CN107994830A - A kind of method and device for suppressing motor torque ripple - Google Patents

A kind of method and device for suppressing motor torque ripple Download PDF

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Publication number
CN107994830A
CN107994830A CN201711456044.5A CN201711456044A CN107994830A CN 107994830 A CN107994830 A CN 107994830A CN 201711456044 A CN201711456044 A CN 201711456044A CN 107994830 A CN107994830 A CN 107994830A
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motor
angular rate
control parameter
parameter matrix
target
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CN107994830B (en
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于跃
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Beijing Jingwei Hirain Tech Co Ltd
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Beijing Jingwei Hirain Tech Co Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18Estimation of position or speed
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting

Abstract

The invention discloses a kind of method and device for suppressing motor torque ripple,By being used as independent variable using motor electrical angle,Augmented system is built in position field,And finite element grid is built using motor angular rate as intermediate parameters,Subduer is designed to augmented system,Infinite Matrix inequality is converted into finite dimensioned,Then the motor position sampled signal obtained according to periodicity obtains first object control parameter matrix and the second target control parameter matrix,And then output quantity is calculated according to the control parameter matrix after renewal and motor current value,According to the operation of output quantity control motor,Suppress the torque ripple of motor,Realize and motor torque Ripple Suppression problem is associated with the tracking control problem based on corner change system,Effectively suppress motor torque ripple to realize,Reduce power attenuation,Lifting system efficiency,So as to improve driving comfort level.

Description

A kind of method and device for suppressing motor torque ripple
Technical field
The present invention relates to motor control technology field, more particularly to a kind of method and dress for suppressing motor torque ripple Put.
Background technology
When automobile electronic controller system performs various functions using motor as actuator, generally existing motor torque ripple Phenomenon.For example, realize that motorcar electric helps by EPS (Electric Power Steering, electric booster steering controller) system During power turning function, such as pilot control steering wheel, it is necessary to ensure the synchronized relation of motor speed and direction disk rotating speed at the same time, with And motor speed and the synchronized relation of stator voltage fundamental frequency, this just needs to carry out motor stator voltage speed governing, but adjusts Speed depends on power electronic devices, and the power electronic devices that speed governing is relied on is non-ideal characteristic, this can cause motor to determine Sub- voltage is distorted, so as to produce torque ripple, and then is increased power attenuation, is reduced system effectiveness, or even causes vehicle to shake It is dynamic, reduce and drive comfort level.
At present, existing motor torque Ripple Suppression method is mainly to use the scheme of compensation Inverter Dead-time voltage, but It is that it belongs to general motor torque Ripple Suppression technology, for this frequency following steering wheel rotation speed changes of EPS, the moment becomes The system of change, its inhibition to torque ripple are not obvious enough.
Accordingly, it is desirable to provide a kind of method for suppressing motor torque ripple, effectively suppresses motor torque ripple, from And power attenuation, lifting system efficiency are reduced, and improve and drive comfort level.
The content of the invention
It is an object of the invention to propose a kind of method and device for suppressing motor torque ripple, effectively suppress electricity to realize Machine torque ripple, reduces power attenuation, lifting system efficiency, and improves and drive comfort level.
To reach above-mentioned purpose, the present invention provides following technical scheme:
A kind of method for suppressing motor torque ripple, the described method includes:
Using motor electrical angle as independent variable, augmented system is built in position field, and determine the first of the augmented system Control parameter matrix;
Using N number of motor angular rate as intermediate parameters, finite element grid is constructed, the augmented system is designed calm Device, and determine the second control parameter matrix of the subduer, wherein, each motor angular rate corresponds to different second Control parameter matrix, N are the positive integer more than or equal to 3;
Periodically gather motor position sampled signal and motor current signal;
When collecting the motor position sampled signal and the motor current signal for the first time, or in motor electric angle When degree increment is more than control threshold, motor electrical angle estimate and motor electric angle speed are determined according to the motor position sampled signal Estimate is spent, and motor current value is determined according to the motor current signal, the motor electrical angle increment is by currently collecting The motor position sampled signal and it is preceding once suppress motor torque ripple when the motor position sampled signal calculate Arrive;
According to the motor electrical angle estimate and the first control parameter matrix computations and the motor electrical angle estimate Corresponding first object control parameter matrix;
By two motor angular rates adjacent with the motor angular rate estimate in the finite element grid Be determined as target motor angular rate, two target motor angular rates be denoted as respectively first object motor angular rate and Second target motor angular rate;
According to two the second control parameter matrix computations corresponding with two target motor angular rates and institute State the corresponding second target control parameter matrix of motor angular rate estimate;
According to the motor current value, the first object control parameter matrix and the second target control parameter matrix Output quantity is calculated, the output quantity is the control signal of each switching device of motor pressure-speed regulating device;
The operation of motor is controlled according to the output quantity, suppresses the torque ripple of the motor.
Preferably, using motor electrical angle as independent variable, augmented system is built in position field, and determine the augmented system The first control parameter matrix, including:
Using motor electrical angle as independent variable, motor and motor torque disturbance are modeled in position field, build motor Model and motor torque Disturbance Model;
Using motor electrical angle as independent variable, internal model is established to motor and motor torque disturbance in position field, builds motor Internal model and motor torque disturbance internal model;
Disturbed according to the motor model, the motor torque Disturbance Model, the motor internal model and the motor torque Internal model builds the augmented system, and determines the first control parameter matrix of the augmented system.
Preferably, the motor model, the motor torque Disturbance Model, the motor internal model and the motor torque are disturbed Dynamic internal model is the model established with standard state space form.
Preferably, determine that motor electrical angle estimate and motor angular rate are estimated according to the motor position sampled signal Value, and motor current value is determined according to the motor current signal, including:
The estimation of motor electrical angle and the estimation of motor angular rate are carried out to the motor position sampled signal, obtains the electricity Electromechanical angle estimation value and the motor angular rate estimate;
Dq coordinate transforms are carried out to the motor current signal, obtain the motor current value.
Preferably, according to two the second control parameter matrix meters corresponding with two target motor angular rates The second target control parameter matrix corresponding with the motor angular rate estimate is calculated, including:
Institute is determined according to the difference between the first object motor angular rate and the motor angular rate estimate State corresponding first weighted value of first object motor angular rate;
Institute is determined according to the difference between the second target motor angular rate and the motor angular rate estimate State corresponding second weighted value of the second target motor angular rate;
According to first weighted value, second weighted value, the first object motor angular rate corresponding second Control parameter matrix and the corresponding second control parameter matrix computations of the second target motor angular rate and the motor The corresponding second target control parameter matrix of angular rate estimate.
A kind of device for suppressing motor torque ripple, including:
Construction unit, for using motor electrical angle as independent variable, building augmented system in position field, and determine the increasing First control parameter matrix of wide system;
Structural unit, for using N number of motor angular rate as intermediate parameters, finite element grid being constructed, to the augmentation System design subduer, and determine the second control parameter matrix of the subduer, wherein, each motor angular rate pair The second different control parameter matrixes is answered, N is the positive integer more than or equal to 3;
Collecting unit, for periodically gathering motor position sampled signal and motor current signal;
First determination unit, for collecting the motor position sampled signal and the motor current signal for the first time When, or when motor electrical angle increment is more than control threshold, motor electrical angle is determined according to the motor position sampled signal Estimate and motor angular rate estimate, and motor current value, the motor electric angle are determined according to the motor current signal Motor when degree increment is by the motor position sampled signal currently collected and preceding once suppression motor torque ripple Position sampled signal is calculated;
First computing unit, for according to the motor electrical angle estimate and the first control parameter matrix computations with it is described The corresponding first object control parameter matrix of motor electrical angle estimate;
Second determination unit, for by two adjacent with the motor angular rate estimate in the finite element grid The motor angular rate is determined as target motor angular rate, and two target motor angular rates are denoted as the first mesh respectively Mark motor angular rate and the second target motor angular rate;
Second computing unit, for being controlled according to two corresponding two second of target motor angular rates Parameter matrix calculates the second target control parameter matrix corresponding with the motor angular rate estimate;
3rd computing unit, for according to the motor current value, the first object control parameter matrix and described Two target control parameter matrix computations output quantities, the output quantity are believed for the control of each switching device of motor pressure-speed regulating device Number;
Control unit, for controlling the operation of motor according to the output quantity, suppresses the torque ripple of the motor.
Preferably, the construction unit includes:
First structure subelement, for using motor electrical angle as independent variable, being disturbed in position field to motor and motor torque It is dynamic to be modeled, build motor model and motor torque Disturbance Model;
Second structure subelement, for using motor electrical angle as independent variable, being disturbed in position field to motor and motor torque It is dynamic to establish internal model, build motor internal model and motor torque disturbance internal model;
3rd structure subelement, for according to the motor model, the motor torque Disturbance Model, the motor internal model The augmented system is built with motor torque disturbance internal model, and determines the first control parameter matrix of the augmented system.
Preferably, the motor model, the motor torque Disturbance Model, the motor internal model and the motor torque are disturbed Dynamic internal model is the model established with standard state space form.
Preferably, first determination unit includes:
Pre-estimation subelement, for carrying out the estimation of motor electrical angle and motor electric angle speed to the motor position sampled signal Degree estimation, obtains the motor electrical angle estimate and the motor angular rate estimate;
Subelement is converted, for carrying out dq coordinate transforms to the motor current signal, obtains the motor current value.
Preferably, second computing unit includes:
First determination subelement, for being estimated according to the first object motor angular rate and the motor angular rate Difference between value determines corresponding first weighted value of the first object motor angular rate;
Second determination subelement, for being estimated according to the second target motor angular rate and the motor angular rate Difference between value determines corresponding second weighted value of the second target motor angular rate;
Computation subunit, for according to first weighted value, second weighted value, the first object motor electric angle The corresponding second control parameter matrix of speed and the corresponding second control parameter matrix of the second target motor angular rate Calculate the second target control parameter matrix corresponding with the motor angular rate estimate.
It can be seen via above technical scheme that compared with prior art, the invention discloses one kind to suppress motor torque line The method and device of ripple, by the way that using motor electrical angle as independent variable, augmented system is built in position field, and with motor electric angle Speed builds finite element grid as intermediate parameters, designs subduer to augmented system, Infinite Matrix inequality is converted to Finite dimensioned, the motor position sampled signal then obtained according to periodicity obtain first object control parameter matrix and second Target control parameter matrix, and then output quantity is calculated according to the control parameter matrix after renewal and motor current value, according to output The operation of amount control motor, suppresses the torque ripple of motor, that is, realizes motor torque Ripple Suppression problem and be based on corner The tracking control problem of change system is associated.Augmented system is built with motor electrical angle since the present invention uses, so this hair The bright mode for suppressing motor torque ripple belongs to time-varying internal model, therefore can improve the performance under motor speed operation, improve electricity Machine torque ripple inhibition, effectively suppresses motor torque ripple to realize, reduces power attenuation, lifting system efficiency, so that Improve and drive comfort level.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of method flow diagram for suppressing motor torque ripple provided in an embodiment of the present invention;
Fig. 2 is the particular flow sheet of the step S101 in Fig. 1 provided in an embodiment of the present invention;
Fig. 3 is the particular flow sheet of the step S104 in Fig. 1 provided in an embodiment of the present invention;
Fig. 4 is the particular flow sheet of the step S107 in Fig. 1 provided in an embodiment of the present invention;
Fig. 5 is the hardware structure diagram of motor provided in an embodiment of the present invention control;
Fig. 6 is the suppression motor provided in an embodiment of the present invention with performed by time-varying internal model control in embodiment illustrated in fig. 5 The method flow diagram of torque ripple;
Fig. 7 is a kind of apparatus structure schematic diagram for suppressing motor torque ripple provided in an embodiment of the present invention;
Fig. 8 is the concrete structure schematic diagram of construction unit 701 in Fig. 7 provided in an embodiment of the present invention;
Fig. 9 is the concrete structure schematic diagram of the first determination unit 704 in Fig. 7 provided in an embodiment of the present invention;
Figure 10 is the concrete structure schematic diagram of the second computing unit 707 in Fig. 7 provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, the embodiment of the invention discloses a kind of method for suppressing motor torque ripple, this method specifically include as Lower step:
In step S101, using motor electrical angle as independent variable, augmented system is built in position field, and determine augmented system The first control parameter matrix.
Referring to Fig. 2, in a kind of embodiment of the embodiment of the present invention, step S101 can specifically include:
In step S201, using motor electrical angle as independent variable, motor and motor torque disturbance are built in position field Mould, builds motor model and motor torque Disturbance Model.
In step S202, using motor electrical angle as independent variable, in position field establishes motor and motor torque disturbance Mould, builds motor internal model and motor torque disturbance internal model.
In step S203, internal model structure is disturbed according to motor model, motor torque Disturbance Model, motor internal model and motor torque Augmented system is built, and determines the first control parameter matrix of augmented system.
Specifically, modeled in the present embodiment, in step S201 and refer to build the motor mould that standard state space form represents Type and motor torque Disturbance Model, and the independent variable of state equation corresponding to motor model and motor torque Disturbance Model is electricity Electromechanical angle.
Internal model is established in step S202 and refers to that the motor internal model of structure standard state space form expression and motor torque are disturbed Dynamic internal model, and the independent variable of state equation is motor electrical angle corresponding to motor internal model and motor torque disturbance internal model.
It should be noted that during the embodiment of the present invention is embodied, in addition to embodiment shown in Fig. 2, Step S101 can such as determine that the first control of augmented system is joined there is also other embodiments first with motor electrical angle Matrix number, carry out motor model, motor torque Disturbance Model, motor internal model and motor torque disturbance internal model afterwards establishes process, Realize the structure of augmented system.In addition, motor model, motor torque Disturbance Model, motor internal model and motor torque disturbance internal model Except can by standard state space form represent in addition to or other coordinate spaces representation.As long as it is that by Using motor electrical angle as independent variable, in the specific implementation of position field structure augmented system, the guarantor in the embodiment of the present invention In the range of shield.
In step S102, using N number of motor angular rate as intermediate parameters, finite element grid is constructed, augmented system is set Subduer is counted, and determines the second control parameter matrix of subduer, wherein, each motor angular rate corresponds to the second different controls Parameter matrix processed, N are the positive integer more than or equal to 3.
It should be noted that the present embodiment using motor angular rate as intermediate parameters, be in order to by Infinite Matrix not Equation problem is converted to finite dimensioned problem, using N number of motor angular rate as intermediate parameters, constructs finite element grid, and Motor angular rate in finite element grid is built into N-1 section, such as N=5, corresponding motor angular rate (unit:rad/ S) be respectively π, 2 π, 3 π, 4 π, 5 π, then finite element grid is expressed as [π, 2 π, 3 π, 4 π, 5 π], can build (π, 2 π), (2 π, 3 π), (3 π, 4 π), (4 π, 5 π) 4 sections, design augmented system subduer, and determine the second control parameter square of subduer Battle array, the π in finite element grid, 2 π, 3 π, 4 π and 5 π correspond to the second different control parameter matrixes respectively.
In step S103, motor position sampled signal and motor current signal are periodically gathered.
Specifically, during the embodiment of the present invention is embodied, motor position sampled signal and current of electric are gathered The cycle of signal can be definite according to being actually needed, such as 10ms, 20ms, 50ms.
In step S104, when collecting motor position sampled signal and motor current signal for the first time, or in motor When electrical angle increment is more than control threshold, motor electrical angle estimate and motor electric angle speed are determined according to motor position sampled signal Estimate is spent, and motor current value is determined according to motor current signal, motor electrical angle increment is by the motor position that currently collects Motor position sampled signal when putting sampled signal and preceding once suppression motor torque ripple is calculated.
That is, except collecting for the first time after motor position sampled signal and motor current signal directly according to motor position Put sampled signal and determine motor electrical angle estimate and motor angular rate estimate, and motor is determined according to motor current signal Outside current value, when subsequently collecting motor position sampled signal and motor current signal every time, it will all compare motor electrical angle The size of increment and control threshold.When motor electrical angle increment is more than control threshold, then samples and believe again according to motor position Number definite motor electrical angle estimate and motor angular rate estimate, and motor current value is determined according to motor current signal. Wherein, control threshold is definite according to being actually needed, and the corresponding angle of such as control threshold can be 0.2 π, 0.3 π;Motor electric angle Motor position when degree increment is by the motor position sampled signal currently collected and preceding once suppression motor torque ripple samples Signal is calculated.If the corresponding angle of control threshold is 0.2 π, the motor position sampled signal collected for the first time is corresponding Motor electrical angle is 0.1 π, and the corresponding motor electrical angle of motor position sampled signal collected for the second time is also 0.1 π, the 3rd The secondary corresponding motor electrical angle of motor position sampled signal collected is 0.2 π, and the 4th motor position sampling collected is believed Number corresponding motor electrical angle is 0.35 π, then corresponding motor electrical angle during the motor position sampled signal collected for the 4th time Increment is 0.25 π, meets that motor electrical angle increment is more than the condition of control threshold, will again perform adopted according to motor position at this time Sample signal determines motor electrical angle estimate and motor angular rate estimate, and determines current of electric according to motor current signal The step of value.
Wherein, it is shown in Figure 3, in a kind of embodiment of the embodiment of the present invention, sampled according to motor position Signal determines motor electrical angle estimate and motor angular rate estimate, and determines motor current value according to motor current signal The step of can include:
In step S301, the estimation of motor electrical angle is carried out to motor position sampled signal and motor angular rate is estimated, is obtained To motor electrical angle estimate and motor angular rate estimate.
In step S302, dq coordinate transforms are carried out to motor current signal, obtain motor current value.
It should be noted that during the embodiment of the present invention is embodied, in addition to embodiment shown in Fig. 3, Step S105 is there is also other embodiments, such as in the prior art according to the reality of motor current signal calculating motor current value Applying mode can be used in step S105 to calculate motor current value.
In step S105, estimated according to motor electrical angle estimate and the first control parameter matrix computations with motor electrical angle It is worth corresponding first object control parameter matrix.
Specifically, the first control parameter matrix is the function using motor electrical angle as independent variable, and motor electrical angle is estimated Value substitutes into the first control parameter matrix and can obtain first object control parameter matrix.
It is in step S106, two motor angular rates adjacent with motor angular rate estimate in finite element grid are true It is set to target motor angular rate, two target motor angular rates are denoted as first object motor angular rate and the second mesh respectively Mark motor angular rate.
Here using finite element grid as [π, 2 π, 3 π, 4 π, 5 π] exemplified by illustrate, if motor angular rate estimate is 2.3 π, determine that the motor angular rate estimate falls in the section of (2 π, 3 π), then the motor angular rate estimate is adjacent Two motor angular rates be determined as target motor angular rate, the two target motor angular rates are denoted as the first mesh respectively Motor angular rate and the second target motor angular rate are marked, i.e.,:First object motor angular rate is 2 π, the second target motor Angular rate is 3 π.
In step S107, according to two the second control parameter matrix meters corresponding with two target motor angular rates Calculate the second target control parameter matrix corresponding with motor angular rate estimate.
In the present embodiment, since each motor angular rate in finite element grid has corresponding second target control to join Matrix number, so the two motor angular rates adjacent with motor angular rate estimate are determined as target in step s 106 , then can be according to corresponding two the second target control parameters of the two target motor angular rates after motor angular rate Matrix computations the second target control parameter matrix corresponding with motor angular rate estimate.
Specifically, shown in Figure 4, in a kind of embodiment of the embodiment of the present invention, step S107 can be wrapped Include:
In step S401, determined according to the difference between first object motor angular rate and motor angular rate estimate Corresponding first weighted value of first object motor angular rate.
In step S402, determined according to the difference between the second target motor angular rate and motor angular rate estimate Corresponding second weighted value of second target motor angular rate.
In step S403, according to the first weighted value, the second weighted value, corresponding second control of first object motor angular rate Parameter matrix processed and the corresponding second control parameter matrix computations of the second target motor angular rate are estimated with motor angular rate The corresponding second target control parameter matrix of evaluation.
Wherein, between the first weighted value and first object motor angular rate and motor angular rate estimate difference fortune Calculation relation, the computing pass of difference between the second weighted value and the second target motor angular rate and motor angular rate estimate System, and the second target control parameter matrix are corresponding with the first weighted value, the second weighted value, first object motor angular rate Operation relation between second control parameter matrix and the corresponding second control parameter matrix of the second target motor angular rate can To be determined according to the running environment of motor and motor.
It should be noted that during the embodiment of the present invention is embodied, in addition to embodiment shown in Fig. 4, It is also possible that the numerical value of each position can pass through in the corresponding second target control parameter matrix of motor angular rate estimate The numerical value of correspondence position in two the second control parameter matrixes is averaged to obtain;Alternatively, can be according to two second controls The numerical value of each correspondence position in parameter matrix processed determines straight line, is then calculated according to the slope of every straight line The numerical value of same position in second target control parameter matrix, finally obtains corresponding second target of motor angular rate estimate Control parameter matrix.
In step S108, according to motor current value, first object control parameter matrix and the second target control parameter matrix Output quantity is calculated, output quantity is the control signal of each switching device of motor pressure-speed regulating device.
Specifically, according to motor current value, first object control parameter matrix and the second target control parameter matrix computations The duty cycle of the control signal of each switching device of motor pressure-speed regulating device, the control signal that the duty cycle calculated is determined As output quantity.Here motor pressure-speed regulating device refers to the devices such as inverter.
In step S109, the operation of motor is controlled according to output quantity, suppresses the torque ripple of motor.
The embodiment of the invention discloses a kind of method for suppressing motor torque ripple, by being used as change certainly using motor electrical angle Amount, augmented system is built in position field, and finite element grid is built using motor angular rate as intermediate parameters, to augmentation system System design subduer, is converted to finite dimensioned, the motor position then obtained according to periodicity by Infinite Matrix inequality Sampled signal obtains first object control parameter matrix and the second target control parameter matrix, and then is joined according to the control after renewal Matrix number and motor current value calculate output quantity, according to the operation of output quantity control motor, suppress the torque ripple of motor, i.e., real Show and motor torque Ripple Suppression problem has been associated with the tracking control problem based on corner change system.Since the present invention adopts Augmented system is built to motor electrical angle, so the mode that the embodiment of the present invention suppresses motor torque ripple belongs in time-varying Mould, therefore the performance under motor speed operation can be improved, improve motor torque Ripple Suppression effect, effectively suppress electricity to realize Machine torque ripple, reduces power attenuation, lifting system efficiency, so as to improve driving comfort level.
For convenience of understanding, the suppression motor torque ripple that is provided with reference to an instantiation the embodiment of the present invention Method illustrates.
As shown in figure 5, for a kind of hardware structure diagram of motor control provided in an embodiment of the present invention, mainly include:Direct current Busbar 501, input filter circuit 502, inverter 503, output filter circuit 504, motor 505, modulation unit 506, controller Computing unit 507.Wherein, dc bus 501, input filter circuit 502, inverter 503, output filter circuit 504, motor Sequentially connection between 505 on circuit, forms main circuit, is the path of power transmission.Modulation unit 506 is connected in output filter On circuit between wave circuit 504 and motor 505, the both ends of controller computing unit 507 respectively with modulation unit 506 and inversion Device 503 couples, and modulation unit 506 and controller computing unit 507 form time-varying inner membrance controller, modulation unit 506, controller Control circuit is formed between computing unit 507 and main circuit, is the path of control signal.It is machine between motor 505 and load 508 Tool couples.
Suppression motor torque ripple in 6 pairs of embodiment illustrated in fig. 5 performed by time-varying inner membrance controller below in conjunction with the accompanying drawings Method be described further.
As shown in fig. 6, being the idiographic flow of motor torque Ripple Suppression of the present invention, motor torque Ripple Suppression control is completed System.Below with using the EPS of PMSM (Permanent Magnet Synchronous Motor, permanent magnet synchronous motor) (Electric Power Steering, electric booster steering controller) and three-phase full-bridge inverter PWM (Pulse Width Modulate, pulsewidth modulation) exemplified by, with reference to Fig. 6 to realizing that the rate-determining steps of motor torque Ripple Suppression are described in detail:
In step s 601, using PMSM electrical angles θ as independent variable, PMSM and PMSM torque disturbances are built in position field Mould, builds PMSM models and PMSM torque disturbance models.
In step S602, using PMSM electrical angles θ as independent variable, in position field establishes PMSM and PMSM torque disturbances Mould, builds PMSM internal models and PMSM torque disturbance internal models.
In step S603, according to PMSM models, PMSM torque disturbances model, PMSM internal models and PMSM torque disturbance internal models Augmented system is built, and determines the first control parameter matrix of augmented system.
In the present embodiment, using PMSM electrical angles θ as independent variable, internal model is carried out to PMSM and torque disturbance in position field and is set Meter, internal model have following form:
Above-mentioned formula is time-varying internal model, is denoted as (Φ111222,D2), wherein Φ1112, Ψ22,D2All it is the first control parameter matrix of model,It is state variable,It is intermediate variable.Specifically,The referred to as input quantity of motor torque disturbance internal model,The referred to as state variable of motor torque disturbance internal model,ForDerivative, The referred to as state variable of motor internal model,For508 derivative,The referred to as input quantity of motor internal model, Φ1Referred to as motor torque Disturb the state matrix of internal model, Φ2The referred to as state matrix of motor internal model, Ψ1The referred to as input square of motor torque disturbance internal model Battle array, Ψ2The referred to as input matrix of motor internal model, Γ1The referred to as output matrix of motor torque disturbance internal model, Γ2Referred to as motor internal model Output matrix, D2The referred to as feedforward matrix of motor internal model,The referred to as output quantity of motor torque disturbance internal model.
The model of above-mentioned steps S601 and step S602 form augmented system together.
In step s 604, with N number of PMSM angular ratesAs intermediate parameters, finite element grid is constructed, to augmented system Subduer is designed, and determines the second control parameter matrix of subduer, wherein, each PMSM angular rates correspond to different second Control parameter matrix, N are the positive integer more than or equal to 3.
In the present embodiment, with PMSM angular ratesAs intermediate parameters, construction finite element grid [6 π, 12 π, 18 π, 30 π, 60 π, 90 π] (unit:Rad/s), subduer is designed to gained augmented system, there is following form:
It is denoted as (Gst,Fst,Hst,Kst).Wherein Gst,Fst,Hst,KstIt is the second control parameter matrix, specifically,Referred to as The state variable of subduer,ForDerivative,The referred to as input quantity of subduer,The referred to as value of feedback of subduer,Referred to as The output quantity (i.e. the input quantity of motor internal model) of subduer, GstThe referred to as state matrix of subduer, FstThe referred to as input of subduer Matrix, HstThe referred to as output matrix of subduer, KstThe referred to as feedforward matrix of subduer.
It should be noted that using PMSM angular rates as intermediate parameters, Infinite Matrix inequality is asked for the present embodiment Topic is converted to finite dimensioned problem, using N number of PMSM angular rates as intermediate parameters, constructs finite element grid, and will be limited PMSM angular rates in first grid build N-1 section, such as N=6, corresponding PMSM angular rates (unit:Rad/s) respectively For 6 π, 12 π, 18 π, 30 π, 60 π, 90 π, then finite element grid is expressed as [6 π, 12 π, 18 π, 30 π, 60 π, 90 π], can build (6 π, 12 π), (12 π, 18 π), (18 π, 30 π), (30 π, 60 π) and (60 π, 90 π) 5 sections, design augmented system calm Device, and determine the second control parameter matrix of subduer, 6 π in finite element grid, 12 π, 18 π, 30 π, 60 π and 90 π are right respectively Answer the second different control parameter matrixes.
In step s 605, PMSM position sampled signals and PMSM current signals are periodically gathered.
Specifically, during the embodiment of the present invention is embodied, PMSM position sampled signals and PMSM electric currents are gathered The cycle of signal can be definite according to being actually needed, such as 10ms, 20ms, 50ms.
In step S606, when collecting PMSM positions sampled signal and PMSM current signals for the first time, Huo Zhe When PMSM electrical angles increment is more than control threshold, PMSM electrical angles estimate and PMSM electricity are determined according to PMSM positions sampled signal Attitude rate estimator value, and determine PMSM current values according to PMSM current signals, PMSM electrical angles increment is by currently collecting PMSM positions sampled signal when PMSM positions sampled signal and preceding once suppression motor torque ripple is calculated.
That is, except collecting for the first time after PMSM positions sampled signal and PMSM current signals directly according to PMSM Put sampled signal and determine PMSM electrical angles estimate and PMSM angular rate estimates, and PMSM is determined according to PMSM current signals Outside current value, when subsequently collecting PMSM positions sampled signal and PMSM current signals every time, it will all compare PMSM electrical angles The size of increment and control threshold.When PMSM electrical angles increment is more than control threshold, then samples and believe again according to PMSM positions Number definite PMSM electrical angles estimate and PMSM angular rate estimates, and PMSM current values are determined according to PMSM current signals. Wherein, control threshold is definite according to being actually needed, and the corresponding angle of such as control threshold can be 2 π, 3 π;PMSM electrical angles increase PMSM positions sampled signal when amount is by the motor position sampled signal currently collected and preceding once suppression motor torque ripple It is calculated.If the corresponding angle of control threshold is 2 π, the corresponding PMSM electricity of the PMSM positions sampled signal collected for the first time Angle is 1 π, and the corresponding PMSM electrical angles of PMSM positions sampled signal collected for the second time are also 1 π, are collected for the third time Sampled signal corresponding PMSM electrical angles in PMSM positions are 2 π, the 4th corresponding PMSM of PMSM positions sampled signal collected Electrical angle is 3.5 π, then corresponding 2.5 π of PMSM electrical angles increment position during the PMSM positions sampled signal collected for the 4th time, full Sufficient PMSM electrical angles increment is more than the condition of control threshold, will again perform determine PMSM according to PMSM positions sampled signal at this time Electrical angle estimate and PMSM angular rate estimates, and the step of determine PMSM current values according to PMSM current signals.
Specifically, carrying out the estimation of PMSM electrical angles and the estimation of PMSM angular rates to PMSM positions sampled signal, obtain PMSM electrical angles estimate and PMSM angular rate estimates;Dq coordinate transforms are carried out to PMSM current signals, obtain PMSM electricity Flow valuve.
In step S607, estimated according to PMSM electrical angles estimate and the first control parameter matrix computations with PMSM electrical angles The corresponding first object control parameter matrix of evaluation.
Specifically, the first control parameter matrix is the function using PMSM electrical angles as independent variable, and PMSM electrical angles are estimated Value substitutes into the first control parameter matrix and can obtain first object control parameter matrix.
In step S608, by two PMSM angular rates adjacent with PMSM angular rate estimates in finite element grid It is determined as target PMSM angular rates, two PMSM motors angular rates are denoted as first object PMSM angular rates and second respectively Target PMSM angular rates.
Here using finite element grid as [6 π, 12 π, 18 π, 30 π, 60 π, 90 π] exemplified by illustrate, if PMSM angular rates Estimate is 15 π, determines that the PMSM angular rate estimates fall at (12 π, 18 π), it is determined that the PMSM angular rate estimates Two adjacent PMSM angular rates are determined as target PMSM angular rates, the two targets PMSM angular rates are denoted as respectively One target PMSM angular rates and the second target PMSM angular rates, i.e.,:First object PMSM angular rates are 12 π, the second mesh It is 18 π to mark PMSM angular rates.
In step S609, according to two the second control parameter matrixes corresponding with two target PMSM angular rates Calculate the second target control parameter matrix corresponding with PMSM angular rate estimates.
In the present embodiment, since each PMSM angular rates in finite element grid have corresponding second target control to join Matrix number, so the two PMSM angular rates adjacent with PMSM angular rate estimates are determined as target in step S608 , then can be according to corresponding two the second target control parameters of the two targets PMSM angular rates after PMSM angular rates Matrix computations the second target control parameter matrix corresponding with PMSM angular rate estimates.
Specifically, can be determined according to the difference between first object PMSM angular rates and PMSM angular rate estimates Corresponding first weighted value of first object PMSM angular rates, estimates according to the second target PMSM angular rates with PMSM angular rates Difference between evaluation determines corresponding second weighted value of the second target PMSM angular rates, according to the first weighted value, the second power The corresponding second control parameter matrix of weight values, first object PMSM angular rates and the second target PMSM angular rates are corresponding Second control parameter matrix computations the second target control parameter matrix corresponding with PMSM angular rate estimates.Wherein, first The operation relation of difference, the second weighted value between weighted value and first object PMSM angular rates and PMSM angular rate estimates The operation relation of difference between the second target PMSM angular rates and PMSM angular rate estimates, and the second target control The corresponding second control parameter matrix of parameter matrix and the first weighted value, the second weighted value, first object PMSM angular rates and Operation relation between the corresponding second control parameter matrix of second target PMSM angular rates can be according to PMSM's and PMSM Running environment determines.
In step S610, according to PMSM current values, first object control parameter matrix and the second target control parameter matrix Output quantity is calculated, output quantity is the control signal of each switching device of the pressure-speed regulating device of motor.
Specifically, according to PMSM current values, first object control parameter matrix and the second target control parameter matrix computations The duty cycle of the control signal of each switching device of PMSM pressure-speed regulating devices, the control signal that the duty cycle calculated is determined As output quantity.Here PMSM pressure-speed regulating devices refer to the devices such as inverter.
In step S611, the operation of PMSM is controlled according to output quantity, suppresses the torque ripple of PMSM.
Since the embodiment of the present invention uses the internal model built with PMSM electrical angles, and PMSM electrical angles and time correlation, institute To belong to time-varying internal model, therefore the performance under motor speed operation can be improved, improve PMSM torque ripple inhibitions, with reality Existing effect suppresses PMSM torque ripples, power attenuation, lifting system efficiency is reduced, so as to improve driving comfort level.
The embodiment of the present invention also discloses corresponding device embodiment on the basis of embodiment of the method disclosed above.
A kind of device for suppressing motor torque ripple provided in an embodiment of the present invention is introduced below, the suppression motor The device of torque ripple is used to perform the method for suppressing motor torque ripple in preceding method embodiment.It should be noted that have The method that the explanation of the device of the suppression motor torque ripple can refer to suppression motor torque ripple provided above is closed, below simultaneously Do not repeat.
Referring to Fig. 7, an embodiment of the present invention provides a kind of device for suppressing motor torque ripple, which can specifically wrap Include:Construction unit 701, structural unit 702, collecting unit 703, the first determination unit 704, the first computing unit 705, second are true Order member 706, the second computing unit 707, the 3rd computing unit 708 and control unit 709, wherein, the specific effect of each unit It is as follows:
Construction unit 701, for using motor electrical angle as independent variable, building augmented system in position field, and determine to increase First control parameter matrix of wide system.
Structural unit 702, for using N number of motor angular rate as intermediate parameters, finite element grid being constructed, to augmentation system System design subduer, and determine the second control parameter matrix of subduer, wherein, each motor angular rate corresponds to different the Two control parameter matrixes, N are the positive integer more than or equal to 3.
Collecting unit 703, for periodically gathering motor position sampled signal and motor current signal.
First determination unit 704, for when collecting motor position sampled signal and motor current signal for the first time, or Person determines motor electrical angle estimate and electricity when motor electrical angle increment is more than control threshold according to motor position sampled signal Electromechanical Attitude rate estimator value, and motor current value is determined according to motor current signal, motor electrical angle increment is by currently collecting Motor position sampled signal and it is preceding once suppress motor torque ripple when motor position sampled signal be calculated.
First computing unit 705, for according to motor electrical angle estimate and the first control parameter matrix computations and motor The corresponding first object control parameter matrix of electrical angle estimate.
Second determination unit 706, for by two motors adjacent with motor angular rate estimate in finite element grid Angular rate is determined as target motor angular rate, and two target motor angular rates are denoted as first object motor electric angle speed respectively Degree and the second target motor angular rate.
Second computing unit 707, for according to two second corresponding with two target motor angular rates controls Parameter matrix calculates the second target control parameter matrix corresponding with motor angular rate estimate.
3rd computing unit 708, for according to motor current value, first object control parameter matrix and the second target control Parameter matrix calculates output quantity, and output quantity is the control signal of each switching device of motor pressure-speed regulating device.
Control unit 709, for controlling the operation of motor according to output quantity, suppresses the torque ripple of motor.
It is shown in Figure 8, it is preferred that construction unit 701 includes:First structure subelement 801, second builds subelement 802 and the 3rd build subelement 803, wherein, the specific effect of each unit is as follows:
First structure subelement 801, for using motor electrical angle as independent variable, in position field to motor and motor torque Disturbance is modeled, and builds motor model and motor torque Disturbance Model.
Second structure subelement 802, for using motor electrical angle as independent variable, in position field to motor and motor torque Internal model is established in disturbance, builds motor internal model and motor torque disturbance internal model.
3rd structure subelement 803, for being turned according to motor model, motor torque Disturbance Model, motor internal model and motor Square disturbance internal model structure augmented system, and determine the first control parameter matrix of augmented system.
Preferably, motor model, motor torque Disturbance Model, motor internal model and motor torque disturbance internal model are with standard shape The model that state space form is established.
It is shown in Figure 9, it is preferred that the first determination unit 704 includes:Pre-estimation subelement 901 and conversion subelement 902, wherein, the specific effect of each unit is as follows:
Pre-estimation subelement 901, for carrying out the estimation of motor electrical angle and motor electric angle speed to motor position sampled signal Degree estimation, obtains motor electrical angle estimate and motor angular rate estimate.
Subelement 902 is converted, for carrying out dq coordinate transforms to motor current signal, obtains motor current value.
It is shown in Figure 10, it is preferred that the second computing unit 707 includes:First determination subelement 1001, second determines son 1002 and second computation subunit 1003 of unit, wherein, the specific effect of each unit is as follows:
First determination subelement 1001, for according to first object motor angular rate and motor angular rate estimate it Between difference determine corresponding first weighted value of first object motor angular rate.
Second determination subelement 1002, for according to the second target motor angular rate and motor angular rate estimate it Between difference determine corresponding second weighted value of the second target motor angular rate.
Computation subunit 1003, for being corresponded to according to the first weighted value, the second weighted value, first object motor angular rate The second control parameter matrix and the corresponding second control parameter matrix computations of the second target motor angular rate and motor electricity The corresponding second target control parameter matrix of Attitude rate estimator value.
An embodiment of the present invention provides a kind of device for suppressing motor torque ripple, by being used as change certainly using motor electrical angle Amount, augmented system is built in position field, and finite element grid is built using motor angular rate as intermediate parameters, to augmentation system System design subduer, is converted to finite dimensioned, the motor position then obtained according to periodicity by Infinite Matrix inequality Sampled signal obtains first object control parameter matrix and the second target control parameter matrix, and then is joined according to the control after renewal Matrix number and motor current value calculate output quantity, according to the operation of output quantity control motor, suppress the torque ripple of motor, i.e., real Show and motor torque Ripple Suppression problem has been associated with the tracking control problem based on corner change system.Since the present invention adopts Augmented system is built to motor electrical angle, so the mode that the embodiment of the present invention suppresses motor torque ripple belongs in time-varying Mould, therefore the performance under motor speed operation can be improved, improve motor torque Ripple Suppression effect, effectively suppress electricity to realize Machine torque ripple, reduces power attenuation, lifting system efficiency, so as to improve driving comfort level.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, apparatus or computer program Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (device) and computer program product Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram The combination of flow and/or square frame in journey and/or square frame and flowchart and/or the block diagram.These computer programs can be provided The processors of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices, which produces, to be used in fact The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
It should be noted that herein, these computer program instructions may also be stored in can guide computer or other In the computer-readable memory that programmable data processing device works in a specific way so that be stored in this and computer-readable deposit Instruction in reservoir produces the manufacture for including command device, which realizes in one flow of flow chart or multiple flows And/or the function of being specified in one square frame of block diagram or multiple square frames.
It should be noted that herein, these computer program instructions can also be loaded into computer or other are programmable On data processing equipment so that series of operation steps is performed on computer or other programmable devices to produce computer reality Existing processing, is used for realization in one flow of flow chart so that the instruction performed on computer or other programmable devices provides Or specified in one square frame of multiple flows and/or block diagram or multiple square frames function the step of.
It should be noted that herein, particular embodiments described above, to the purpose of the present invention, technical solution and Beneficial effect is further described, it should be understood that the foregoing is merely the present invention specific embodiment, The protection domain being not intended to limit the present invention, within the spirit and principles of the invention, any modification for being made, equally replace Change, improve, should all be included in the protection scope of the present invention.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to Non-exclusive inclusion, so that article or equipment including a series of elements not only include those key elements, but also is wrapped Other elements that are not explicitly listed are included, or are further included as this article or the intrinsic key element of equipment.Do not having more In the case of more limitations, the key element that is limited by sentence "including a ...", it is not excluded that in the article including above-mentioned key element or Also there are other identical element in person's equipment.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention. A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one The most wide scope caused.

Claims (10)

  1. A kind of 1. method for suppressing motor torque ripple, it is characterised in that the described method includes:
    Using motor electrical angle as independent variable, augmented system is built in position field, and determines the first control of the augmented system Parameter matrix;
    Using N number of motor angular rate as intermediate parameters, finite element grid is constructed, designs the augmented system subduer, and Determine the second control parameter matrix of the subduer, wherein, each motor angular rate corresponds to the second different control Parameter matrix, N are the positive integer more than or equal to 3;
    Periodically gather motor position sampled signal and motor current signal;
    Increase when collecting the motor position sampled signal and the motor current signal for the first time, or in motor electrical angle When amount is more than control threshold, determine that motor electrical angle estimate and motor angular rate are estimated according to the motor position sampled signal Evaluation, and determine motor current value according to the motor current signal, the motor electrical angle increment is by the institute that currently collects Motor position sampled signal when stating motor position sampled signal and preceding once suppression motor torque ripple is calculated;
    It is corresponding with the motor electrical angle estimate according to the motor electrical angle estimate and the first control parameter matrix computations First object control parameter matrix;
    Two motor angular rates adjacent with the motor angular rate estimate in the finite element grid are determined For target motor angular rate, two target motor angular rates are denoted as first object motor angular rate and second respectively Target motor angular rate;
    According to two the second control parameter matrix computations corresponding with two target motor angular rates and the electricity The corresponding second target control parameter matrix of electromechanical Attitude rate estimator value;
    According to the motor current value, the first object control parameter matrix and the second target control parameter matrix computations Output quantity, the output quantity are the control signal of each switching device of motor pressure-speed regulating device;
    The operation of motor is controlled according to the output quantity, suppresses the torque ripple of the motor.
  2. 2. according to the method described in claim 1, it is characterized in that, using motor electrical angle as independent variable, built in position field Augmented system, and determine the first control parameter matrix of the augmented system, including:
    Using motor electrical angle as independent variable, motor and motor torque disturbance are modeled in position field, build motor model With motor torque Disturbance Model;
    Using motor electrical angle as independent variable, internal model is established to motor and motor torque disturbance in position field, builds motor internal model Internal model is disturbed with motor torque;
    Internal model is disturbed according to the motor model, the motor torque Disturbance Model, the motor internal model and the motor torque The augmented system is built, and determines the first control parameter matrix of the augmented system.
  3. 3. according to the method described in claim 2, it is characterized in that, the motor model, the motor torque Disturbance Model, institute It is the model established with standard state space form to state motor internal model and motor torque disturbance internal model.
  4. 4. according to the method described in claim 1, it is characterized in that, motor electric angle is determined according to the motor position sampled signal Estimate and motor angular rate estimate are spent, and motor current value is determined according to the motor current signal, including:
    The estimation of motor electrical angle and the estimation of motor angular rate are carried out to the motor position sampled signal, obtains the motor electricity Angle estimation value and the motor angular rate estimate;
    Dq coordinate transforms are carried out to the motor current signal, obtain the motor current value.
  5. 5. according to the method described in claim 1, it is characterized in that, according to right respectively with two target motor angular rates Two the second control parameter matrix computations the second target control parameter square corresponding with the motor angular rate estimate answered Battle array, including:
    Described is determined according to the difference between the first object motor angular rate and the motor angular rate estimate Corresponding first weighted value of one target motor angular rate;
    Described is determined according to the difference between the second target motor angular rate and the motor angular rate estimate Corresponding second weighted value of two target motor angular rates;
    According to first weighted value, second weighted value, corresponding second control of the first object motor angular rate Parameter matrix and the corresponding second control parameter matrix computations of the second target motor angular rate and the motor electric angle Velocity estimation is worth the corresponding second target control parameter matrix.
  6. A kind of 6. device for suppressing motor torque ripple, it is characterised in that including:
    Construction unit, for using motor electrical angle as independent variable, building augmented system in position field, and determine the augmentation system First control parameter matrix of system;
    Structural unit, for using N number of motor angular rate as intermediate parameters, finite element grid being constructed, to the augmented system Subduer is designed, and determines the second control parameter matrix of the subduer, wherein, each motor angular rate corresponds to not The second same control parameter matrix, N are the positive integer more than or equal to 3;
    Collecting unit, for periodically gathering motor position sampled signal and motor current signal;
    First determination unit, for when collecting the motor position sampled signal and the motor current signal for the first time, Or when motor electrical angle increment is more than control threshold, determine that motor electrical angle is estimated according to the motor position sampled signal Value and motor angular rate estimate, and motor current value is determined according to the motor current signal, the motor electrical angle increases Motor position when amount is by the motor position sampled signal currently collected and preceding once suppression motor torque ripple Sampled signal is calculated;
    First computing unit, for according to the motor electrical angle estimate and the first control parameter matrix computations and the motor The corresponding first object control parameter matrix of electrical angle estimate;
    Second determination unit, for by described in two adjacent with the motor angular rate estimate in the finite element grid Motor angular rate is determined as target motor angular rate, and two target motor angular rates are denoted as first object electricity respectively Electromechanical angular speed and the second target motor angular rate;
    Second computing unit, for according to two the second control parameters corresponding with two target motor angular rates Matrix computations the second target control parameter matrix corresponding with the motor angular rate estimate;
    3rd computing unit, for according to the motor current value, the first object control parameter matrix and second mesh Control parameter matrix computations output quantity is marked, the output quantity is the control signal of each switching device of motor pressure-speed regulating device;
    Control unit, for controlling the operation of motor according to the output quantity, suppresses the torque ripple of the motor.
  7. 7. device according to claim 6, it is characterised in that the construction unit includes:
    First structure subelement, for using motor electrical angle as independent variable, position field motor and motor torque are disturbed into Row modeling, builds motor model and motor torque Disturbance Model;
    Second structure subelement, for using motor electrical angle as independent variable, being built in position field to motor and motor torque disturbance Vertical internal model, builds motor internal model and motor torque disturbance internal model;
    3rd structure subelement, for according to the motor model, the motor torque Disturbance Model, the motor internal model and institute State motor torque disturbance internal model and build the augmented system, and determine the first control parameter matrix of the augmented system.
  8. 8. device according to claim 7, it is characterised in that the motor model, the motor torque Disturbance Model, institute It is the model established with standard state space form to state motor internal model and motor torque disturbance internal model.
  9. 9. according to the method described in claim 1, it is characterized in that, first determination unit includes:
    Pre-estimation subelement, for estimating to motor position sampled signal progress motor electrical angle estimation and motor angular rate Meter, obtains the motor electrical angle estimate and the motor angular rate estimate;
    Subelement is converted, for carrying out dq coordinate transforms to the motor current signal, obtains the motor current value.
  10. 10. device according to claim 6, it is characterised in that second computing unit includes:
    First determination subelement, for according to the first object motor angular rate and the motor angular rate estimate it Between difference determine corresponding first weighted value of the first object motor angular rate;
    Second determination subelement, for according to the second target motor angular rate and the motor angular rate estimate it Between difference determine corresponding second weighted value of the second target motor angular rate;
    Computation subunit, for according to first weighted value, second weighted value, the first object motor angular rate Corresponding second control parameter matrix and the corresponding second control parameter matrix computations of the second target motor angular rate The second target control parameter matrix corresponding with the motor angular rate estimate.
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