TWI533586B - Device for motor cogging torque compensation and method thereof - Google Patents

Description

Motorton torque compensation device and method thereof

The invention relates to a motor torque compensation device and a method thereof, in particular to a motorized torque compensation device and a method thereof for continuously updating a Fourier parameter of a torque.

In industrial applications, permanent magnet motors (such as Axial-Flux Permanent Magnet (AFPM)) have been used in more and more applications due to their high efficiency, compact structure and high torque density. Widely used in the field. For example, in the automotive industry, a permanent magnet motor is used in the engine portion of an electric vehicle due to the above characteristics. In the power system, the permanent magnet motor is applied to the energy storage of the wind turbine and the flywheel. Moreover, many computer products such as photocopiers, scanners, computer hard drives, CD-ROMs, digital cameras, or medical aids such as sports and fitness equipment require permanent magnet motors as a source of power.

However, when the permanent magnet motor operates, it often affects the efficiency of the permanent magnet motor due to the occurrence of cogging torque. The cogging torque is the chopping signal generated by the magnetic flux and magnetic field energy in the magnetic circuit as the position of the rotor permanent magnet and the stator cogging changes. The generation of torque can cause vibration and noise in the motor, which is unacceptable in most applications. Moreover, with the generation of vibration and noise, the torque will also reduce the output power and efficiency of the motor. In the application field where high output power is required, how to reduce the torque of the motor is an important issue.

In view of the above problems, the present invention provides a motor torque compensation device and a method thereof, which solve the problem of vibration and noise generated during operation of the motor by continuously updating the Fourier estimation parameters of the torque.

The motor torque compensation method according to the present invention has the following steps. The step includes first detecting a rotational state of the motor to obtain a rotational signal of the motor and a first current signal of the motor. The first error value and the second error value are then calculated, the first error value being associated with the rotation signal and the second error value being associated with the first current signal. Then, the Fourier parameter estimation of the torque is performed based on at least the first error value, the second error value, and the rotation signal to obtain a plurality of estimation parameters. Then, at least the first error value, the rotation signal and the plurality of estimation parameters are used to generate a current control signal of the control command. And finally, the voltage control signal for generating the control command based on at least the second error value, the third error value, the current control signal, the first current signal, and the rotation signal to adjust the rotation state of the motor, wherein the third error value is associated with the first Current signal.

The motor torque compensation device according to the invention comprises a signal detection module, a rotation state control module, a current control module and a parameter estimation module. The signal detecting module is configured to detect a rotation state of the motor to obtain a rotation signal of the motor and a first current signal of the motor. The rotation state control module is coupled to the signal detection module, and the rotation state control module is configured to calculate a first error value, where the first error value is associated with the rotation signal. The current control module is coupled to the signal detection module and the rotation state control module, and the current control module is configured to calculate a second error value and a third error value, wherein the second error value and the third error value are all associated with The first current signal. And a parameter estimation module coupled to the signal detection module, the rotation state control module and the current control module, wherein the parameter estimation module is configured to perform the torque according to at least the first error value, the second error value, and the rotation signal. Fourier parameter estimation to take a plurality of estimation parameters, the rotation state control module is configured to generate a current control signal of the control command according to at least the first error value, the rotation signal and the plurality of estimation parameters, and the current control module is configured to use at least the second error value The third error value, the current control signal, the first current signal, and the voltage control signal of the rotation signal generating the control command to adjust the rotation state of the motor.

In summary, the present invention detects the rotation signal of the motor and the first current signal by detecting the rotation state of the motor, and calculates a plurality of error values according to the rotation signal, the first current signal and the control command, and then calculates The obtained plurality of error values perform a Fourier parameter estimation of the torque to obtain a plurality of estimated parameters, and further obtain a new current control signal and a voltage control signal to adjust the rotation state of the motor. Finally, by continuously updating the Fourier parameters of the torque, the effect of the torque is tracked and offset, so that the motor vibration and noise can be suppressed to a considerable extent.

The above description of the present invention and the following description of the embodiments of the present invention are intended to illustrate and explain the spirit and principles of the invention.

10‧‧‧Daton torque compensation device

102‧‧‧Signal Detection Module

1022‧‧‧Signal Detection Unit

1024‧‧‧ coordinate conversion unit

104‧‧‧Rotary state control module

1042‧‧‧Location Control Unit

1044‧‧‧Speed Control Unit

106‧‧‧ Current Control Module

1062‧‧‧ Current Control Unit

1064‧‧‧ Current Error Estimation Unit

108‧‧‧Parameter estimation module

110‧‧‧Control signal conversion module

1102‧‧‧Coordinate conversion unit

1104‧‧‧DC AC signal conversion unit

20‧‧‧Motor

Fig. 1 is a functional block diagram of a motor torque compensation device and a motor according to an embodiment of the present invention.

Fig. 2 is a functional block diagram of a motor torque compensation device and a motor according to another embodiment of the present invention.

3 is a flow chart of a method of a motor torque compensation method according to an embodiment of the present invention.

4 is a flow chart of a motor torque compensation method according to another embodiment of the present invention.

FIG. 5 is a signal comparison diagram of a rotational speed signal and a rotational speed control signal according to an embodiment of the present invention.

Figure 6 is a graph comparing the estimated and measured torques in accordance with an embodiment of the present invention.

Figure 7 is a comparison diagram of torque before and after compensation in accordance with an embodiment of the present invention.

The detailed features and advantages of the present invention are set forth in the Detailed Description of the Detailed Description of the <RTIgt; </ RTI> <RTIgt; </ RTI> </ RTI> </ RTI> <RTIgt; The objects and advantages associated with the present invention can be readily understood by those skilled in the art. The following examples are intended to describe the present invention in further detail, but are not intended to limit the scope of the invention.

Please refer to FIG. 1. FIG. 1 is a functional block diagram of a motor torque compensation device and a motor according to an embodiment of the present invention. As shown in FIG. 1 , the motor torque compensation device 10 includes a signal detection module 102 , a rotation state control module 104 , a current control module 106 , a parameter estimation module 108 , and a control signal conversion module 110 . The current control module 106 is coupled to the parameter estimation module 108, the signal detection module 102, the rotation state control module 104, and the control signal conversion module 110.

The signal detecting module 102 is configured to detect the rotation state of the motor 20 to obtain the rotation signal of the motor 20 and the first current signal of the motor 20, wherein the rotation signal includes the position signal of the rotor of the motor 20 and the rotation speed signal. The rotation state control module 104 is configured to calculate a first error value, the first error value being associated with the rotation signal. The current control module 106 is configured to calculate a second error value and a third error value, wherein the second error value and the third error value are all associated with the first current signal, wherein the motor 20 is actually a permanent magnet DC motor (permanent Magnet direct current (PMDC), permanent magnet alternate current (PMAC), surface permanent magnet (SPM) motor, internal permanent magnet (IPM) motor or any other use The motor 20 that is operated by magnetic force is not limited to this invention.

After calculating the first error value and the second error value, the parameter estimation module 108 The Fourier parameter estimation is performed according to at least the first error value, the second error value, and the rotation signal to obtain a plurality of estimation parameters. After calculating the plurality of estimated parameters, the rotation state control module 104 is configured to generate a current control signal of the control command according to at least the first error value, the rotation signal, and the plurality of estimation parameters. The current control module 106 is configured to adjust the rotation state of the motor 20 according to at least the current control signal, the second error value, the third error value, the first current signal, and the voltage control signal of the rotation signal generating control command.

Please refer to FIG. 2. FIG. 2 is a functional block diagram of a motor torque compensation device and a motor according to another embodiment of the present invention. As shown in FIG. 2, the signal detecting module 102 includes a signal detecting unit 1022 and a coordinate converting unit 1024. The signal detecting unit 1022 is coupled to the coordinate converting unit 1024. The signal detecting unit 1022 is configured to detect the rotation state of the motor 20 to obtain the second current signal and the rotation signal of the motor. In fact, the signal detecting unit 1022 can be a hall sensor or any device that can detect and capture the rotation signal of the motor 20 and the second current signal of the motor 20, and the present invention is Not limited to this.

The coordinate conversion unit 1024 is configured to convert the second current signal of the motor 20 into a first current signal, wherein the first current signal comprises a direction-axis current signal and a quadrature-axis current signal. In other words, after the signal detecting unit 1022 detects and captures the second current signal of the motor 20, the second current signal of the motor 20 is outputted to the coordinate conversion unit 1024, and the coordinate conversion unit 1024 is further determined according to the captured motor 20. The different kinds of second current signals are given to the corresponding conversion equations, and the second current signal of the motor 20 is converted into a first current signal having a direct current signal and a split current signal. In one embodiment, the second current signal of the motor 20 is a three-phase current signal, and the coordinate conversion unit 1024 converts the three-phase current signal into a direct-axis current signal and a split-axis current signal through a Park's Transformation, or a signal. The detecting unit 1022 can also directly detect the horse The direct current signal and the split current signal of up to 20 are not limited herein.

The rotation state control module 104 includes a position control unit 1042. The position control unit 1042 is configured to calculate a fourth error value, and calculate a first error value according to the fourth error value and the rotation signal, wherein the fourth error value is associated with the rotation. Signal. Moreover, the fourth error value is calculated according to the first relation, and the first relationship is: Where Z ₄ is the fourth error value, θ _m is the position signal of the rotation signal, and θ _m ^* is the position control signal of the control command. Furthermore, when the user wants to control the position of the rotor of the motor 20, the user can input the position command in the control command, and the position command is input to the position control unit 1042 after being converted into the position control signal. The position control unit 1042 subtracts the position signal of the rotation signal received by the signal detection module 102 from the position control signal to obtain the rotor position of the motor 20 at this time and the rotor position of the motor 20 that the user desires to control. The difference signal, wherein the position signal in the rotation signal can be obtained by the signal detecting unit 1022, or the speed signal captured by the signal detecting unit 1022 can be obtained by integrating the calculation, and the present invention does not Limit it.

After the position control unit 1042 calculates the fourth error value, the first error value may be calculated according to the second relationship, and the second relationship is: Where z ₁ is the first error value, k _θ is the position control constant, Z ₄ is the fourth error value, w _m is the rotational speed signal of the rotational signal, and w _m ^* represents the rotational speed control signal of the control command. In other words, after calculating the difference between the rotor position of the motor 20 and the position of the rotor to be controlled by the user, the speed of the rotor of the motor 20 at this time is further calculated and the rotational speed of the rotor of the motor 20 is controlled by the user. The difference is added, and the difference of the positions is weighted and added to the difference of the rotational speeds to obtain the rotational error value of the rotor of the motor 20. After calculating the first error value, the position control unit 1042 outputs the first error value to the parameter estimation module 108.

In addition, in the step of the user inputting the position command of the control command and the rotation speed command to convert into the position control signal and the rotation speed control signal, the user can input only the position command of the control command, and the rotation speed control signal can be converted into the position command through the position command. After the position control signal, the position control signal is differentiated. Alternatively, the user can input only the rotational speed command in the control command, and the position control signal can be converted into the rotational speed control signal through the rotational speed command, and the rotational speed control signal is integrated, and the present invention does not need to be used here. limit.

Next, the current control module 106 includes a current error estimating unit 1064. The current error estimating unit 1064 is configured to calculate a second error value according to the split current signal and the split current control signal of the current control signal, and the second error value is According to a third relational calculation, the third relation is: Wherein, Z ₂ represents a second error value, I _q represents a split current signal, and I _q ^* is a split current control signal. Further, after the signal detecting unit 1022 captures the second current signal of the motor 20, the second current signal of the motor 20 is converted into a split current signal and a direct current signal by the coordinate converting unit 1024, and will be divided into The axis current signal is subtracted from the split current control signal in the control command to obtain a difference between the split current signal and the split current control signal (second error value), and the second error value is output to the parameter estimation mode. Group 108.

After calculating the first error value and the second error value and inputting to the parameter estimation module 108, the parameter estimation module 108 calculates the first error value, the second error value, and the rotation signal in a weighted manner to obtain multiple pre- Estimate the parameters. These estimated parameters are obtained through the fourth relation, and the fourth relation is: among them, The first estimated parameter among the estimated parameters, For the second estimated parameter of the estimated parameters, For the third estimated parameters of the estimated parameters, λ ₁ , λ _{2 n} and λ _{3 n} are all positive constants, K _T is the motor torque constant, J is the motor moment of inertia, and B is the motor viscous friction. The coefficient, k _θ is the position control constant, k _w is the rotational speed control constant, n is a positive integer, and k is the least common multiple of the number of motor stator slots and the number of rotor poles. The first estimated parameter, the second estimated parameter and the third estimated parameter respectively are the expansion of the estimated torque in a Fourier series, and the constant term in the expanded form. Cosine wave coefficient And the coefficient of the sine wave The differentiation, as the Fourier series is well known to those of ordinary skill in the art, will not be described here.

The rotation state control module 104 further includes a speed control unit 1044, and the speed control unit 1044 is configured to use the first error value calculated by the position control unit 1042, the rotation signal, the rotation speed control signal of the control command, and the estimation parameters. Calculated in a weighted manner to obtain a current control signal, and the current control signal is calculated through a fifth relationship, and the fifth relationship is: among them, In order to integrate the time of the first estimated parameter with time, that is, the constant value of the expansion torque according to the Fourier series expansion, The value obtained by integrating the second estimated parameter with time, that is, the coefficient of the cosine wave in the expansion of the torque according to the Fourier series, The value obtained by integrating the third estimated parameter is the coefficient of the sine wave in the expansion of the torque signal according to the Fourier series. For the value after the differentiation of the control signal, N is a positive integer and N is greater than 2.

The current control module 106 further includes a current control unit 1062, and the current control unit 1062 is configured to calculate the second error value, the third error value, the current control signal, the split current signal, and the rotation signal in a weighted manner to obtain voltage control. Signal. The voltage control signal is calculated through the sixth relation, and the sixth relation is: Where Φ _PM is the motor rotor flux, R _s is the motor stator resistance, L _s is the motor stator self-inductance, w _r is the motor rotor electrical speed, k _d is the direct-axis current control constant, and k _q is the split-axis current control constant. For the direct axis voltage control signal in the voltage control signal, It is the split voltage control signal in the voltage control signal. The third error value is calculated by the current error estimating unit 1064 through the seventh relation, and the seventh relation is: Where I _d is a direct current signal, The direct current control signal for the control command.

The control signal conversion module 110 has a coordinate conversion unit 1102 and a DC signal conversion unit 1104. The coordinate conversion unit 1102 is configured to convert the generated voltage control signal into a input voltage signal of the motor 20 through a coordinate conversion, and convert the DC signal into a DC signal. The unit 1104 is configured to convert the input voltage signal of the motor 20 into a voltage driving signal of the motor 20 to adjust the horse. Up to 20 rotation state. In practice, the DC signal conversion unit 1104 can be a direct current-alternate current pulse width modulation inverter (DC-AC PWM Inverter) or other can convert the input voltage signal into a drive motor. The voltage driving signal of 20 is not limited herein. In addition, the coordinate conversion unit 1102 and the coordinate conversion unit 1024 of the present invention may be the same coordinate conversion unit for using the second current of the motor 20 detected by the signal detection unit 1022. The signal is converted into a direct current signal and a split current signal, and the voltage control signal generated by the current control unit 1062 is converted into an input voltage signal of the motor 20. The invention is not limited thereto.

The present invention is described by way of example. Referring to FIG. 2, when the user wants to control the position of the rotor of the motor 20 and the rotational speed of the rotor, the user inputs a position command and a rotational speed command in the control command, and the position command and the rotational speed. The command is converted into a position control signal and a speed control signal by a computer device (not shown) and then input to the position control unit 1042. When the signal detecting unit 1022 detects the rotation signal of the motor 20 and the second current signal (such as the three-phase current signal), and converts the three-phase current signal into the direct-axis current signal and the split-axis current signal via the coordinate conversion unit 1024. The rotation signal is transmitted to the position control unit 1042 to calculate the position and position control signal of the motor 20 at this time to generate a fourth error value, and the fourth error value and the difference between the rotation speed of the rotor and the rotation speed control signal are weighted. The method is calculated to generate a first error value.

Then, after the coordinate conversion unit 1024 converts the three-phase current signal into the direct-axis current signal and the split-axis current signal, the direct-axis current signal and the split-axis current signal are transmitted to the current error estimating unit 1064 to calculate the direct-axis current signal and The straight-axis current controls the difference of the signals to generate a third error, and calculates a difference between the split-axis current signal and the split-axis current control signal to generate a second error. After calculating the aforementioned first error value and the second error value, the position control unit 1042 and the current error estimate The calculating unit 1064 outputs the first error value and the second error value to the parameter estimating module 108, respectively. When the parameter estimating module 108 receives the first error value, the second error value, the rotation signal, and the coordinate conversion unit 1024, After the first current signal is output, the parameter estimation module 108 performs a Fourier parameter estimation of the torque to obtain a plurality of estimated parameters, and transmits the estimated parameters to the speed control unit 1044 and the current control unit 1062.

After receiving the plurality of estimation parameters transmitted by the parameter estimation module 108, the first error value transmitted by the position control unit 1042, and the rotation signal, the speed control unit 1044 calculates the current control signal through the fifth relationship. And transmitting the current control signal to the current control unit 1062. After the current control unit receives the current control signal, the second error value and the third error value, the rotation signal, and the coordinate are calculated according to the plurality of estimation parameters and the current error module outputted from the parameter estimation module. The direct axis current signal and the split current signal converted by the converting unit 1024 are calculated by the sixth relation to obtain a voltage control signal, wherein the voltage control signal includes a direct axis voltage control signal and a split voltage control signal.

Then, after the straight-axis voltage control signal and the split-axis voltage control signal are calculated, the current control unit 1062 outputs the signal to the coordinate conversion unit 1102 to be converted into an input voltage signal (for example, a three-phase voltage signal), and is transmitted via a DC AC signal. The converting unit 1104 converts the three-phase voltage signal into a voltage driving signal to adjust the rotational speed of the rotor of the motor 20 and the position of the rotor, and tracks and reduces the torque of the motor 20 by continuously updating the current control signal and the voltage control signal.

In order to make those skilled in the art more aware of the motor torque compensation device of the present invention, the following description will be further provided with the motor torque compensation method of the present invention. Next, please refer to FIG. 1 and FIG. 3 together, wherein FIG. 3 is a flow chart of a method for the motor torque compensation method according to an embodiment of the present invention. As shown in FIG. 3, in step S300, the signal detection mode Group 102 detects the rotational state of motor 20. In step S302, the signal detecting module 102 acquires the rotation signal of the motor 20 and the first current signal of the motor 20. In step S304, the rotation state control module 104 calculates a first error value. In step S306, the current control module 106 calculates a second error value. In step S308, the parameter estimation module 108 performs a Fourier parameter estimation of the torque to obtain a plurality of estimation parameters. In step S310, the rotation state control module 104 generates a current control signal command of the control command. In step S312, the current control module 106 generates a voltage control signal for the control command. In step S314, the current control module 106 outputs a voltage control signal to adjust the rotation state of the motor 20.

Next, please refer to FIG. 2 and FIG. 4 together. FIG. 4 is a flowchart of a motor torque compensation method according to another embodiment of the present invention. In step S400, the signal detecting unit 1022 detects the motor. 20 rotation state. In step S402, the signal detecting unit 1022 obtains the rotation signal of the motor 20 and the first current signal of the motor 20. In step S404, the coordinate conversion unit 1024 converts the first current signal of the motor 20 into a straight-axis current signal and a split-axis current signal through coordinate conversion. In step S406, the position control unit 1042 calculates a fourth error value according to the first relationship.

In step S408, the position control unit 104 calculates the first error value according to the fourth error value and the second relation. In step S410, the current error estimating unit 1064 calculates a second error value according to the third relation, and calculates a third error value according to the seventh relation. In step S412, the parameter estimation module 108 calculates the first error value, the second error value, and the rotation signal in a weighted manner through the fourth relation to obtain a plurality of estimation parameters. In step S414, the speed control unit 1044 calculates the first error value, the rotation signal, the speed control signal of the control command, and the plurality of estimation parameters in a weighted manner to obtain the current control signal of the control command. In step S416, the current control unit 1062 calculates the second error value, the third error value, the current control signal, the split current signal, and the rotation signal in a weighted manner to obtain the voltage control signal of the control command. In step S418, the coordinate conversion unit 1102 The voltage control signal is converted into a input voltage signal of the motor 20 through coordinate conversion. In step S420, the DC signal conversion unit 1104 converts the input voltage signal of the motor 20 into a voltage driving signal of the motor 20 to adjust the rotation state of the motor 20.

Next, please refer to FIG. 1 and FIG. 5 together. FIG. 5 is a signal comparison diagram of the rotational speed signal and the rotational speed control signal according to an embodiment of the present invention. As shown in Fig. 5, the value of the rotational speed signal of the motor 20 is still different from the numerical value of the rotational speed control signal one second before the start of the motor torque compensation device 10. However, as the operation time increases, it can be observed in FIG. 5, because the motor torque compensation device 10 continuously calculates the difference between the speed signal and the speed control signal, and calculates the difference through the parameter estimation module. Estimating parameters of the individual torque, and inputting the foregoing values to the current control module 1062 to calculate a new voltage control signal to adjust the rotation state of the motor 20, the value of the rotational speed signal of the motor 20 and the value of the rotational speed control signal The gap is gradually decreasing. After 2 seconds of the operation time, the value of the rotational speed signal of the motor 20 is approximately equal to the value of the rotational speed control signal.

Please refer to FIG. 1 and FIG. 6 together. FIG. 6 is a comparison diagram of estimated and measured torques according to an embodiment of the present invention. As shown in Fig. 6, the waveform of the torque calculated by the parameter estimation module 108 and the waveform of the measured torque of the actual amount are close to the magnitude, phase change and frequency. . Please refer to FIG. 7. FIG. 7 is a comparison diagram of torque before and after compensation according to an embodiment of the present invention. As shown in Fig. 7, the torque value before compensation is about 0.3 due to the effect of not canceling the torque. When the motor torque compensation method according to the present invention continuously tracks the state of the torque and eliminates the torque, the magnitude of the torque changes to zero, and the motor torque compensation method of the present invention can be seen. Effectively eliminates torque and maintains torque at a constant value.

In summary, the present invention detects the rotation of the motor by detecting the rotation state of the motor. The signal and the first current signal calculate the position control signal, the speed control signal and the current control signal converted by the rotation signal, the first current signal and the control command to generate a plurality of error values, and execute the torque through the plurality of error values Fourier parameter estimation to obtain multiple estimated parameters. And according to a plurality of estimated parameters, a plurality of error values, the obtained rotation signal and the first current signal, to obtain a new current control signal and a voltage control signal, and finally converting the voltage control signal into a voltage driving signal to adjust the motor The state of rotation. And by continuously updating the Fourier parameters of the torque, the effect of the torque is tracked and offset, so that the motor vibration and noise can be suppressed to a considerable extent.

Although the present invention has been disclosed above in the foregoing embodiments, it is not intended to limit the invention. It is within the scope of the invention to be modified and modified without departing from the spirit and scope of the invention. Please refer to the attached patent application for the scope of protection defined by the present invention.

10‧‧‧Daton torque compensation device

102‧‧‧Signal Detection Module

1022‧‧‧Signal Detection Unit

1024‧‧‧ coordinate conversion unit

104‧‧‧Rotary state control module

1042‧‧‧Location Control Unit

1044‧‧‧Speed Control Unit

106‧‧‧ Current Control Module

1062‧‧‧ Current Control Unit

1064‧‧‧ Current Error Estimation Unit

108‧‧‧Parameter estimation module

110‧‧‧Control signal conversion module

1102‧‧‧Coordinate conversion unit

1104‧‧‧DC AC signal conversion unit

20‧‧‧Motor

Claims (30)

A motor torque compensation method includes the steps of: detecting a rotation state of a motor, thereby obtaining a rotation signal of the motor and a first current signal; calculating a first error value and a second error value, The first error value is associated with the rotation signal, and the second error value is associated with the first current signal; and the Fourier parameter pre-determination is performed according to at least the first error value, the second error value, and the rotation signal Estimating, by which a plurality of estimation parameters are obtained; at least a current control signal for generating a control command based on the first error value, the rotation signal, and the estimation parameters; and at least the second error value, The third error value, the current control signal, the first current signal, and the rotation signal generate a voltage control signal of the control command to adjust a rotation state of the motor, wherein the third error value is associated with the first current a signal; wherein the estimated parameters include a first estimated parameter, a second estimated parameter, and a third estimated parameter, and the Fourier parameter is estimated to be estimated The expansion torque is expanded by a Fourier series, and the first estimation parameter, the second estimation parameter, and the third estimation parameter are constant terms in the expansion, coefficients of the cosine wave, and sine The differential of the coefficient of the wave. The motor torque compensation method of claim 1, wherein the step of detecting the rotation state of the motor to obtain the rotation signal of the motor and the first current signal of the motor further comprises: detecting Measuring a rotation state of the motor to obtain a second current signal of the motor and the rotation signal; Transducing the second current signal of the motor to the first current signal through a coordinate, wherein the first current signal comprises a constant current signal and a split current signal. The motor torque compensation method according to claim 2, wherein the first error value and the second error value are calculated, the first error value is associated with the rotation signal, and the second error value is associated with The step of the first current signal further includes: calculating a fourth error value, and calculating the first error value according to the fourth error value, wherein the fourth error value is associated with the rotation signal . The motor torque compensation method according to claim 3, wherein the fourth error value is calculated according to a first relationship, wherein the first relationship is: Wherein Z _{4 is} the fourth error value, θ _{m is} the position signal of the rotation signal, and θ _m ^{* is} the position control signal of the control command. The motor torque compensation method according to claim 4, wherein the first error value is calculated according to a second relationship, wherein the second relationship is: Wherein Z _{1 is} the first error value, k _θ is a position control constant, Z _{4 is} the fourth error value, w _{m is} a rotation speed signal of the rotation signal, and w _m ^* represents a rotation speed control signal of the control command. The motor torque compensation method according to claim 2, wherein the first error value and the second error value are calculated, the first error value is associated with the rotation signal, and the second error value is associated with In the step of the first current signal, the second error value is calculated according to the split current signal and a split current control signal of the current control signal. The motor torque compensation method according to claim 6, wherein the second error value is calculated according to a third relation, wherein the third relationship is: Wherein Z ₂ represents the second error value, I _q represents the split current signal, and I _q ^{* is} the split current control signal. The motor torque compensation method according to claim 2, wherein the Fourier parameter estimation is performed based on the first error value, the second error value, and the rotation signal to obtain a plurality of estimation parameters. The step further includes: calculating the first error value, the second error value, and the rotation signal in a weighted manner to obtain the estimation parameters. The motor torque compensation method according to claim 8, wherein the estimated parameters are obtained through a fourth relationship, wherein the fourth relationship is: among them, For the first estimated parameter among the estimated parameters, For the second estimated parameter of the estimated parameters, For the third estimated parameter among the estimated parameters, λ ₁ , λ _{2 n} and λ _{3 n} are all positive constants, K _T is the motor torque constant, J is the motor moment of inertia, and B is the motor viscosity. The friction coefficient, k _θ is the position control constant, k _w is the rotation speed control constant, n is a positive integer, and k is the least common multiple of the number of stator slots of the motor and the number of poles of the rotor. The motor torque compensation method according to claim 9, wherein at least the first error value is used, The step of rotating the signal and the estimated parameters to generate the current control signal of the control command further includes: the first error value, the rotation signal, the rotation speed control signal of the control command, and the predictions The parameters are calculated in a weighted manner to derive the current control signal. The motor torque compensation method according to claim 10, wherein the current control signal is calculated through a fifth relation, wherein the fifth relationship is: among them, For the value of the first estimated parameter after the time is integrated, For the value of the second estimated parameter after the time is integrated, For the value of the third estimated parameter, For the value after the differentiation of the control signal, N is a positive integer and N is greater than 2. The motor torque compensation method of claim 11, wherein the voltage control signal is generated according to at least the second error value, the third error value, the current control signal, the first current signal, and the rotation signal. The step of adjusting the rotation state of the motor, wherein the third error value is associated with the first current signal, further comprising: the second error value, the third error value, the current control signal, the The split current signal and the rotation signal are calculated in a weighted manner to obtain the voltage control signal. The motor torque compensation method according to claim 12, wherein the voltage control signal is calculated through a sixth relation, wherein the sixth relationship is: Where Φ _PM is the motor rotor flux, R _s is the motor stator resistance, L _s is the motor stator self-inductance, w _r is the motor rotor electrical speed, k _d is the direct-axis current control constant, and k _q is the split-axis current control constant. The motor torque compensation method according to claim 13, wherein the third error value is calculated through a seventh relation, wherein the seventh relationship is: Where I _{d is} the direct current signal, The direct current control signal for this control command. The motor torque compensation method of claim 1, wherein the voltage control signal is generated according to at least the second error value, the third error value, the current control signal, and the rotation signal to adjust the motor a state of rotation, wherein the third error value is associated with the first current signal, further comprising: converting the generated voltage control signal to a input voltage signal of the motor through coordinate conversion; and the motor The input voltage signal is converted into a voltage driving signal of the motor by a signal to adjust the rotation state of the motor. A motor torque compensation device includes: a signal detection module for detecting a rotation state of a motor to obtain a rotation signal of the motor and a first current signal of the motor; and a rotation state control The module is coupled to the signal detecting module, and the rotating state control module is used Calculating a first error value associated with the rotation signal; a current control module coupled to the signal detection module and the rotation state control module, wherein the current control module is configured to calculate a second error value and a third error value, the second error value and the third error value are associated with the first current signal; and a parameter estimation module coupled to the signal detection module, the rotation a state control module and the current control module, the parameter estimation module is configured to obtain a plurality of predictions according to at least the first error value, the second error value, and the Fourier parameter estimation of the rotation signal a parameter, the rotation state control module is configured to generate a current control signal according to the first error value, the rotation signal, and the estimation parameters to generate a control command, and the current control module is configured to use at least the second The error value, the third error value, the current control signal, the first current signal, and the rotation signal generate a voltage control signal of the control command to adjust a rotation state of the motor; The estimated parameters include a first estimated parameter, a second estimated parameter, and a third estimated parameter, where the Fourier parameter is estimated to be an expanded version of the estimated torque in a Fourier series, and the An estimated parameter, the second estimated parameter, and the third estimated parameter are respectively a constant term in the expansion, a coefficient of a cosine wave, and a differential of coefficients of the sine wave. The motor torque compensation device of claim 16, wherein the signal detection module further comprises: a signal detecting unit for detecting a rotation state of the motor to obtain a second current signal of the motor And the rotating signal; and a standard conversion unit for converting the second current signal of the motor into the first current signal, wherein the first current signal comprises a linear current signal and a split current signal. The motor torque compensation device of claim 17, wherein the rotation state control module further comprises: a position control unit is configured to calculate a fourth error value, and calculate the first error value according to the fourth error value and the rotation signal, wherein the fourth error value is associated with the rotation signal. The motor torque compensation device of claim 18, wherein the fourth error value is calculated according to a first relationship, the first relationship is: Wherein Z _{4 is} the fourth error value, θ _{m is} the position signal of the rotation signal, and θ _m ^{* is} the position control signal of the control command. The motor torque compensation device of claim 19, wherein the first error value is calculated according to a second relationship, the second relationship is: Wherein Z _{1 is} the first error value, k _θ is a position control constant, Z _{4 is} the fourth error value, w _{m is} a rotation speed signal of the rotation signal, and w _m ^* represents a rotation speed control signal of the control command. The motor torque compensation device of claim 17, wherein the current control module comprises: a current error estimating unit configured to calculate a split current signal according to the split current signal and the current control signal The second error value is obtained. The motor torque compensation device of claim 21, wherein the second error value is calculated according to a third relation, wherein the third relationship is: Wherein Z ₂ represents the second error value, I _q represents the split current signal, and I _q ^{* is} the split current control signal. The motor torque compensation device of claim 17, wherein the parameter estimation module further calculates the first error value, the second error value, and the rotation signal in a weighted manner to obtain the estimates parameter. The motor torque compensation device of claim 23, wherein the estimated parameters are obtained by a fourth relationship, wherein the fourth relationship is: among them, For the first estimated parameter among the estimated parameters, For the second estimated parameter of the estimated parameters, For the third estimated parameter among the estimated parameters, λ ₁ , λ _{2 n} and λ _{3 n} are all positive constants, K _T is the motor torque constant, J is the motor moment of inertia, and B is the motor viscosity. The friction coefficient, k ₀ is the position control constant, k _w is the rotational speed control constant, n is a positive integer, and k is the least common multiple of the number of motor stator slots and the number of rotor poles. The motor torque compensation device of claim 24, wherein the rotation state control module comprises: a speed control unit for using the first error value, the rotation signal, the rotation speed control signal of the control command, and The estimated parameters are respectively calculated in a weighted manner to obtain the current control signal. The motor torque compensation device of claim 25, wherein the current control signal is calculated by a fifth relationship, the fifth relationship is: among them, For the value of the first estimated parameter after the time is integrated, For the value of the second estimated parameter after the time is integrated, For the value of the third estimated parameter, For the value after the differentiation of the control signal, N is a positive integer and N is greater than 2. The motor torque compensation device of claim 26, wherein the current control module comprises: a current control unit for the second error value, the third error value, the current control signal, the minute The axis current signal and the rotation signal are calculated in a weighted manner to obtain the voltage control signal. The motor torque compensation device of claim 27, wherein the voltage control signal is calculated by a sixth relation, wherein the sixth relationship is: Where Φ _PM is the motor rotor flux, R _s is the motor stator resistance, L _s is the motor stator self-inductance, w _r is the motor rotor electrical speed, k _d is the direct-axis current control constant, and k _q is the split-axis current control constant. The motor torque compensation device of claim 28, wherein the third error value is calculated by a seventh relation, wherein the seventh relationship is: Where I _{d is} the direct current signal, The direct current control signal for this control command. The motor torque compensation device of claim 16, further comprising: a control signal conversion module coupled to the current control module, the control signal conversion module There is a standard conversion unit and a signal conversion unit, wherein the coordinate conversion unit converts the generated voltage control signal into a input voltage signal of the motor through a coordinate conversion, and the signal conversion unit is configured to input the voltage signal of the motor. The signal is converted into a voltage driving signal of the motor to adjust the rotation state of the motor.