compensation amount through proportioning element: $u_{LFFd}=K_{Ld}\&CenterDot;i_d^{*}\&CenterDot;{\mathrm{\&omega;}}^{*};$

Described armature resistance quadrature axis feed-forward compensator is a proportioning element, and it is input as quadrature axis current reference to quantitative i_q ^*; The Proportional coefficient K of described proportioning element_RSize by the armature resistance R of permanent-magnet synchronous motor_sDetermine; The given input i of quadrature axis current reference_q ^*The quadrature axis component of armature resistance feedforward compensation voltage is obtained through described armature resistance quadrature axis feed-forward compensator:

Described quadrature axis closed-loop current control device comprises a subtractor and a torque controller (ATR), and it is input as described quadrature axis current reference to quantitative i_q ^*; Described subtractor realizes the given input i of quadrature axis current reference_q ^*With quadrature axis current i_qSubtract each other computing, obtain quadrature axis current error signal; Above-mentioned quadrature axis current error signal, through described torque controller (ATR), obtains quadrature axis closed-loop current control amount:Wherein G_ATRS transport function that () is torque controller;

Above-mentioned direct axis reactance electric voltage feed forward compensation amount u_LFFd, armature resistance feedforward compensation quadrature axis component u_REFq, quadrature axis closed-loop current control amount u_FBKqWith the Front Feed Compensation u of counter potential described in claim 2_FFVSummation, obtains control voltage quadrature axis component: u_q=u_FFV+u_LFFd+u_RFFq+u_FBKq。

4. the complex controll device of direct-axis current described in claim 1, it is characterised in that contain: a quadrature axis reactance feed-forward compensator, a straight axle feed-forward compensator of armature resistance and a direct-axis current closed loop controller; Wherein:

Described quadrature axis reactance feed-forward compensator comprises a multiplier and a proportioning element, and its reference being input as quadrature axis electric current is to quantitative i_q ^*With rotational speed setup signal ω^*, described i_q ^*With ω^*Input to multiplier be multiplied after gained product input to proportioning element; The Proportional coefficient K of described proportioning element_LqSize by permanent-magnet synchronous motor quadrature axis inductance L_qDetermine; The product of above-mentioned multiplier obtains quadrature axis reactance electric voltage feed forward compensation amount through proportioning element:

The straight axle feed-forward compensator of described armature resistance is a proportioning element, and its reference being input as direct-axis current is to quantitative i_d ^*; The Proportional coefficient K of described proportioning element_RSize by the armature resistance R of permanent-magnet synchronous motor_sDetermine; Direct-axis current is with reference to given input i_d ^*The direct-axis component of armature resistance feedforward compensation voltage is obtained through the straight axle feed-forward compensator of described armature resistance:

Described direct-axis current closed loop controller comprises a subtractor and an excitation regulator (A Ψ R), and its reference being input as described direct-axis current is to quantitative i_d ^*; Described subtractor realizes direct-axis current with reference to given input i_d ^*With direct-axis current i_dSubtract each other computing, obtain direct-axis current error signal; Above-mentioned direct-axis current error signal, through described excitation regulator (A Ψ R), obtains direct-axis current closed-loop control amount:Wherein G_AΨRS transport function that () is excitation regulator;

Above-mentioned armature resistance feedforward compensation direct-axis component u_RFFdWith direct-axis current closed-loop control amount u_FBKdSue for peace, subtract quadrature axis reactance electric voltage feed forward compensation amount u_LFFq, obtain control voltage direct-axis component: u_d=u_RFFd+u_FBKd-u_LFFq。