CN113346813A - Maximum torque current ratio control method, maximum torque current ratio control device, terminal device and storage medium - Google Patents

Abstract

The present application is applicable to the technical field of motor control, and provides a maximum torque-to-current ratio control method, device, terminal device and storage medium. The maximum torque-to-current ratio control method includes: acquiring a target signal; injecting the target signal into The first current phase advance angle of the permanent magnet synchronous motor is obtained, and the second current phase advance angle is obtained; according to the second current phase advance angle, the first AC component and the second AC component are determined; The second AC component is used to adjust the current phase advance angle, so that the permanent magnet synchronous motor satisfies the maximum torque to current ratio. The application can improve the dynamic response speed of MTPA control, and quickly determine the MTPA working point.

Description

Maximum torque current ratio control method, device, terminal equipment and storage medium

technical field

The present application belongs to the technical field of motor control, and in particular, relates to a maximum torque-current ratio control method, device, terminal device and storage medium.

Background technique

With the rapid development of various related new technologies such as new materials, mechatronics, power electronics, computers, and control theory, permanent magnet synchronous motors have opened up a wide range of application fields, which can achieve high-speed, high-precision, high-stability, Fast-response, energy-efficient motion control.

In order to realize the high-efficiency control of the permanent magnet synchronous motor, the maximum torque-current ratio (Maximum TorquePer Ampere, MTPA) control method is often used. Realizing the MTPA control of high precision, high stability and strong robustness for the permanent magnet synchronous motor is beneficial to improve the working efficiency of the permanent magnet synchronous motor and realize energy saving and emission reduction.

The existing MTPA control methods usually need to use more band-pass filters and low-pass filters, and the calculation amount is large, resulting in a slow dynamic response speed of the MTPA control, and it is impossible to quickly determine the MTPA operating point.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a maximum torque-to-current ratio control method, device, terminal device, and storage medium, so as to improve the dynamic response speed of MTPA control and quickly determine the MTPA operating point.

In a first aspect, an embodiment of the present application provides a method for controlling a maximum torque-to-current ratio, and the method for controlling the maximum torque-to-current ratio includes:

Get the target signal;

injecting the target signal into the first current phase advance angle of the permanent magnet synchronous motor to obtain the second current phase advance angle;

Determine a first AC component and a second AC component according to the second current phase advance angle, where the first AC component refers to the frequency of the first electromagnetic power of the permanent magnet synchronous motor that is the same as the frequency of the target signal AC component, the second AC component refers to the same-frequency AC component whose phase lags behind the target angle of the first AC component, and the first electromagnetic power refers to the electromagnetic power after the target signal is injected;

According to the first AC component and the second AC component, the first current phase advance angle is adjusted so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio.

In a second aspect, an embodiment of the present application provides a maximum torque-to-current ratio control device, and the maximum torque-to-current ratio control device includes:

The signal acquisition module is used to acquire the target signal;

a signal injection module for injecting the target signal into the first current phase advance angle of the permanent magnet synchronous motor to obtain the second current phase advance angle;

A component determination module, configured to determine a first AC component and a second AC component according to the second current phase advance angle, where the first AC component refers to the difference between the first electromagnetic power of the permanent magnet synchronous motor and the The AC component with the same frequency of the target signal, the second AC component refers to the same-frequency AC component whose phase lags the target angle of the first AC component, and the first electromagnetic power refers to the electromagnetic power injected into the target signal. power;

A lead angle adjustment module, configured to adjust the first current phase lead angle according to the first AC component and the second AC component, so that the permanent magnet synchronous motor satisfies the maximum torque to current ratio.

In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program The steps of implementing the method for controlling the maximum torque-to-current ratio described in the first aspect above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the maximum torque described in the first aspect above is realized The steps of the current ratio control method.

In a fifth aspect, an embodiment of the present application provides a computer program product that, when the computer program product runs on a terminal device, enables the terminal device to execute the method for controlling the maximum torque-to-current ratio according to the first aspect above A step of.

It can be seen from the above that the present application obtains the target signal and injects the target signal into the first current phase advance angle of the permanent magnet synchronous motor to obtain the second current phase advance angle. According to the second current phase advance angle, the injection target signal can be determined. The first AC component of the first electromagnetic power that has the same frequency as the target signal, and the same-frequency AC component (that is, the second AC component) whose phase lags behind the target angle (ie, the second AC component), according to the first AC component and the second AC component. The AC component can adjust the phase advance angle of the first current, so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio, thereby determining the MTPA operating point. In this process, since there is no need to use a band-pass filter and a low-pass filter, the calculation amount in the MTPA control process is reduced, the dynamic response speed of the MTPA control is improved, and the MTPA operating point can be quickly determined.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the realization flow schematic diagram of the maximum torque-current ratio control method provided by the first embodiment of the present application;

FIG. 2 is a schematic flowchart of the implementation of the maximum torque-to-current ratio control method provided in Embodiment 2 of the present application;

Fig. 3 is the structure example diagram of the target observer;

Fig. 4a is an example diagram of MTPA control based on real signal injection method; Fig. 4b is an example diagram of MTPA control based on virtual signal injection method;

5 is an example diagram of a current phase advance angle optimization control system based on a virtual signal injection method;

FIG. 6a is an example diagram of the current amplitude, and FIG. 6b is an example diagram of the response curve of the optimal current phase lead angle;

FIG. 7a is another example diagram of the current amplitude, and FIG. 7b is another example diagram of the response curve of the optimal current phase lead angle;

8 is a schematic structural diagram of a maximum torque-current ratio control device provided in Embodiment 3 of the present application;

FIG. 9 is a schematic structural diagram of a terminal device provided in Embodiment 4 of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other features , whole, step, operation, element, component and/or the presence or addition of a collection thereof.

It should also be understood that the terminology used in the specification of the application herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

Before explaining the solution of the present application, in order to facilitate the reader's understanding, the terms involved in the solution are explained first.

Permanent magnet synchronous motor refers to a synchronous motor that contains permanent magnets in the excitation system. Its operation mode is the same as that of traditional electric excitation synchronous motor, but the excitation mode is different. In the excitation system part, the permanent magnet synchronous motor generates magnetic flux through the permanent magnet instead of the excitation winding excitation of the electric excitation synchronous motor, which simplifies the motor structure.

The permanent magnet synchronous motor in this application may specifically refer to a built-in permanent magnet synchronous motor. The built-in permanent magnet synchronous motor is also called the built-in permanent magnet synchronous motor. The permanent magnet of the built-in permanent magnet synchronous motor is located inside the rotor core, which has the advantages of small size, high efficiency and high power factor.

The MTPA control method is to control the stator current according to the principle of the maximum torque/current ratio, so that the stator current amplitude is the smallest when the electromagnetic torque meets the requirements. The MTPA control method not only reduces the power consumption of the permanent magnet synchronous motor and improves the efficiency of the system, but also reduces the workload of the inverter.

The MTPA operating point refers to the operating point where the electromagnetic torque is constant, and there is a minimum stator current amplitude corresponding to the current phase advance angle in all different current vectors. The MTPA operating point is also the operating point corresponding to the maximum electromagnetic torque when the stator current amplitude is constant. The rate of change of the electromagnetic torque to the current phase advance angle is zero at the MTPA operating point.

The current phase lead angle, also known as the current phase angle or the current angle, is the angle between the current vector and the q axis in the d-q coordinate system.

In the embodiment of the present application, in order to solve the existing MTPA control method, it is usually necessary to use more band-pass filters and low-pass filters, and the amount of calculation is large, resulting in a slow dynamic response speed of MTPA control, and it is impossible to quickly The problem of determining the MTPA operating point is proposed to extract the first AC component of the first electromagnetic power injected into the target signal, which has the same frequency as the target signal, and the same frequency AC component whose phase lags the target angle ( That is, the second AC component), and the first current phase advance angle can be adjusted according to the first AC component and the second AC component, so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio, thereby determining the MTPA operating point. This process does not need to use a band-pass filter and a low-pass filter, reduces the amount of calculation in the MTPA control process, improves the dynamic response speed of the MTPA control, and can quickly determine the MTPA operating point.

It should be understood that the size of the sequence numbers of the steps in this embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

In order to illustrate the technical solutions described in the present application, the following specific embodiments are used for description.

Referring to FIG. 1 , it is a schematic flowchart of the implementation of the maximum torque-to-current ratio control method provided in Embodiment 1 of the present application. As shown in FIG. 1 , the maximum torque-to-current ratio control method may include the following steps:

Step 101, acquiring a target signal.

The above-mentioned target signal may be a high frequency signal or a low frequency signal, which is not limited herein. When the target signal is a high frequency signal, injecting the high frequency signal into the first current phase advance angle of the permanent magnet synchronous motor can improve the tracking speed of the MTPA operating point and further improve the dynamic response speed of the MTPA control. Wherein, the above-mentioned first current phase advance angle refers to the current phase advance angle at which the target signal is not injected.

The terminal device may acquire the above target signal from its own memory, or may acquire the above target signal from other devices, which is not limited herein.

For example, the above-mentioned target signal is pre-stored in the memory of the terminal device, and the terminal device can acquire the above-mentioned target signal from its own memory.

The terminal device may also send a target signal acquisition instruction to other devices, and the other device acquires the target signal after receiving the target signal acquisition instruction, and sends the target signal to the terminal device. The above target signal acquisition instruction is used to instruct other devices to acquire the above target signal. The above-mentioned other equipment may refer to any equipment except the above-mentioned terminal equipment.

Step 102 , inject the target signal into the first current phase advance angle of the permanent magnet synchronous motor to obtain the second current phase advance angle.

The second current phase advance angle refers to the current phase advance angle after the target signal is injected.

Injecting the target signal into the first current phase advance angle may refer to superimposing the target signal on the first current phase advance angle. For example, the target signal is a high-frequency sinusoidal signal, which can be expressed as Δβ=Asin(ω _h t), ω _h is the frequency of the target signal Δβ, A is the amplitude of the target signal Δβ, and the first current phase lead angle is expressed as β, Then, the first current phase advance angle (ie, the second current phase advance angle) after injecting the target signal can be expressed as β+Δβ=β+Asin(ω _h t).

After the terminal device injects the target signal into the first current phase advance angle, according to whether the target signal is actually injected into the permanent magnet synchronous motor through the first current phase advance angle, the injection method of the target signal can be divided into the real signal injection method and the virtual signal. injection method. Wherein, if the terminal device transmits the first current phase advance angle to the permanent magnet synchronous motor, it is determined that the terminal device actually injects the target signal into the permanent magnet synchronous motor through the first current phase advance angle; if the terminal device transmits the first current phase advance angle to the permanent magnet synchronous motor If it is transmitted to the virtual controlled system based on the permanent magnet synchronous motor, it is determined that the terminal device does not actually inject the target signal into the permanent magnet synchronous motor through the first current phase advance angle, but injects the target signal into the virtual system through the first current phase advance angle. controlled system. The above virtual controlled system can be understood as the virtual image of the permanent magnet synchronous motor, which has the same function as the permanent magnet synchronous motor.

The real signal injection method refers to injecting the target signal into the permanent magnet synchronous motor through the first current phase advance angle, specifically, injecting the target signal into the stator winding of the permanent magnet synchronous motor.

The real signal injection method can calculate the electromagnetic power generated when the target signal is injected into the permanent magnet synchronous motor by injecting the target signal into the stator winding of the permanent magnet synchronous motor, and extract the MTPA criterion required for MTPA control.

The virtual signal injection method means that the target signal is not injected into the permanent magnet synchronous motor through the first current phase advance angle (that is, the target signal is not injected into the stator winding of the permanent magnet synchronous motor), but the target signal is injected into the permanent magnet synchronous motor. The constructed virtual controlled system.

The virtual injection method can calculate the electromagnetic power generated by injecting the target signal into the permanent magnet synchronous motor by injecting the target signal into the virtual controlled system, and extract the MTPA criterion required to realize the MTPA control.

Since the virtual signal injection method does not need to inject the target signal into the permanent magnet synchronous motor, the virtual signal injection method will not affect the operation speed and current control of the permanent magnet synchronous motor, and there is no additional power loss. Rotor flux and inductance changes are also robust. There is also no need to perform on-line estimation such as motor parameter estimation or prefabricated look-up table, which effectively reduces the amount of calculation and improves the tracking speed of the MTPA operating point.

Step 103: Determine the first AC component and the second AC component according to the second current phase advance angle.

The first AC component refers to the AC component of the first electromagnetic power of the permanent magnet synchronous motor that has the same frequency as the target signal. The second AC component refers to the same-frequency AC component whose phase lags behind the target angle of the first AC component, that is, the frequency of the second AC component is the same as the frequency of the first AC component, and the phase of the second AC component is compared with that of the first AC component. The phase of the component lags the target angle. The first electromagnetic power refers to the electromagnetic power after the target signal is injected. The above target angle may refer to

In this embodiment, after the target signal is injected into the current phase advance angle of the permanent magnet synchronous motor, the first electromagnetic power of the permanent magnet synchronous motor will also generate the target signal, so the first electromagnetic power has the same target signal as the target signal. The AC component of the same frequency, that is, the first AC component can be determined from the first electromagnetic power. The second AC component can be obtained by delaying the phase of the first AC component by a target angle.

It should be noted that, in the real signal injection method, the present application realizes injecting the target signal into the permanent magnet synchronous motor by injecting the second current phase advance angle into the permanent magnet synchronous motor. In the virtual signal injection method, the present application realizes injecting the target signal into the virtual controlled system by injecting the second current phase advance angle into the virtual controlled system.

If the present application adopts the real signal injection method, the first electromagnetic power in step 103 is the electromagnetic power of the permanent magnet synchronous motor after the second current phase advance angle is injected into the permanent magnet synchronous motor.

If the present application adopts the virtual signal injection method, the first electromagnetic power in step 103 is the electromagnetic power of the virtual controlled system after the second current phase advance angle is injected into the virtual controlled system. Since the virtual controlled system is the virtual image of the permanent magnet synchronous motor, the electromagnetic power of the virtual controlled system can also be called the electromagnetic power of the permanent magnet synchronous motor.

Step 104: Adjust the phase lead angle of the first current according to the first AC component and the second AC component, so that the permanent magnet synchronous motor satisfies the maximum torque-to-current ratio.

Wherein, the first current phase advance angle corresponding to when the permanent magnet synchronous motor satisfies the maximum torque to current ratio can be referred to as the optimal current phase advance angle.

In this embodiment, Taylor expansion of the first electromagnetic power can be performed, and a third AC component can be obtained according to the expression after the Taylor expansion of the first electromagnetic power. The third AC component is the AC component of the first electromagnetic power, and includes the third AC component. 2. The partial differential of the electromagnetic power to the phase advance angle of the first current. Since the first AC component determined in step 103 and the third AC component obtained after Taylor expansion both represent the AC component of the first electromagnetic power, the first AC component and the third AC component can be understood as the difference between the AC component of the first electromagnetic power Different representations, then it can be determined that the first AC component is proportional to the third AC component.

The phase of the third AC component can be delayed by the target angle to obtain the fourth AC component. Since the first AC component is proportional to the third AC component, and the phase of the second AC component lags the phase target angle of the first AC component, it can be determined that the second AC component is also proportional to the fourth AC component. Also included is the partial derivative of the second electromagnetic power with respect to the phase advance angle of the first current.

Since the first AC component is proportional to the third AC component, the second AC component is proportional to the fourth AC component, and both the third AC component and the fourth AC component contain the partial differential of the second electromagnetic power to the current phase advance angle, Therefore, by adjusting the first AC component and the second AC component, the partial differential of the second electromagnetic power to the first current phase lead angle can be zero, and the first current phase lead angle when the partial differential is zero is the optimal current. Phase lead angle.

In this embodiment, by calculating electromagnetic power instead of calculating or measuring torque, it is not necessary to use a high-precision speed sensor, which reduces the cost and difficulty of MTPA control implementation, and can minimize the torque oscillation caused by the injected target signal, so that the The MTPA control system takes into account good dynamic and steady-state performance in the case of load torque changes and rotational speed changes, which effectively improves the control accuracy of MTPA.

Since the stator current of the permanent magnet synchronous motor can be controlled by controlling the current phase advance angle, when the stator current is constant, there is a current phase advance angle to maximize the output torque, so by adjusting the current phase advance angle, the permanent magnet synchronous motor can be made Satisfy the maximum torque to current ratio.

In the embodiment of the present application, by acquiring the target signal and injecting the target signal into the first current phase advance angle of the permanent magnet synchronous motor, the second current phase advance angle can be obtained. The first AC component of the first electromagnetic power that has the same frequency as the target signal, and the same-frequency AC component (ie, the second AC component) whose phase lags behind the target angle of the first AC component, according to the first AC component and the second AC component The first current phase lead angle can be adjusted so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio, thereby determining the MTPA operating point. In this process, since there is no need to use a band-pass filter and a low-pass filter, the calculation amount in the MTPA control process is reduced, the dynamic response speed of the MTPA control is improved, and the MTPA operating point can be quickly determined.

Referring to FIG. 2, it is a schematic flowchart of the implementation of the maximum torque-to-current ratio control method provided in the second embodiment of the present application. As shown in FIG. 2, the maximum torque-to-current ratio control method may include the following steps:

Step 201, acquiring a target signal.

This step is the same as step 101. For details, please refer to the relevant description of step 101, which will not be repeated here.

Step 202 , inject the target signal into the first current phase advance angle of the permanent magnet synchronous motor to obtain the second current phase advance angle.

This step is the same as step 102. For details, please refer to the relevant description of step 102, which will not be repeated here.

Step 203: Determine the first electromagnetic power of the permanent magnet synchronous motor according to the second current phase advance angle.

Since the stator current of the permanent magnet synchronous motor can be controlled by controlling the current phase advance angle, the terminal device can determine the stator current after injecting the target signal according to the second current phase advance angle, and according to the stator current after injecting the target signal, Determine the electromagnetic power (ie, the first electromagnetic power) after injecting the target signal.

Specifically, the terminal device can determine the target d-axis stator current and the target q-axis stator current of the permanent magnet synchronous motor in the d-q coordinate system according to the second current phase advance angle, and the target d-axis stator current refers to the d after the target signal is injected. The shaft stator current, the target q-axis stator current refers to the q-axis stator current after the target signal is injected; the first electromagnetic power is determined according to the target d-axis stator current and the target q-axis stator current.

In one embodiment, the terminal device can first obtain the number of magnet pole pairs of the permanent magnet synchronous motor and the mechanical angular velocity of the rotor, and determine the torque after the injection signal according to the target d-axis stator current and the target q-axis stator current, and then calculate the injection signal. The product of the torque after the signal, the number of pole pairs of the permanent magnet and the mechanical angular velocity of the rotor, and the obtained value after determining the product is the first electromagnetic power.

计算转子的机械角速度。Among them, the resolver decoding chip can be used to collect the rotor position signals of the permanent magnet synchronous motor in two adjacent cycles, and the resolver decoding chip transmits the collected rotor position signals to the terminal equipment, and the terminal equipment can determine the mechanical properties of the rotor according to the rotor position signals. angular velocity. For example, ω _m represents the mechanical angular velocity of the rotor, θ ₁ represents the rotor position signal of the first cycle, θ ₂ represents the rotor position signal of the second cycle, and Δt represents the sampling period, which can be determined by the formula

Calculate the mechanical angular velocity of the rotor.

The terminal device may include a display screen on which an input item for the number of magnet pole pairs is displayed, and when a value input by the user in the input item for the number of magnet pole pairs is detected, the value is determined to be the number of magnet pole pairs of the permanent magnet synchronous motor.

Step 204: Input the first electromagnetic power to the target observer to obtain the first AC component and the second AC component.

The target observer includes a first transfer function and a second transfer function, the first transfer function refers to the transfer function between the first AC component and the first electromagnetic power, and the second transfer function refers to the second AC component and the first electromagnetic power. The transfer function between;

d(s)表示第一传递函数，q(s)表示第二传递函数，ω表示目标观测器的观测频率，ξ表示阻尼系数，s表示微分算子。in,

d(s) represents the first transfer function, q(s) represents the second transfer function, ω represents the observation frequency of the target observer, ξ represents the damping coefficient, and s represents the differential operator.

From the above expression of d(s), it can be seen that the above-mentioned first transfer function can be regarded as a second-order band-pass filter with a center frequency of ω and a damping coefficient of ξ, that is, the above-mentioned first transfer function can realize a second-order band-pass filter. The function of the device is capable of extracting the AC component (ie, the first AC component) with a frequency of ω in the first electromagnetic power.

相移的全通滤波器级联，故可以第二交流分量是第一交流分量相位滞后

的同频交流分量。From the above expression of q(s), it can be seen that the above second transfer function can be considered as a second-order bandpass filter and a bandpass filter.

Phase-shifted all-pass filters are cascaded, so the second AC component can be phase-lag of the first AC component

of the same frequency AC component.

由上述n(s)的表达式可知，上述第三传递函数可以认为是一个低通滤波器与陷波滤波器的级联，能够降低第一电磁功率中的谐波分量。In an embodiment, the above-mentioned target observer may further include a third transfer function, where the third transfer function is a transfer function between the DC component of the first electromagnetic power and the first electromagnetic power. The third transfer function can be expressed as

It can be known from the above expression of n(s) that the above third transfer function can be considered as a cascade connection of a low-pass filter and a notch filter, which can reduce the harmonic components in the first electromagnetic power.

表示积分器，

表示第一电磁功率中的直流分量，

表示第一交流分量，

表示第二交流分量。Figure 3 is an example of the structure of the target observer,

represents the integrator,

represents the DC component in the first electromagnetic power,

represents the first AC component,

represents the second AC component.

It should be noted that, in order to quickly extract the first AC component and the second AC component from the first electromagnetic power, the observation frequency of the target observer may be the same as the frequency of the target signal.

Taking the target signal as a high-frequency sinusoidal signal as an example, after Taylor expansion of the first electromagnetic power, it can be expressed as follows:

和P_e(β+Δβ)表示第一电磁功率，P_e(β)表示第二电磁功率。in,

and _Pe (β+Δβ) represents the first electromagnetic power, and _Pe (β) represents the second electromagnetic power.

将第三交流分量的相位滞后

可以得到第四交流分量为

After the Taylor expansion of the first electromagnetic power, the third AC component can be obtained from the above formula (1) as

Lag the phase of the third AC component

The fourth AC component can be obtained as

Since both the first AC component and the third AC component represent the AC component of the first electromagnetic power, the relationship between the first AC component and the third AC component can be expressed as follows:

The relationship between the second AC component and the fourth AC component can be expressed as follows:

表示第一交流分量，

表示第二交流分量，K表示目标观测器在ω_h处的增益。in,

represents the first AC component,

represents the second AC component, and K represents the gain of the target observer at _ωh .

Step 205: Adjust the phase lead angle of the first current according to the first AC component and the second AC component, so that the permanent magnet synchronous motor satisfies the maximum torque-to-current ratio.

This step is the same as step 104. For details, please refer to the relevant description of step 104, which will not be repeated here.

It can be seen from the above formulas (2) and (3) that both the first AC component and the second AC component are proportional to the partial differential of the second electromagnetic power to the first current phase lead angle, then the terminal device adjusts the first AC component and The second AC component can make the partial differential of the second electromagnetic power to the first current phase advance angle to be zero, so that the permanent magnet synchronous motor can satisfy the maximum torque to current ratio.

In an embodiment, before performing step 205, the terminal device may first extract a first coefficient from the target signal, where the first coefficient refers to a coefficient that changes with time in the target signal; and then according to the first coefficient, the first AC component and the The second AC component adjusts the phase advance angle of the first current so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio.

Exemplarily, the target signal is Asin(ω _h t), then sin(ω _h t) in the target signal is the first coefficient.

The terminal device can remove the time-varying coefficients in the third AC component and the fourth AC component according to the first coefficient, the first AC component and the second AC component, and reduce the time-varying coefficients in the third AC component and the fourth AC component. The influence of the coefficient on the partial differential (ie the partial differential of the second electromagnetic power on the first current phase advance angle) improves the adjustment speed of the first current phase advance angle and quickly determines the MTPA operating point.

In one embodiment, adjusting the first current phase advance angle according to the first coefficient, the first AC component and the second AC component, so that the permanent magnet synchronous motor satisfies the maximum torque to current ratio includes:

lag the phase of the first coefficient by the target angle to obtain the second coefficient;

Calculate the product of the first coefficient and the first AC component to obtain the first product;

Calculate the product of the second coefficient and the second AC component to obtain the second product;

According to the first product and the second product, the first current phase advance angle is adjusted so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio.

第二交流分量为

那么将sin(ω_ht)的相位滞后

之后，可以得到第二系数为

第一乘积为y^x×sin(ω_ht)。第二乘积为

Exemplarily, the first coefficient is sin(ω _h t), and the first AC component is

The second AC component is

Then lag the phase of sin(ω _h t)

After that, the second coefficient can be obtained as

The first product is y ^x × sin(ω _h t). The second product is

According to the first product and the second product, the terminal device can remove the time-varying coefficients in the third AC component and the fourth AC component, and reduce the time-varying coefficients in the third AC component and the fourth AC component to the partial differential ( That is, the influence of the second electromagnetic power on the partial differential of the current phase advance angle) increases the adjustment speed of the first current phase advance angle, and quickly determines the MTPA operating point.

In one embodiment, according to the first product and the second product, adjusting the first current phase advance angle so that the permanent magnet synchronous motor satisfies the maximum torque to current ratio includes:

The first product and the second product are added, and it is determined that the obtained value after the addition is the target DC component, and the target DC component and the second electromagnetic power of the permanent magnet synchronous motor are proportional to the partial differential of the first current phase lead angle;

Adjust the first current phase advance angle so that the target DC component is equal to zero, and determine that the permanent magnet synchronous motor meets the maximum torque-current ratio when the target DC component is equal to zero

The terminal device adds the first product and the second product to obtain the target DC component. There is no time-varying coefficient in the target DC component, that is, the time-varying coefficients in the third AC component and the fourth AC component can be removed. coefficient, so as to extract the partial differential of the second electromagnetic power to the first current phase advance angle from the third AC component and the fourth AC component.

In this embodiment, the partial differential of the target DC component and the second electromagnetic power to the first current phase advance angle is proportional, so when the target DC component is equal to zero, the partial differential of the second electromagnetic power to the current phase advance angle is also equal to zero, Then, by controlling the target DC component to be equal to zero, the permanent magnet synchronous motor can be made to meet the maximum torque-current ratio, and the MTPA operating point can be obtained.

In one embodiment, the target DC component may be input to the target controller, and the current phase advance angle may be adjusted by the target controller so that the target DC component is equal to zero.

The above-mentioned target controllers include but are not limited to integrators, proportional-integral controllers, neural network models, fuzzy controllers, and the like.

The terminal equipment inputs the target DC component to the target controller, and the current phase advance angle can be adjusted through the target controller until the target DC component is equal to zero. When the target DC component is equal to zero, the permanent magnet synchronous motor satisfies the maximum torque-current ratio.

Fig. 4a is an example diagram of MTPA control based on the real signal injection method, and Fig. 4b is an example diagram of MTPA control based on the virtual signal injection method.

Taking the MTPA control of the virtual signal injection method as an example, the process of obtaining the optimal current phase advance angle in the present application is described:

The motor model of the permanent magnet synchronous motor in the d-q coordinate system can be defined as follows:

T _e =k[ψ _m +(L _d -L _q )i _d ]i _q (6)

i _d =-I _a sinβi _q =I _a cosβ (7)

Where, v _d represents the d-axis stator voltage, id represents the d-axis stator current with no target signal injected, v _q represents the q-axis stator voltage, i _q represents the q-axis stator current with no target signal injected, and L _d represents the _d -axis inductance , L _q represents the q-axis inductance, R, p and ψ _m represent the stator resistance, the number of permanent magnet pole pairs and the permanent magnet flux linkage, respectively, I _a and β represent the current amplitude and the first current phase advance angle, respectively, ω _m represents The mechanical angular velocity of the rotor, k is the torque coefficient.

When the permanent magnet synchronous motor is running in a steady state, the differential terms in equations (4) and (5) are zero, and ψ _m and L _q can be obtained at this time, and ψ _m and L _q are respectively expressed as follows:

Substituting the above formulas (8) and (9) into formula (6), the second electromagnetic of the permanent magnet synchronous motor can be expressed as follows:

The target signal is represented as follows:

Δβ=Asin(ω _h t) (11)

After injecting the target signal into the first current phase advance angle, the second current phase advance angle can be expressed as β+Δβ, then the target d-axis stator current and the target q-axis stator current can be expressed as follows:

表示目标d轴定子电流，

表示目标q轴定子电流。in,

represents the target d-axis stator current,

Indicates the target q-axis stator current.

Based on equation (12), the first electromagnetic power is expressed as follows:

From the above equations (11) to (13), it can be known that based on the measured d-axis stator current id without target signal injection, q-axis stator current _iq without target signal injection, _d -axis stator voltage v _d , q-axis stator current The first electromagnetic power injected into the target signal can be calculated from the voltage v _q , the mechanical angular velocity ω _m of the rotor, the nominal stator resistance R, and through a look-up table or the nominal d-axis inductance L _d .

)进行泰勒展开，可以表示为上述公式(1)。Put the left-hand part of Equation (13) (i.e.

) is Taylor expansion, which can be expressed as the above formula (1).

将第四交流分量的相位滞后

可以得到第四交流分量，第四交流分量为

The third AC component can be extracted from the above formula (1), and the third AC component is

Lag the phase of the fourth AC component

The fourth AC component can be obtained, and the fourth AC component is

中提取出第一交流分量和第二交流分量。Using the target observer in Figure 4b, it can be obtained from the right-hand part of Equation (13) (i.e.

The first AC component and the second AC component are extracted.

The relationship between the first AC component and the third AC component is as in the above formula (2).

The relationship between the second AC component and the fourth AC component is as in the above formula (3).

The first coefficient extracted from the target signal is sin(ω _h t), and the phase of the first coefficient is delayed, and the second coefficient obtained is

)相乘，得到第一乘积；将第二系数与公式(3)的左侧部分(即

)相乘，得到第二乘积；将第一乘积与第二乘积相加，相加后所得值(即目标直流分量)表示如下：Compare the first coefficient with the left-hand part of equation (2) (i.e.

) are multiplied to obtain the first product; the second coefficient is

) to obtain the second product; the first product and the second product are added together, and the value obtained after the addition (that is, the target DC component) is expressed as follows:

Among them, Out represents the target DC component.

)相乘，得到第三乘积；将第二系数与公式(3)的右侧部分(即

)相乘，得到第四乘积；将第三乘积与第四乘积相加，相加后所得值可以表示为

Compare the first coefficient with the right-hand part of equation (2) (ie

) to obtain the third product; the second coefficient is combined with the right-hand part of equation (3) (ie

) to obtain the fourth product; the third product and the fourth product are added together, and the value obtained after the addition can be expressed as

之间的关系可以表示如下：From formulas (2) and (3), it can be known that the partial differential of the target DC component Out and the second electromagnetic power to the superphase angle of the first current phase

The relationship between can be expressed as follows:

等于零)，可以使得第二电磁功率对第一电流相位超前角的偏微分等于零，从而可得到MTPA工作点。It can be seen from formula (15) that the partial differential of the second electromagnetic power to the first current phase lead angle is proportional to the target DC component, and by controlling the target DC component to be equal to zero (that is, controlling

equal to zero), the partial differential of the second electromagnetic power to the first current phase advance angle can be made equal to zero, so that the MTPA operating point can be obtained.

As shown in FIG. 5 is an example diagram of the current phase advance angle optimization control system based on the virtual signal injection method. As shown in FIG. 5 , based on the reference current phase lead angle β _ref output by the target controller of the present application, the reference d-axis stator current i _dref and the reference q-axis stator current i _qref can be calculated and obtained, and the reference d-axis stator current i _dref And the reference q-axis stator current i _{qref is} input to the proportional-integral controller. After decoupling, the _d -axis stator current id and the q-axis stator current i _q are obtained. After coordinate transformation, they are transmitted to the inverter. The above inverter may be a space vector pulse width modulation (Space Vector Pulse Width Modulation, SVPWM) inverter. Among them, i _a and i _b in Fig. 5 are the stator currents in abc coordinates.

Taking the virtual injection method and the drive system of a three-phase permanent magnet synchronous motor as an example, Figure 6a is an example of the current amplitude, and Figure 6b is a response curve of the optimal current phase lead angle. sample graph. Figure 6a sets a constant current amplitude signal. The response curves in Figure 6b are based on the current magnitudes shown in Figure 6a.

It can be seen from Fig. 6b that the time for the MTPA control method of the present application to search for the MTPA operating point is about 0.52 seconds, and the time for the existing MTPA control method to search for the MTPA operating point is about 10.2 seconds, and the MTPA control method of the present application can significantly improve. Determine the speed of the optimal current phase lead angle.

Taking the virtual injection method as an example, Fig. 7a is another example diagram of the current amplitude, and Fig. 7b is another example diagram of the response curve of the optimal current phase advance angle. Figure 7a sets the jump current amplitude signal. The response curves in Figure 7b are based on the current magnitudes shown in Figure 7a.

It can be seen from Fig. 7b that the response speed of the existing MTPA control method is relatively slow, and there is obvious overshoot and overshoot, while the MTPA control method of the present application has a fast response speed and significantly smaller overshoot.

It should be noted that the existing MTPA control methods in FIG. 6b and FIG. 7b refer to the MTPA control methods using a band-pass filter and a low-pass filter.

Based on the first embodiment, the embodiment of the present application obtains the first AC component and the second AC component through the target observer, and the MTPA operating point can be determined by changing the first AC component and the second AC component through a trigonometric function. In this process, since there is no need to use a band-pass filter and a low-pass filter, the calculation amount in the MTPA control process is reduced, the dynamic response speed of the MTPA control is improved, the MTPA operating point can be quickly determined, and the accuracy is high. Convergence and stability. Therefore, the present application can keep the motor drive system in good working condition and reduce energy loss under complex and changeable working conditions.

Referring to FIG. 8 , it is a schematic structural diagram of the maximum torque-to-current ratio control device provided in the third embodiment of the present application. For the convenience of description, only the part related to the embodiment of the present application is shown.

The above-mentioned maximum torque-current ratio control device includes:

The signal acquisition module 81 is used to acquire the target signal;

The signal injection module 82 is used for injecting the target signal into the first current phase advance angle of the permanent magnet synchronous motor to obtain the second current phase advance angle;

The component determination module 83 is used to determine the first AC component and the second AC component according to the second current phase advance angle, where the first AC component refers to the frequency of the first electromagnetic power of the permanent magnet synchronous motor that is the same as the frequency of the target signal. AC component, the second AC component refers to the same-frequency AC component whose phase lags behind the target angle of the first AC component, and the first electromagnetic power refers to the electromagnetic power after the target signal is injected;

The lead angle adjustment module 84 is configured to adjust the first current phase lead angle according to the first AC component and the second AC component, so that the permanent magnet synchronous motor satisfies the maximum torque to current ratio.

In one embodiment, the above-mentioned component determination module 83 includes:

a power determination unit, configured to determine the first electromagnetic power according to the second current phase advance angle;

The power input unit is used to input the first electromagnetic power to the target observer to obtain the first AC component and the second AC component, the target observer includes a first transfer function and a second transfer function, and the first transfer function refers to the first the transfer function between the AC component and the first electromagnetic power, and the second transfer function refers to the transfer function between the second AC component and the first electromagnetic power;

d(s)表示第一传递函数，q(s)表示第二传递函数，ω表示目标观测器的观测频率，ξ表示阻尼系数，s表示微分算子。in,

d(s) represents the first transfer function, q(s) represents the second transfer function, ω represents the observation frequency of the target observer, ξ represents the damping coefficient, and s represents the differential operator.

In one embodiment, the above-mentioned power determination unit is specifically used for:

According to the second current phase advance angle, the target d-axis stator current and target q-axis stator current of the permanent magnet synchronous motor in the d-q coordinate system are determined. The target d-axis stator current refers to the d-axis stator current after the target signal is injected, and the target q The shaft stator current refers to the q-axis stator current after injecting the target signal;

The first electromagnetic power is determined according to the target d-axis stator current and the target q-axis stator current.

In one embodiment, the target observer further includes a third transfer function, where the third transfer function refers to a transfer function between the DC component of the first electromagnetic power and the first electromagnetic power;

n(s)表示第三传递函数。in,

n(s) represents the third transfer function.

In one embodiment, the above-mentioned maximum torque-current ratio control device further includes:

a coefficient determination module, configured to determine a first coefficient from the target signal, where the first coefficient refers to a time-varying coefficient in the target signal;

The above-mentioned lead angle adjustment module 84 is specifically used for:

According to the first coefficient, the first AC component and the second AC component, the first current phase lead angle is adjusted so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio.

In one embodiment, the above-mentioned lead angle adjustment module 84 includes:

a coefficient processing unit, configured to delay the phase of the first coefficient by a target angle to obtain a second coefficient;

a first calculation unit, configured to calculate the product of the first coefficient and the first AC component to obtain the first product;

a second calculation unit, configured to calculate the product of the second coefficient and the second AC component to obtain the second product;

The lead angle adjustment unit is configured to adjust the first current phase lead angle according to the first product and the second product, so that the permanent magnet synchronous motor satisfies the maximum torque to current ratio.

In one embodiment, the lead angle adjustment unit includes:

The determination subunit is used to add the first product and the second product, and the value obtained after the addition is determined to be the target DC component, which is divided into the partial differential of the target DC component and the second electromagnetic power of the permanent magnet synchronous motor to the current phase advance angle. Proportional, the second electromagnetic power refers to the electromagnetic power that is not injected into the target signal;

The adjustment subunit is used to adjust the first current phase advance angle so that the target DC component is equal to the current phase advance angle when the target DC component is equal to zero, and determines that the permanent magnet synchronous motor satisfies the maximum torque to current ratio when the target DC component is equal to zero.

The maximum torque-to-current ratio control device provided in this embodiment of the present application can be applied to the first and second embodiments of the foregoing method. For details, refer to the descriptions of the first and second embodiments of the foregoing method, which will not be repeated here.

FIG. 9 is a schematic structural diagram of a terminal device provided in Embodiment 4 of the present application. As shown in FIG. 9 , the terminal device 9 of this embodiment includes: one or more processors 90 (only one is shown in the figure), a memory 91 and a computer program stored in the memory 91 and executable on the processor 90 92. When the processor 90 executes the computer program 92, the steps in each of the above-mentioned embodiments of the maximum torque-to-current ratio control method are implemented.

The terminal device 9 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server. The terminal device may include, but is not limited to, the processor 90 and the memory 91 . Those skilled in the art can understand that FIG. 9 is only an example of the terminal device 9, and does not constitute a limitation on the terminal device 9, and may include more or less components than the one shown, or combine some components, or different components For example, the terminal device may also include an input and output device, a network access device, a bus, and the like.

The so-called processor 90 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 91 may be an internal storage unit of the terminal device 9 , such as a hard disk or a memory of the terminal device 9 . The memory 91 can also be an external storage device of the terminal device 9, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card (Flash card) equipped on the terminal device 9. Card), etc. Further, the memory 91 may also include both an internal storage unit of the terminal device 9 and an external storage device. The memory 91 is used to store computer programs and other programs and data required by the terminal device. The memory 91 may also be used to temporarily store data that has been output or is to be output.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components. May be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-readable storage medium. Based on this understanding, the present application realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program is in When executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate forms, and the like. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, Read-Only Memory (ROM), random access memory Memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal, software distribution medium, etc. It should be noted that the content contained in computer-readable media may be appropriately increased or decreased in accordance with the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include Electrical carrier signals and telecommunication signals.

The present application implements all or part of the processes in the methods of the above embodiments, and can also be completed by a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the above methods when it is executed. A step of.

The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be included in the application. within the scope of protection.

Claims (10)

1. A maximum torque-to-current ratio control method, wherein the maximum torque-to-current ratio control method comprises: Get the target signal; injecting the target signal into the first current phase advance angle of the permanent magnet synchronous motor to obtain the second current phase advance angle; Determine a first AC component and a second AC component according to the second current phase advance angle, where the first AC component refers to the frequency of the first electromagnetic power of the permanent magnet synchronous motor that is the same as the frequency of the target signal AC component, the second AC component refers to the same-frequency AC component whose phase lags behind the target angle of the first AC component, and the first electromagnetic power refers to the electromagnetic power after the target signal is injected; According to the first AC component and the second AC component, the first current phase advance angle is adjusted so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio. 2 . The maximum torque-current ratio control method according to claim 1 , wherein the determining the first AC component and the second AC component according to the second current phase advance angle comprises: 2 . determining the first electromagnetic power according to the second current phase advance angle; Inputting the first electromagnetic power to a target observer to obtain the first AC component and the second AC component, the target observer includes a first transfer function and a second transfer function, the first transfer function refers to the transfer function between the first AC component and the first electromagnetic power, and the second transfer function refers to the transfer function between the second AC component and the first electromagnetic power; in,

d(s) represents the first transfer function, q(s) represents the second transfer function, ω represents the observation frequency of the target observer, ξ represents the damping coefficient, and s represents the differential operator. 3. The maximum torque-to-current ratio control method according to claim 2, wherein the determining the first electromagnetic power according to the second current phase advance angle comprises: According to the second current phase advance angle, the target d-axis stator current and the target q-axis stator current of the permanent magnet synchronous motor in the d-q coordinate system are determined, and the target d-axis stator current refers to after the target signal is injected. The d-axis stator current is the target q-axis stator current, and the target q-axis stator current refers to the q-axis stator current after the target signal is injected; The first electromagnetic power is determined based on the target d-axis stator current and the target q-axis stator current. 4 . The maximum torque-to-current ratio control method according to claim 2 , wherein the target observer further comprises a third transfer function, and the third transfer function refers to the direct current in the first electromagnetic power. 5 . a transfer function between the component and the first electromagnetic power; in,

n(s) represents the third transfer function. 5. The maximum torque-current ratio control method according to any one of claims 1 to 4, characterized in that, according to the first AC component and the second AC component, adjusting the phase lead of the first current angle, so that the permanent magnet synchronous motor satisfies the maximum torque to current ratio, and further includes: determining a first coefficient from the target signal, the first coefficient being a time-varying coefficient in the target signal; The adjusting the first current phase lead angle according to the first AC component and the second AC component, so that the permanent magnet synchronous motor satisfies the maximum torque-to-current ratio includes: According to the first coefficient, the first AC component and the second AC component, the first current phase lead angle is adjusted so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio. 6 . The maximum torque-current ratio control method according to claim 5 , wherein the first current is adjusted according to the first coefficient, the first AC component and the second AC component. 7 . The phase advance angle, so that the permanent magnet synchronous motor meets the maximum torque to current ratio includes: lag the phase of the first coefficient by the target angle to obtain a second coefficient; calculating the product of the first coefficient and the first AC component to obtain a first product; calculating the product of the second coefficient and the second AC component to obtain a second product; According to the first product and the second product, the first current phase advance angle is adjusted so that the permanent magnet synchronous motor satisfies the maximum torque-current ratio. 7. The maximum torque-current ratio control method according to claim 6, wherein the first current phase advance angle is adjusted according to the first product and the second product, so that the permanent The magnetic synchronous motor meeting the maximum torque to current ratio includes: The first product and the second product are added together, and it is determined that the value obtained after the addition is a target DC component, and the target DC component and the second electromagnetic power of the permanent magnet synchronous motor are opposite to the first current phase. The partial differential of the lead angle is proportional, and the second electromagnetic power refers to the electromagnetic power that is not injected into the target signal; The first current phase lead angle is adjusted so that the target DC component is equal to zero, and it is determined that the permanent magnet synchronous motor satisfies the maximum torque-to-current ratio when the target DC component is equal to zero. 8. A maximum torque-to-current ratio control device, wherein the maximum torque-to-current ratio control device comprises: The signal acquisition module is used to acquire the target signal; a signal injection module for injecting the target signal into the first current phase advance angle of the permanent magnet synchronous motor to obtain the second current phase advance angle; A component determination module, configured to determine a first AC component and a second AC component according to the second current phase advance angle, where the first AC component refers to the difference between the first electromagnetic power of the permanent magnet synchronous motor and all The AC component with the same frequency as the target signal, the second AC component refers to the same-frequency AC component whose phase lags behind the target angle of the first AC component, and the first electromagnetic power refers to the AC component after the target signal is injected. electromagnetic power; A lead angle adjustment module, configured to adjust the first current phase lead angle according to the first AC component and the second AC component, so that the permanent magnet synchronous motor satisfies the maximum torque to current ratio. 9. A terminal device, comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor implements the computer program as claimed in the claims when executing the computer program The steps of any one of 1 to 7 of the maximum torque-current ratio control method. 10. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the maximum torque according to any one of claims 1 to 7 is realized The steps of the current ratio control method.

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