CN109861477B - Permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and control system thereof - Google Patents
Permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and control system thereof Download PDFInfo
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Abstract
The permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and a control system thereof are mainly composed of an outer rotor (1), an inner rotor (2) and a stator (3); the stator (3) is arranged between the outer rotor (1) and the inner rotor (2); the method obtains the whole rotor position by estimating the reluctance rotor position, thereby realizing the control without a position sensor. The vector control method without the position sensor does not need coordinate transformation, has simple structure, and solves the problems of complexity and strong dependence on motor parameters of the traditional vector control.
Description
Technical field:
the invention relates to a permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and a control system thereof. Belongs to the field of motor design and control systems thereof.
The background technology is as follows:
there are a great number of equipment in the modern industry that require low-speed, high-torque transmission systems, such as numerically controlled machine tools, heavy mining machinery, oil drilling machinery, large industrial conveyor belts, lifting equipment, etc., which are typically high-energy-consumption electromechanical devices, with power consumption accounting for about 10% of the total power consumption of the industry. At present, the low-speed and high-torque transmission equipment in China mostly adopts a driving mode of a conventional rotating speed motor and a reduction gear mechanism, but a plurality of reduction transmission links not only lead to huge volume of a driving system, increased maintenance cost and reduced system reliability and operation efficiency (the efficiency of the whole transmission chain is generally 75% -85%), but also lead to the technical problems of processing, manufacturing, transportation, assembly and the like, and also lead to the problems of lubricating oil leakage, noise pollution and the like, so that the direct driving mode of the reduction gear mechanism is omitted, and is a necessary choice for developing high-end mechanical equipment in the future and improving the overall performance of the transmission system.
The permanent magnet synchronous motor has been developed rapidly in recent years, and research work at home and abroad is extremely active, and because the permanent magnet synchronous motor has outstanding excellent performances such as simple structure, brushless reliability, high efficiency and power factor, large starting torque, wide economic operation range and the like compared with an induction motor, an electrically excited synchronous motor and a switched reluctance motor no matter being used as electric or generating operation, the permanent magnet synchronous motor is popularized and applied in a large scale in many fields, and especially has very wide application prospect in a low-speed large-torque direct-drive system. In order to improve the torque density, the large inner cavity space of the low-speed high-torque direct-drive permanent magnet synchronous motor is fully utilized, the cost is reduced, and the development of a novel permanent magnet synchronous motor structure and a novel rotor structure is an important development trend. In addition, the low-speed high-torque direct-drive permanent magnet synchronous motor is often operated under various complex working conditions such as variable load, heavy load and the like, so that the searching of the speed regulation control method with strong pertinence, high response speed and strong robustness has very important practical significance for improving the performance of high-end equipment.
Disclosure of Invention
The invention aims to: the invention provides a permanent magnet/reluctance double-rotor low-speed large-torque synchronous motor and a control system thereof, and aims to solve the problems of poor system reliability, low operation efficiency, high cost and the like in a speed reduction transmission link in traditional low-speed large-torque transmission equipment. Meanwhile, the invention adopts a double-rotor structure design, so that the torque density can be improved, and the cost of the motor can be reduced.
The technical scheme is as follows: the invention adopts the following technical scheme:
the permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor is characterized in that: the synchronous motor mainly comprises an outer rotor (1), an inner rotor (2) and a stator (3); the stator (3) is arranged between the outer rotor (1) and the inner rotor (2);
the inner rotor (2) comprises a magnetism isolating ring (7) and a magnetism barrier type magnetic resistance rotor structure (6), the magnetism barrier type magnetic resistance rotor structure (6) is formed by alternately arranging a magnetism conducting layer (6-1) and a non-magnetism conducting layer (6-2), each magnetism barrier type magnetic resistance rotor structure (6) is fixed on the outer side wall of the magnetism isolating ring (7) through a dovetail groove, and the magnetism barrier type magnetic resistance rotor structure (6) is arranged between the magnetism isolating ring (7) and the stator (3);
a permanent magnet (4) is arranged on the inner side of the outer rotor (1);
the inner surface and the outer surface of the stator (3) are evenly grooved, a set of three-phase symmetrical windings are respectively embedded in the grooves of the inner surface and the outer surface of the stator (3) (the windings in all the grooves are integrally and collectively called as a set of three-phase symmetrical windings, and only two sets of windings are actually added together in total), and the windings in the grooves of the inner stator and the outer stator are connected in series or in parallel to form the total stator winding of the motor.
The magnetic conductive layer (6-1) and the non-magnetic layer (6-2) in the magnetic barrier type reluctance rotor structure (6) adopt U-shaped structures (the U-shaped structures are named according to the shape of the magnetic barrier type reluctance rotor); the magnetic barrier type magnetic resistance rotor structure (6) consists of magnetic conduction layers (6-1) and non-magnetic conduction layers (6-2) which are alternately arranged, wherein each magnetic conduction layer (6-1) is connected through a connecting rib (6-3), and a non-magnetic conduction layer (6-2) is formed between two adjacent magnetic conduction layers (6-1).
The width of the connecting rib (6-3) only needs to just meet the condition of mechanical strength.
The magnetically permeable layer (6-1) has a structure in which the width gradually increases from the middle to both sides. ( That is, the width gradually increases from inside to outside, as shown in fig. 3, the width of the innermost layer is narrow, then the width of the secondary inner layer of the outer layer of the innermost layer is wider than that of the innermost layer, then the width of the secondary inner layer is wider than that of the secondary inner layer again at the periphery of the secondary inner layer, and the effect of this structure is as follows in the specific embodiment described with reference to fig. 3: the widths of the magnetic guide layers (6-1) in the magnetic barrier are unequal and are combined in a mode that the thicknesses of the two sides are sequentially reduced, so that the magnetic flux flowing through the magnetic guide layers (6-1) at the two sides of the magnetic barrier is more, less in the middle, more reasonable distribution of the magnetic flux is realized, the magnetic flux path is better limited, the harmonic content in the air gap field is reduced, the sine of the air gap field of the motor is improved, the torque pulsation is reduced, and the performance of the motor is improved. )
Each pole of permanent magnet (4) on the inner side of the outer rotor (1) adopts a multi-block anisotropic magnetizing mode, namely each pole of permanent magnet is divided into a plurality of blocks, each block is divided into one area, a plurality of areas can be formed, the magnetizing direction of each area gradually decreases from two sides to the middle and the included angle of the radial direction of the outer rotor (1) (the vertical arrow direction in the middle is the radial direction of the outer rotor as shown in fig. 4), and the permanent magnet (4) is surface-adhered on the inner surface of the outer rotor (1).
In order to enable the inner rotor and the outer rotor to be matched with the stator better, the outer surface of the stator (3) adopts a fractional slot structure, and the inner surface of the stator (3) adopts a distributed winding structure.
The outer rotor (1) adopts a cup-shaped structure (the shape of the mechanical structure for connecting the outer rotor is like a cup, the common cup-shaped structure is named) to be connected with a bearing, and the inner rotor and the outer rotor are coaxially connected. (outer rotor (1) is connected with the inner rotor and the output bearing)
The position-sensor-free control strategy applied to the permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and the control system thereof is characterized in that:
the position of the whole rotor (the whole rotor refers to the outer rotor (1) and the inner rotor (2)) is obtained by estimating the position of the magnetic barrier type reluctance rotor structure (6), so that the control without a position sensor is realized. Firstly, a rotor position estimation module (15) (the rotor position estimation module is realized in a controller and is not in a motor) obtains a rotor position estimation value and a rotation speed estimation value, the rotor position estimation value and the rotation speed estimation value are respectively compared with a rotor position given value and a rotation speed given value to obtain a rotor position error value and a rotation speed error value, the rotor position error value and the rotation speed error value respectively obtain a rotation speed given value and a torque given value through a position regulator (8) and a rotation speed regulator (9), meanwhile, an actual output torque of the motor is obtained through a stator current space vector calculation module (16) and a torque calculation module (17), the calculated actual output torque of the motor is input into a torque regulator (10), an output signal of the torque regulator (10) is used as an input signal of a three-phase current reference value calculation module (11), and finally, a control signal of a current controllable PWM inverter (13) is obtained through a current regulator (12), and the novel synchronous motor is controlled.
The advantages and effects are that:
the outer side of the inner rotor of the novel permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor is of a U-shaped reluctance structure with alternating magnetic conductive layers and non-magnetic conductive layers, and the inner side of the outer rotor is provided with the segmented anisotropic magnetized permanent magnets in a surface-mounted mode. The motor adopts a single stator structure, the inner surface and the outer surface of the stator are uniformly grooved, a set of three-phase windings are respectively arranged in the inner stator groove and the outer stator groove, and the two sets of windings are connected in series or in parallel to form the total stator winding of the motor. The outer surface of the stator adopts a fractional slot structure, and the inner surface of the stator adopts a distributed winding structure. The outer rotor is connected with the bearing by adopting a cup-shaped structure, and the inner rotor and the outer rotor are coaxially connected.
The novel permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor adopts a position-sensor-free vector control method, and the whole rotor position is obtained by estimating the reluctance rotor position, so that the position-sensor-free control is realized. The rotor position estimation module obtains a rotor position estimation value and a rotation speed estimation value, the rotor position estimation value and the rotation speed estimation value are respectively compared with a rotor position given value and a rotation speed given value to obtain a rotor position error value and a rotation speed error value, the rotor position error value and the rotation speed error value respectively obtain a rotation speed given value and a torque given value through a position regulator and a rotation speed regulator, meanwhile, the stator current space vector calculation module and the torque calculation module obtain the actual output torque of the motor, the calculated actual output torque of the motor is input to the torque regulator, the output signal of the torque regulator is used as the input signal of the three-phase current reference value calculation module, thus obtaining the given value of three-phase stator current, and finally, the current regulator obtains the control signal of the current controllable PWM inverter to control the novel synchronous motor.
The motor adopts a double-rotor single-stator structure, fully utilizes the larger inner cavity space of the low-speed high-torque direct-drive synchronous motor, greatly improves the torque density and the material utilization rate of the motor, and can greatly reduce the volume and the weight of the motor under the same power. On the premise of not considering the change of heat dissipation conditions, the torque density of the double-rotor single-stator motor can be improved by about 40% compared with that of a conventional single-stator-rotor motor; or the motor volume can be reduced by about 30% under the same power. The novel permanent magnet/reluctance double-rotor low-speed large-torque synchronous motor has the outstanding advantages of reliable structure, low cost, high efficiency, high torque density and mechanical integration level, high utilization rate of motor structural materials and the like.
The novel double-rotor motor has the advantages of the traditional permanent magnet auxiliary reluctance type rotor motor, simultaneously enables the permanent magnet and the reluctance structure to be relatively independent, solves the problems of multiple design parameters and high optimization difficulty of the permanent magnet auxiliary reluctance type rotor motor, and is more flexible in design mode; the requirements of the motor on the permanent magnet demand and the magnetic performance are greatly reduced, and the motor cost is reduced; the motor can simultaneously generate electromagnetic torque and reluctance torque, so that the torque density of the motor is improved, the two torques are mutually independent, the flexibility of a control mode is greatly enhanced, and the torque density, the efficiency, the weak magnetic speed regulation capability and the utilization rate of an inverter of the motor are improved.
The magnetic conductive layer and the non-magnetic conductive layer on the reluctance rotor adopt U-shaped structures, which are equivalent to increasing the air gap on the motor quadrature axis, thereby improving the quadrature axis reluctance and being beneficial to improving the reluctance torque of the motor; the thickness of each magnetic barrier structure adopts a structure that the thickness of the magnetic conductive layer is gradually reduced from the middle to the two sides, so that the modulation effect of the magnetic barrier structure on the magnetic field is improved, the sine of the air gap magnetic field between the inner stator and the rotor is improved, and the harmonic content is reduced; the permanent magnets on the outer rotor adopt a segmented anisotropic magnetizing mode, so that the permanent magnetic field close to an air gap is more concentrated, the magnetic flux density distribution of the air gap of the motor is more similar to sine, the harmonic content is less, the magnetic density distribution is more uniform, the salient pole effect of the rotor of the motor can be further enhanced, and the electromagnetic torque output capability and the permanent magnet utilization rate are further improved. The stator outer side is matched with the external rotor surface-mounted permanent magnet, so as to solve the contradiction that the motor has lower rotating speed, more pole pairs and limited slot number, the stator outer side adopts a fractional slot structure, and simultaneously the equivalent distribution function of fractional slot windings and the weakening function of counter-potential of tooth harmonic waves are utilized to achieve the effects of improving potential waveforms and improving the utilization rate of windings. The inner side of the stator is matched with the inner rotor reluctance structure, and in order to reduce the harmonic content of the motor, improve the reluctance torque and the sine of the counter potential, the inner side of the stator adopts a distributed winding structure.
The control mode adopts a high-response strong-robustness position-sensor-free vector control method based on the stator current space vector, and the method obtains the whole rotor position by estimating the reluctance rotor position, so that the position-sensor-free control is realized. The vector control method without the position sensor does not need coordinate transformation, has simple structure, and solves the problems of complexity and strong dependence on motor parameters of the traditional vector control.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet/reluctance dual-rotor low-speed high-torque synchronous motor;
fig. 2 is a schematic diagram of an inner rotor structure of the permanent magnet/reluctance dual-rotor low-speed high-torque synchronous motor of the invention;
FIG. 3 is a schematic illustration of a single magnetic barrier; 6. a magnetically-shielded reluctance rotor structure; 6-1, a magnetically permeable layer; 6-2, a non-magnetic conductive layer; 6-3, connecting ribs;
FIG. 4 is a schematic diagram of a segmented anisotropic magnetization arrangement of permanent magnets;
fig. 5 is a schematic block diagram of the sensorless vector control of the permanent magnet/reluctance dual-rotor low-speed high-torque synchronous motor of the present invention.
Reference numerals illustrate:
1. an outer rotor; 2. an inner rotor; 3. a stator; 4. a permanent magnet; 5. a stator groove; 6. a magnetically-shielded reluctance rotor structure; 6-1, a magnetically permeable layer; 6-2, a non-magnetic conductive layer; 6-3, connecting ribs; 7. a magnetism isolating ring; 8. a position adjuster; 9. a rotation speed regulator; 10. a torque regulator; 11. a three-phase current reference value calculation module; 12. a current regulator; 13. a current-controllable PWM inverter; 14. a three-phase rectifier; 15. a rotor position estimation module; 16. a stator current space vector calculation module; 17. a torque calculation module.
Detailed Description
The permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor is characterized in that: the synchronous motor mainly comprises an outer rotor (1), an inner rotor (2) and a stator (3); the stator (3) is arranged between the outer rotor (1) and the inner rotor (2);
the inner rotor (2) comprises magnetic isolation rings (7) (2-1) and magnetic barrier type magnetic resistance rotor structures (6), the magnetic barrier type magnetic resistance rotor structures (6) are structures formed by alternately conducting magnetic layers (6-1) and non-conducting magnetic layers (6-2), each magnetic barrier type magnetic resistance rotor structure (6) is fixed on the outer side wall of each magnetic isolation ring (7) through a dovetail groove, and each magnetic barrier type magnetic resistance rotor structure (6) is arranged between each magnetic isolation ring (7) and each stator (3);
a permanent magnet (4) is arranged on the inner side of the outer rotor (1);
the inner surface and the outer surface of the stator (3) are uniformly grooved, a set of three-phase symmetrical windings are respectively embedded in the grooves of the inner surface and the outer surface of the stator (3), and the windings in the grooves of the inner stator and the outer stator are connected in series or in parallel to form the total stator winding of the motor.
The magnetic conductive layer (6-1) and the non-magnetic layer (6-2) in the magnetic barrier type reluctance rotor structure (6) are both U-shaped structures; the magnetic barrier type magnetic resistance rotor structure (6) consists of magnetic conduction layers (6-1) and non-magnetic conduction layers (6-2) which are alternately arranged, wherein each magnetic conduction layer (6-1) is connected through a connecting rib (6-3), and a non-magnetic conduction layer (6-2) is formed between two adjacent magnetic conduction layers (6-1).
The width of the connecting rib (6-3) only needs to just meet the condition of mechanical strength.
The magnetically permeable layer (6-1) has a structure in which the width gradually increases from the middle to both sides.
The permanent magnets (4) on the inner side of the outer rotor (1) are segmented and magnetized in different directions, namely each permanent magnet is divided into a plurality of areas, the magnetizing direction of each area gradually decreases from two sides to the middle and the included angle of the vertical direction, (the vertical arrow direction in the middle is the radial direction of the outer rotor as shown in fig. 4), and the permanent magnets (4) are attached to the inner surface of the outer rotor (1).
In order to enable the inner rotor and the outer rotor to be matched with the stator better, the outer surface of the stator (3) adopts a fractional slot structure, and the inner surface of the stator (3) adopts a distributed winding structure.
The outer rotor (1) is connected with the bearing by adopting a cup-shaped structure, and the inner rotor and the outer rotor are coaxially connected.
The invention provides a permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor, which is shown in figure 1 and is characterized in that: the motor is composed of an outer rotor 1, an inner rotor 2 and a stator 3. The inner surface and the outer surface of the stator 3 are evenly grooved, a set of three-phase windings are respectively embedded in the grooves of the inner surface and the outer surface of the stator 3, and the two sets of windings are connected in series or in parallel to form the total stator winding of the motor. The outer rotor 1 is matched with the surface-mounted permanent magnet 4 on the outer side of the stator. In order to solve the contradiction that the motor has lower rotating speed, more pole pairs and limited slot number, the outer surface of the stator adopts a fractional slot structure, and simultaneously, the equivalent distribution function of fractional slot windings and the weakening function of tooth harmonic counter potential are utilized to achieve the effects of improving potential waveforms and improving the utilization rate of windings. The inner rotor 2 is matched with the inner side reluctance structure of the stator, and the inner surface of the stator adopts a distributed winding structure in order to reduce the harmonic content of the motor, improve the reluctance torque and the sine of the counter potential.
Fig. 2 is a schematic diagram of an inner rotor of the permanent magnet/reluctance dual-rotor low-speed high-torque synchronous motor, wherein the inner rotor is of a U-shaped magnetic barrier structure with magnetic conductive layers 6-1 and non-magnetic conductive layers 6-2 being alternately arranged, and independent magnetic barriers are fixed through dovetail grooves. The outer rotor of the double-rotor motor adopts a permanent magnet structure, and the inner rotor adopts a reluctance structure, so that the motor has the advantages of the permanent magnet auxiliary reluctance type rotor motor, and meanwhile, the permanent magnet and the reluctance structure are relatively independent, the problems of multiple design parameters and high optimization difficulty of the permanent magnet auxiliary reluctance type rotor motor are solved, and the design mode is more flexible; the requirements of the motor on the permanent magnet demand and the magnetic performance are greatly reduced, and the motor cost is reduced; the motor can simultaneously generate electromagnetic torque and reluctance torque, so that the torque density of the motor is improved, the two torques are mutually independent, the flexibility of a control mode is greatly enhanced, and the torque density, the efficiency, the weak magnetic speed regulation capability and the utilization rate of an inverter of the motor are improved.
FIG. 3 is a schematic diagram of a single magnetic barrier structure. The magnetic barrier structure is formed by alternately forming U-shaped magnetic conductive layers 6-1 and non-magnetic conductive layers 6-2, wherein the magnetic conductive layers 6-1 are connected through connecting ribs 6-3 to form a unified whole. The narrower the connecting rib 6-3 is, the better the condition of satisfying the mechanical strength is, which will restrict the flux to flow along the prescribed path better, thereby improving the energy conversion efficiency of the motor. In addition, the widths of the magnetic conductive layers in the magnetic barrier are unequal and are combined in a mode that the thicknesses of the two sides of the magnetic barrier are sequentially reduced, so that the magnetic flux flowing through the magnetic conductive layers at the two sides of the magnetic barrier is more and less in the middle, the magnetic flux is more reasonably distributed, the magnetic flux path is better limited, the harmonic content in the air gap field is reduced, the sine of the air gap field of the motor is improved, the torque pulsation is reduced, and the performance of the motor is improved.
Fig. 4 is a schematic diagram of a partitioned anisotropic magnetizing arrangement permanent magnet. The same permanent magnet is divided into different areas, and the magnetizing modes of the areas are different, namely, the magnetizing direction of each area adopts a mode that the included angle between the two sides and the vertical direction is gradually reduced. Therefore, the permanent magnetic field close to the air gap is more concentrated, the magnetic flux density distribution of the air gap of the motor is more similar to sine, the harmonic content is less, the magnetic density distribution is more uniform, the salient pole effect of the rotor of the motor can be further enhanced, and the electromagnetic torque output capability and the permanent magnet utilization rate are further improved. In addition, the cogging torque can be effectively reduced, and torque ripple can be suppressed.
The invention provides a position sensor-free vector control method of a permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor, which is used for estimating the position of a magnetic barrier reluctance rotor structure (6) to obtain the position of the whole rotor, so as to realize position sensor-free control, as shown in figure 5. The vector control method without the position sensor does not need coordinate transformation, has simple structure, and solves the problems of complexity and strong dependence on motor parameters of the traditional vector control.
The output torque of the novel synchronous motor is superposition of interaction results of the inner rotor and the outer rotor and the stator magnetic field, and the rotor position is easy to estimate because the salient poles of the reluctance rotor synchronous motor are larger, so that the invention obtains the whole rotor position by estimating the reluctance rotor position, and further realizes the control without a position sensor. The method comprises the steps of inputting a detected stator three-phase current value into a rotor position estimation module 15 to obtain a rotor position estimation value and a rotation speed estimation value, subtracting the rotor position estimation value from a rotor position given value to obtain a rotor position error value, inputting the rotor position error value into a position regulator 8 to obtain a rotation speed given value, subtracting the rotation speed estimation value from the rotation speed given value to obtain a rotation speed error value, inputting the rotation speed error value into a rotation speed regulator 9 to obtain a torque given value, inputting the detected stator three-phase current value into a stator current space vector calculation module 16 to obtain the amplitude and space electric angle of a stator current space vector, calculating the actual output torque of the motor by a torque calculation module 17, subtracting the actual output torque from the torque given value to obtain a motor torque error value, inputting the motor torque error value into a torque regulator 10 to obtain a stator current space vector given value, inputting the stator current space vector given value and the three-phase current initial phase into a three-phase current given value calculation module 11 to obtain a three-phase stator current given value, and finally subtracting the stator three-phase current detection value from the three-phase stator current given value to obtain a three-phase stator current error value, inputting the three-phase stator current error value into a current regulator 12 to obtain a current controllable PWM (pulse width modulation) controlled motor control signal. The vector control method without the position sensor does not need coordinate transformation, has simple structure, and solves the problems of complexity and strong dependence on motor parameters of the traditional vector control.
Claims (1)
1. A position-sensor-free control strategy for a low-speed high-torque synchronous motor with permanent magnet/reluctance double rotors is characterized in that:
the permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor mainly comprises an outer rotor (1), an inner rotor (2) and a stator (3); the stator (3) is arranged between the outer rotor (1) and the inner rotor (2);
the inner rotor (2) comprises a magnetism isolating ring (7) and a magnetism barrier type magnetic resistance rotor structure (6), the magnetism barrier type magnetic resistance rotor structure (6) is formed by alternately arranging a magnetism conducting layer (6-1) and a non-magnetism conducting layer (6-2), each magnetism barrier type magnetic resistance rotor structure (6) is fixed on the outer side wall of the magnetism isolating ring (7) through a dovetail groove, and the magnetism barrier type magnetic resistance rotor structure (6) is arranged between the magnetism isolating ring (7) and the stator (3);
a permanent magnet (4) is arranged on the inner side of the outer rotor (1);
the inner surface and the outer surface of the stator (3) are uniformly grooved, a set of three-phase symmetrical windings are respectively embedded in the grooves of the inner surface and the outer surface of the stator (3), and the windings in the grooves of the inner stator and the outer stator are connected in series or in parallel to form the total stator winding of the motor;
the whole rotor position is obtained by estimating the position of the magnetic barrier type reluctance rotor structure (6), so that the control without a position sensor is realized; the detected stator three-phase current value is input into a rotor position estimation module (15) to obtain a rotor position estimation value and a rotation speed estimation value, the rotor position estimation value is subtracted from a rotor position given value to obtain a rotor position error value, the rotor position error value is input into a position regulator (8) to obtain a rotation speed given value, the rotation speed given value is subtracted from the rotation speed given value to obtain a rotation speed error value, the rotation speed error value is input into a rotation speed regulator (9) to obtain a torque given value, the detected stator three-phase current value is input into a stator current space vector calculation module (16) to obtain the amplitude value and the space electric angle of a stator current space vector, the actual output torque is calculated by a torque calculation module (17), the actual output torque is subtracted from the torque given value to obtain a motor torque error value, the motor torque error value is input into a torque regulator (10) to obtain a stator current space vector given value, the stator current space vector and the three-phase current initial phase are input into a three-phase current given value calculation module (11) to obtain a three-phase stator current given value, and finally the three-phase stator current detection value is subtracted from the three-phase stator current to obtain a three-phase stator current error value, and the three-phase current error value is input into a controllable PWM (13) to obtain an inverter control signal.
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