CN113489401A - Control device and method for six-phase permanent magnet synchronous motor and six-phase permanent magnet synchronous motor system - Google Patents

Abstract

The invention discloses a control device and a control method of a six-phase permanent magnet synchronous motor and a six-phase permanent magnet synchronous motor system, wherein the device comprises: the device comprises a high-speed current detection module, a rotor position detection module and a current processing module; the current processing module is electrically connected with the high-speed current detection module and the rotor position detection module respectively; the current processing module is used for performing space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, acquiring the current angle of the rotor output by the rotor position detection module, and generating a power signal based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive. Therefore, by adopting the embodiment of the application, the full decoupling control of six-phase electricity can be realized, and the engineering realization difficulty of the six-phase permanent magnet synchronous motor controller is greatly reduced.

Description

Control device and method for six-phase permanent magnet synchronous motor and six-phase permanent magnet synchronous motor system

technical field

The invention relates to the technical field of electric motors, in particular to a control device and method of a six-phase permanent magnet synchronous motor and a six-phase permanent magnet synchronous motor system.

Background technique

With the continuous development of motor and its control technology, the multi-phase variable frequency drive control technology is becoming more and more mature, and new energy technology has attracted great interest in recent years. As a motor control device that converts renewable energy into mechanical energy, motor controllers have broad application prospects, such as new energy vehicle drive systems. For the control of the current and torque of a dual-phase PMSM (permanent-magnetsynchronous motor, permanent magnet synchronous motor), the traditional dual-d-q-axis six-phase PMSM control method is mostly used. However, the traditional dual d-q axis control method is difficult to achieve effective suppression of harmonic components.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a control device and method for a six-phase permanent magnet synchronous motor. In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended to be an extensive review, nor is it intended to identify key/critical elements or delineate the scope of protection of these embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the detailed description that follows.

In a first aspect, an embodiment of the present application provides a control device for a six-phase permanent magnet synchronous motor, the device comprising:

High-speed current detection module, rotor position detection module, and current processing module; among them,

The current processing module is respectively electrically connected with the high-speed current detection module and the rotor position detection module;

Among them, the current processing module is used to decouple the space vector of the six-phase current collected by the high-speed current detection module to generate a space vector, and obtain the current angle of the rotor output by the rotor position detection module, and generate a current angle based on the space vector and the current angle of the rotor. The power signal controls the current six-phase permanent magnet synchronous motor to drive.

Optional, high-speed current detection module, used to collect the six-phase current of the input end of the six-phase permanent magnet synchronous motor;

The rotor position detection module is used to detect the rotor position in the six-phase permanent magnet synchronous motor, and output the current angle of the rotor according to the rotor position.

Optionally, the current processing module includes a space vector decoupling transformation submodule, a Park transformation submodule, a controller submodule, a matrix transformation submodule, an iPark transformation submodule, a space vector pulse width modulation submodule, and a six-phase inverter;

Wherein, the space vector decoupling transformation sub-module, the Park transformation sub-module, the controller sub-module, the matrix transformation sub-module, the iPark transformation sub-module, the space vector pulse width modulation sub-module and the six-phase inverter are electrically connected in sequence.

Optionally, the rotor position detection module is respectively electrically connected to the Park transformation sub-module and the iPark transformation sub-module; the rotor position detection module is mechanically connected to the six-phase permanent magnet synchronous motor.

Optionally, the space vector decoupling transformation sub-module is used to transform the six-phase current into two stationary coordinate systems that are perpendicular to each other, and output the space vector of the first coordinate system and the space vector of the second coordinate system;

The Park transformation sub-module is used to obtain the current angle of the rotor sent by the rotor position detection module, and perform Park transformation on the space vector of the first coordinate system and the space vector of the second coordinate system according to the current angle, and output two sets of currents in the rotating coordinate system. vector;

The controller sub-module is used to generate two sets of first voltage vectors according to the two sets of current vectors;

The matrix transformation submodule is used to perform matrix transformation on the two sets of first voltage vectors to generate two sets of second voltage vectors in the rotating coordinate system;

The iPark transformation sub-module is used to obtain the current angle of the rotor sent by the rotor position detection module, and perform iPark transformation on the two sets of second voltage vectors in the rotating coordinate system according to the current angle to generate two sets of second voltages in the static coordinate system. vector;

The space vector pulse width modulation sub-module is used to perform space vector pulse width modulation on the two sets of second voltage vectors in the static coordinate system to generate two sets of PWM signals, wherein each of the two sets of PWM signals contains three PWM signals ;

The six-phase inverter is used to generate power signals according to two sets of PWM signals to control the six-phase permanent magnet synchronous motor to drive.

Optionally, the controller sub-module includes a current controller and a harmonic controller; wherein,

a current controller, configured to generate a set of first voltage vectors according to the first set of current vectors in the two sets of current vectors;

The harmonic controller is used for generating another set of first voltage vectors according to the second set of current vectors in the two sets of current vectors.

Optionally, the space vector pulse width modulation sub-module includes a first space vector pulse width modulation unit and a second space vector pulse width modulation unit; wherein,

a first space vector pulse width modulation unit, configured to perform space vector pulse width modulation on the first group of voltage vectors in the two groups of second voltage vectors to generate a group of PWM signals;

The second space vector pulse width modulation unit is configured to perform space vector pulse width modulation on the second group of voltage vectors in the two groups of second voltage vectors to generate another group of PWM signals.

Optionally, the high-speed current detection module is a resistive current sensor.

In a second aspect, the embodiments of the present application provide a method for controlling a six-phase permanent magnet synchronous motor, the method comprising:

The high-speed current detection module collects the six-phase current at the input end of the six-phase permanent magnet synchronous motor;

The rotor position detection module detects the rotor position in the six-phase permanent magnet synchronous motor, and outputs the current angle of the rotor according to the rotor position;

The current processing module performs space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, obtains the current angle of the rotor output by the rotor position detection module, and generates a power signal based on the space vector and the current angle of the rotor to control the current six-phase current. The phase permanent magnet synchronous motor is driven.

In the second aspect, the embodiment of the present application provides a six-phase permanent magnet synchronous motor system, the system includes:

six-phase permanent magnet synchronous motors; and

The control device for a six-phase permanent magnet synchronous motor according to any one of claims 1 to 8, wherein the control device for the six-phase permanent magnet synchronous motor is used to control the six-phase permanent magnet synchronous motor to drive.

The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

In the embodiment of the present application, the control device of the six-phase permanent magnet synchronous motor collects the six-phase current of the input end of the six-phase permanent magnet synchronous motor through the high-speed current detection module, and then uses the rotor position detection module to detect the position of the rotor in the six-phase permanent magnet synchronous motor , and output the current angle of the rotor according to the rotor position. Finally, the current processing module is used to decouple the space vector of the six-phase current collected by the high-speed current detection module to generate a space vector, and the current angle of the rotor output by the rotor position detection module is obtained. The space vector and the current angle of the rotor generate a power signal to control the current six-phase permanent magnet synchronous motor to drive. The current processing module includes a space vector decoupling transformation sub-module, a Park transformation sub-module, a controller sub-module, a matrix transformation sub-module, an iPark transformation sub-module, a space vector pulse width modulation sub-module and a six-phase inverter. By adopting the embodiments of the present application, the following effects can be achieved: (1) sampling by the high-speed current sampling module can significantly increase the current control frequency, and can significantly reduce the harmonic components of the six-phase PMSM; The combination of three-phase space vector pulse width modulation sub-modules can realize the full decoupling control of six-phase electricity, which greatly reduces the engineering realization difficulty of six-phase PMSM controller; (3) By using three-phase space vector pulse width modulation The sub-module can improve the voltage utilization rate of the six-phase PMSM. (4) By using the harmonic controller, it can effectively improve the harmonic control efficiency of the six-phase motor and reduce the harmonics of the six-phase motor.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention.

1 is a schematic diagram of a control device of a six-phase permanent magnet synchronous motor provided by an embodiment of the present application;

2 is a schematic diagram of a transformation matrix under an application scenario provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a method for controlling a six-phase permanent magnet synchronous motor provided by an embodiment of the present application.

Detailed ways

The following description and drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.

It should be understood that the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with some aspects of the invention, as recited in the appended claims.

In the description of the present invention, it should be understood that the terms "first", "second" and the like are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations. Furthermore, in the description of the present invention, unless otherwise specified, "a plurality" means two or more. "And/or", which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. The character "/" generally indicates that the associated objects are an "or" relationship.

Please refer to FIG. 1. FIG. 1 is a schematic diagram of a control device of a six-phase permanent magnet synchronous motor provided by an embodiment of the present application. The device includes a high-speed current detection module, a rotor position detection module, and a current processing module; wherein, the current processing The modules are respectively electrically connected with the high-speed current detection module and the rotor position detection module; wherein, the current processing module is used to perform space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, and obtain the output of the rotor position detection module The current angle of the rotor, and the power signal generated based on the space vector and the current angle of the rotor controls the current six-phase permanent magnet synchronous motor to drive.

Specifically, the high-speed current detection module is used to collect the six-phase current at the input end of the six-phase permanent magnet synchronous motor; the rotor position detection module is used to detect the rotor position in the six-phase permanent magnet synchronous motor, and output the current angle of the rotor according to the rotor position .

Specifically, the current processing module includes a space vector decoupling transformation submodule, a Park transformation submodule, a controller submodule, a matrix transformation submodule, an iPark transformation submodule, a space vector pulse width modulation submodule, and a six-phase inverter; wherein , the space vector decoupling transformation submodule, the Park transformation submodule, the controller submodule, the matrix transformation submodule, the iPark transformation submodule, the space vector pulse width modulation submodule and the six-phase inverter are electrically connected in sequence.

Specifically, the rotor position detection module is respectively electrically connected with the Park transformation sub-module and the iPark transformation sub-module; the rotor position detection module is mechanically connected with the six-phase permanent magnet synchronous motor.

Specifically, the space vector decoupling transformation sub-module is used to transform the six-phase current into two stationary coordinate systems that are perpendicular to each other, and outputs the space vector of the first coordinate system and the space vector of the second coordinate system; the Park transformation sub-module is used to Obtain the current angle of the rotor sent by the rotor position detection module, and perform Park transformation on the space vector of the first coordinate system and the space vector of the second coordinate system according to the current angle, and output two sets of current vectors in the rotating coordinate system; the controller sub-module, It is used to generate two sets of first voltage vectors according to the two sets of current vectors; the matrix transformation sub-module is used to perform matrix transformation on the two sets of first voltage vectors to generate two sets of second voltage vectors in the rotating coordinate system; the iPark transformer The module is used to obtain the current angle of the rotor sent by the rotor position detection module, and perform iPark transformation on the two sets of second voltage vectors in the rotating coordinate system according to the current angle to generate two sets of second voltage vectors in the static coordinate system; space The vector pulse width modulation sub-module is used to perform space vector pulse width modulation on the two sets of second voltage vectors in the static coordinate system to generate two sets of PWM signals, wherein each of the two sets of PWM signals includes three PWM signals; The six-phase inverter is used to generate power signals according to two sets of PWM signals to control the six-phase permanent magnet synchronous motor to drive.

Specifically, the controller sub-module includes a current controller and a harmonic controller; wherein, the current controller is used to generate a set of first voltage vectors according to the first set of current vectors in the two sets of current vectors; the harmonic controller is used Another set of first voltage vectors is generated according to the second set of current vectors in the two sets of current vectors.

Specifically, the space vector pulse width modulation sub-module includes a first space vector pulse width modulation unit and a second space vector pulse width modulation unit; wherein, the first space vector pulse width modulation unit is used to The first group of voltage vectors is subjected to space vector pulse width modulation to generate a group of PWM signals; the second space vector pulse width modulation unit is used to perform space vector pulse width modulation on the second group of voltage vectors in the two groups of second voltage vectors to generate Another set of PWM signals.

Specifically, the high-speed current detection module is a resistive current sensor.

Specifically, the Park transformation sub-module includes a first Park unit and a second Park unit. The first Park unit is used to process a group of currents output by the space vector decoupling transformation sub-module, and the second Park unit is used to process the space vector decoupling transformation. Another set of currents from the submodule output.

第二iPark单元用于处理矩阵变换子模块输出的另一组电压，第二iPark单元处理矩阵变换子模块输出的另一组电压时进行相移30°iPark变换：

Specifically, the iPark transformation sub-module includes a first iPark unit and a second iPark unit. The first iPark unit is used to process a group of voltages output by the matrix transformation sub-module. When the first iPark unit processes a group of voltages output by the matrix transformation sub-module Do a standard iPark transform:

The second iPark unit is used to process another set of voltages output by the matrix transformation sub-module. When the second iPark unit processes another set of voltages output by the matrix transformation sub-module, it performs iPark transformation with a phase shift of 30°:

For example, the current signal of the six-phase permanent magnet synchronous motor is sampled by the high-speed current detection module, and the six-phase currents of ia, ib, ic, ix, iy, and iz are obtained, and the six-phase currents are transmitted to the space vector decoupling transformation sub-module. , the transformation matrix in an application scenario is shown in Figure 2. The space vector decoupling transformation sub-module transforms the six-phase current into two mutually perpendicular static coordinate systems: α-β coordinate system and x-y coordinate system, and outputs iα, iβ currents and ix, iy currents.

The Park transformation sub-module receives the iα, iβ currents and the ix, iy currents, and obtains the current angle of the rotor sent by the rotor position detection module, and transforms the iα, iβ currents and the ix, iy currents according to the current angle, respectively, and outputs the rotation coordinates id, iq current and idx, iqy current under the system.

The current controller in the controller sub-module receives the id and iq currents and outputs the voltages Ud and Uq in the rotating coordinate system. The harmonic controller in the controller sub-module receives the idx and iqy currents and outputs the voltage Udx in the rotating coordinate system. , Uqy. Thereby, the voltages Ud, Uq and the voltages Udx, Uqy can be obtained.

输出旋转坐标系电压Ud_xyz、Uq_xyz和电压Ud_abc、Uq_abc。iPark变换子模块接收电压Ud_xyz、Uq_xyz和电压Ud_abc、Uq_abc，并获取转子位置检测模块发送的转子的当前角度，并根据当前角度将电压Ud_xyz、Uq_xyz和电压Ud_abc、Uq_abc进行iPark变换，输出静止坐标系电压Ualpha_xyz、Ubeta_xyz和电压Ualpha_abc、Ubeta_abc。Input the voltages Ud, Uq and voltages Udx, Uqy into the transformation matrix of the matrix transformation sub-module, and the matrix in the matrix transformation sub-module is:

Output rotation coordinate system voltages Ud_xyz, Uq_xyz and voltages Ud_abc, Uq_abc. The iPark transformation sub-module receives the voltages Ud_xyz, Uq_xyz and the voltages Ud_abc, Uq_abc, and obtains the current angle of the rotor sent by the rotor position detection module, and performs iPark transformation on the voltages Ud_xyz, Uq_xyz and Ud_abc, Uq_abc according to the current angle, and outputs the static coordinate system Voltages Ualpha_xyz, Ubeta_xyz and voltages Ualpha_abc, Ubeta_abc.

It should be noted that the iPark transformation of the voltages Ud_abc and Uq_abc by the first iPark unit is a standard transformation, and the iPark transformation of the voltages Ud_xyz and Uq_xyz by the second iPark unit is a phase shift transformation of 30°.

The voltages Ualpha_xyz, Ubeta_xyz and the voltages Ualpha_abc and Ubeta_abc in the static coordinate system are respectively input to the first SVPWM pulse width modulation unit and the second SVPWM pulse width modulation unit in the space vector pulse width modulation sub-module. The first SVPWM pulse width modulation unit and The second SVPWM pulse width modulation unit respectively outputs three channels of PWM signals Sa, Sb, Sc, Sx, Sy, Sz (six channels in total).

The six-channel PWM signals Sa, Sb, Sc, Sx, Sy, Sz are input to the six-phase inverter, and the output power signal of the six-phase inverter is sent to the six-phase permanent magnet synchronous motor to realize the six-phase permanent magnet synchronous motor drive.

In the embodiment of the present application, the control device of the six-phase permanent magnet synchronous motor collects the six-phase current of the input end of the six-phase permanent magnet synchronous motor through the high-speed current detection module, and then uses the rotor position detection module to detect the position of the rotor in the six-phase permanent magnet synchronous motor , and output the current angle of the rotor according to the rotor position. Finally, the current processing module is used to decouple the space vector of the six-phase current collected by the high-speed current detection module to generate a space vector, and the current angle of the rotor output by the rotor position detection module is obtained. The space vector and the current angle of the rotor generate a power signal to control the current six-phase permanent magnet synchronous motor to drive. The current processing module includes a space vector decoupling transformation sub-module, a Park transformation sub-module, a controller sub-module, a matrix transformation sub-module, an iPark transformation sub-module, a space vector pulse width modulation sub-module and a six-phase inverter. By adopting the embodiments of the present application, the following effects can be achieved: (1) sampling by the high-speed current sampling module can significantly increase the current control frequency, and can significantly reduce the harmonic components of the six-phase PMSM; The combination of three-phase space vector pulse width modulation sub-modules can realize the full decoupling control of six-phase electricity, which greatly reduces the engineering realization difficulty of six-phase PMSM controller; (3) By using three-phase space vector pulse width modulation The sub-module can improve the voltage utilization rate of the six-phase PMSM. (4) By using the harmonic controller, it can effectively improve the harmonic control efficiency of the six-phase motor and reduce the harmonics of the six-phase motor.

The embodiment of the present application provides a six-phase permanent magnet synchronous motor system, the system includes a six-phase permanent magnet synchronous motor; and the control device of the six-phase permanent magnet synchronous motor shown in FIG. The device is used to control the six-phase permanent magnet synchronous motor for driving.

Please refer to FIG. 3 , which provides a schematic flowchart of a control method applied to a six-phase permanent magnet synchronous motor according to an embodiment of the present application. As shown in FIG. 3, the method of this embodiment of the present application may include the following steps:

S101, the high-speed current detection module collects the six-phase current of the input end of the six-phase permanent magnet synchronous motor;

S102, the rotor position detection module detects the rotor position in the six-phase permanent magnet synchronous motor, and outputs the current angle of the rotor according to the rotor position;

In one embodiment, the rotor detection device may use a conventional rotor detection device that detects the current angle of the rotor.

S103, the current processing module performs space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, obtains the current angle of the rotor output by the rotor position detection module, and generates a power signal based on the space vector and the current angle of the rotor to control the The current six-phase permanent magnet synchronous motor is driven.

In a possible implementation, the input terminal of the high-speed current detection module is connected to the six-phase PMSM to detect the current, and after the high-speed current detection, it is transmitted to the space vector decoupling transformation sub-module, and the α-β space vector is obtained by conversion. and the x-y space vector, which is the static coordinate system; the α-β space vector and the x-y space vector are input to the Park transformation sub-module and converted into two independent rotating coordinate systems, in which the current controller and the harmonic controller are used respectively. , output two first voltage vectors, the two voltage vectors obtain two second voltage vectors in the rotating coordinate system of the double winding through the transformation matrix in the matrix transformation sub-module, and the two second voltage vectors in the rotating coordinate system are respectively input To the two SVPWMs in the space vector pulse width modulation sub-module, two sets of PWM signals (three PWM signals in each set) are output, and the two sets of PWM are respectively input to two inverters, and the two inverters output modulation signals to Six-phase PMSM, realize the control of six-phase PMSM.

Those of ordinary skill in the art can understand that the realization of all or part of the processes in the methods of the above embodiments can be accomplished by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed , which may include the processes of the above-mentioned method embodiments. Wherein, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory or a random storage memory, and the like.

The above disclosures are only the preferred embodiments of the present application, and of course, the scope of the rights of the present application cannot be limited by this. Therefore, equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims (10)

1. a control device for a six-phase permanent magnet synchronous motor, wherein the device comprises: High-speed current detection module, rotor position detection module, and current processing module; among them, The current processing module is respectively electrically connected to the high-speed current detection module and the rotor position detection module; The current processing module is configured to perform space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, and obtain the current angle of the rotor output by the rotor position detection module, and based on the The space vector and the current angle of the rotor generate a power signal to control the current six-phase permanent magnet synchronous motor to drive. 2. the control device of a kind of six-phase permanent magnet synchronous motor according to claim 1, is characterized in that, The high-speed current detection module is used to collect the six-phase current of the input end of the six-phase permanent magnet synchronous motor; The rotor position detection module is used to detect the rotor position in the six-phase permanent magnet synchronous motor, and output the current angle of the rotor according to the rotor position. 3. the control device of a kind of six-phase permanent magnet synchronous motor according to claim 2, is characterized in that, The current processing module includes a space vector decoupling transformation sub-module, a Park transformation sub-module, a controller sub-module, a matrix transformation sub-module, an iPark transformation sub-module, a space vector pulse width modulation sub-module and a six-phase inverter; Wherein, the space vector decoupling transformation sub-module, Park transformation sub-module, controller sub-module, matrix transformation sub-module, iPark transformation sub-module, space vector pulse width modulation sub-module and six-phase inverter are electrically connected in sequence. 4. the control device of a kind of six-phase permanent magnet synchronous motor according to claim 3, is characterized in that, The rotor position detection module is respectively electrically connected with the Park transformation sub-module and the iPark transformation sub-module; the rotor position detection module is mechanically connected with the six-phase permanent magnet synchronous motor. 5. The control device of a six-phase permanent magnet synchronous motor according to claim 3, characterized in that, The space vector decoupling transformation sub-module is used to transform the six-phase current into two static coordinate systems that are perpendicular to each other, and output the space vector of the first coordinate system and the space vector of the second coordinate system; The Park transformation sub-module is used to obtain the current angle of the rotor sent by the rotor position detection module, and perform Park transformation on the first coordinate system space vector and the second coordinate system space vector according to the current angle, and output the Two sets of current vectors in the rotating coordinate system; The controller sub-module is configured to generate two sets of first voltage vectors according to the two sets of current vectors; The matrix transformation sub-module is used to perform matrix transformation on two sets of first voltage vectors to generate two sets of second voltage vectors in a rotating coordinate system; The iPark transformation sub-module is used to obtain the current angle of the rotor sent by the rotor position detection module, and perform iPark transformation on the two sets of second voltage vectors under the rotating coordinate system according to the current angle to generate static coordinates Two sets of second voltage vectors under the system; The space vector pulse width modulation sub-module is used to perform space vector pulse width modulation on the two sets of second voltage vectors under the static coordinate system to generate two sets of PWM signals, wherein each of the two sets of PWM signals The group contains 3 PWM signals; The six-phase inverter is configured to generate a power signal according to the two sets of PWM signals to control the six-phase permanent magnet synchronous motor to drive. 6. The control device of a six-phase permanent magnet synchronous motor according to claim 5, wherein, The controller sub-module includes a current controller and a harmonic controller; wherein, the current controller, configured to generate a set of first voltage vectors according to the first set of current vectors in the two sets of current vectors; The harmonic controller is configured to generate another set of first voltage vectors according to a second set of current vectors in the two sets of current vectors. 7. The control device of a six-phase permanent magnet synchronous motor according to claim 5, characterized in that, The space vector pulse width modulation sub-module includes a first space vector pulse width modulation unit and a second space vector pulse width modulation unit; wherein, the first space vector pulse width modulation unit, configured to perform space vector pulse width modulation on the first group of voltage vectors in the two groups of second voltage vectors to generate a group of PWM signals; The second space vector pulse width modulation unit is configured to perform space vector pulse width modulation on the second group of voltage vectors in the two groups of second voltage vectors to generate another group of PWM signals. 8. The control device of a six-phase permanent magnet synchronous motor according to claim 1, wherein, The high-speed current detection module is a resistive current sensor. 9. A control method for a six-phase permanent magnet synchronous motor, wherein the method comprises: The high-speed current detection module collects the six-phase current of the input end of the six-phase permanent magnet synchronous motor; The rotor position detection module detects the rotor position in the six-phase permanent magnet synchronous motor, and outputs the current angle of the rotor according to the rotor position; The current processing module performs space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, and obtains the current angle of the rotor output by the rotor position detection module, and obtains the current angle of the rotor based on the space vector and the rotor. The power signal generated by the current angle controls the current six-phase permanent magnet synchronous motor to drive. 10. A six-phase permanent magnet synchronous motor system, wherein the system comprises: six-phase permanent magnet synchronous motors; and The control device for a six-phase permanent magnet synchronous motor according to any one of claims 1 to 8, wherein the control device for the six-phase permanent magnet synchronous motor is used to control the six-phase permanent magnet synchronous motor to drive.

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