CN104716879B - A kind of current control method of motor and device - Google Patents

Abstract

The invention discloses a kind of current control method of motor and device, the method comprises the steps：Obtain physical location θ of stepping motor rotor_r, obtain the given position θ of the stepping motor rotor_ref：If the given position θ_refWith physical location θ_rDifference increase, then increase given electric current I_PThe motor is driven, if the given position θ_refWith physical location θ_rDifference reduce, then reduce given electric current I_PThe motor is driven.The present invention estimates the physical location of motor by motor running current, does power transformation flow control according to site error.Have the following advantages：Electric current is adjusted according to actual loading, efficiency is improved, reduces system loss, light relatively common constant-current driving motor when loading can substantially reduce that the motor feels hot, reduce the vibration amplitude of motor low regime, without position sensor, do not increase hardware cost.

Description

A kind of current control method of motor and device

【Technical field】

The present invention relates to motor field, and in particular to a kind of current control method of motor and device.

【Background technology】

Two-phase stepping motor driver is widely used in the fields such as all kinds of lathes, printing, weaving, medical treatment, current stepping electricity Machine adopts position, speed open loop, and closed-loop current control, given current amplitude are constant, external pulse control electric current phase place.During operation Current amplitude is given always in Rated motor current peak level, causes motor winding in low speed to flow through very big idle electricity Stream, it is severe that the motor feels hot, and vibration is substantially.In addition also have by realizing position, speed and electric current closed-loop control using encoder System, can so increase system cost, and as code-disc is Sensitive Apparatuses, increased potential faults.

【Content of the invention】

In order to overcome the deficiencies in the prior art, the invention provides a kind of current control method of motor and device, Such that it is able to realize being controlled the electric current of motor by increasing control method, so as to reduce, the motor feels hot, reduces Motor low speed vibration.

A kind of current control method of motor, comprises the steps：

Obtain physical location θ of stepping motor rotor_r, obtain the given position θ of the stepping motor rotor_ref；

If the given position θ_refWith physical location θ_rDifference increase, then increase given electric current I_PTo the stepping Motor is driven, if the given position θ_refWith physical location θ_rDifference reduce, then reduce given electric current I_PTo institute State motor to be driven.

In one embodiment,

I_P=I_max·k₁+K_pp·(θ_ref-θ_r)+∑K_pi(θ_ref-θ_r)；

Wherein, 0 ＜ k₁≤ 1, K_ppAnd K_piIt is constant, I_maxRated current peak value for the motor.

In one embodiment,

As calculated I_PValue be more than I_maxWhen, then I_PTake I_max.

In one embodiment,

Physical location θ is obtained by following algorithm_r：

EMF_A(n) and EMF_BKnown parameters I of (n) according to the (n-1)th sampled point_A(n-1)、V_A(n-1)、Z_A (n-1)、I_B(n-1)、V_B(n-1)、And Z_B(n-1) obtain in the following way：

|Z_A(n)|≤Z_max；

|Z_B(n)|≤Z_max；

V_A(n)=K_p·(I_Aref-I_A(n))+K_i∫(I_Aref-I_A(n))dt；

V_B(n)=K_p·(I_Bref-I_B(n))+K_i∫(I_Bref-I_B(n))dt；

I_Aref=I_P·sinθ_ref,I_Bref=I_P·cosθ_ref；

Respectively to Z_A(n) and Z_BN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWith

Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectively_A(n) and EMF_B(n)；

Wherein, I_A(n-1)、V_A(n-1)、And Z_A(n-1) the A windings of the motor are represented respectively The sample rate current of corresponding (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_A(n)、V_A(n)、EMF_A(n) and Z_AN () represents the A windings of the motor respectively The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force And Dynamic gene；

I_B(n-1)、V_B(n-1)、And Z_B(n-1) represent respectively the motor B windings corresponding the The sample rate current of n-1 sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_B(n)、V_B(n)、EMF_B(n) and Z_BN () represents the B windings of the motor respectively The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force And Dynamic gene；

T_pwmFor sampling period, k₂、K_pAnd K_iIt is constant coefficient, Z_maxIt is maximum Dynamic gene；

R_AAnd L_AIt is the resistance and inductance of the A windings of the motor respectively；

R_BAnd L_BIt is the resistance and inductance of the B windings of the motor respectively.

In one embodiment,

According to the given electric current I_P, A windings and B winding applied voltages V to the motor respectively_AAnd V_B：

V_A=K_p·(I_Aref-I_A)+K_i∫(I_Aref-I_A)dt；

V_B=K_p·(I_Bref-I_B)+K_i∫(I_Bref-I_B)dt；

Wherein, I_Aref=I_P·sinθ_ref, I_Bref=I_P·cosθ_ref, I_AAnd I_BIt is the sampling of motor A windings respectively Electric current and the sample rate current of B windings.

Present invention also offers a kind of current control device of motor, including first processing units and second processing list Unit：

First processing units, for obtaining physical location θ of stepping motor rotor_r；

Second processing unit, for obtaining the given position θ of the stepping motor rotor_refIf, the given position θ_ref With physical location θ_rDifference increase, then increase given electric current I_PThe motor is driven, if the given position Put θ_refWith physical location θ_rDifference reduce, then reduce given electric current I_PThe motor is driven.

In one embodiment,

I_P=I_max·k₁+K_pp·(θ_ref-θ_r)+ΣK_pi(θ_ref-θ_r)；

Wherein, 0 ＜ k₁≤ 1, K_ppAnd K_piIt is constant, I_maxRated current peak value for the motor.

In one embodiment,

As calculated I_PValue be more than I_maxWhen, then I_PTake I_max.

In one embodiment,

The second processing unit is additionally operable to, and obtains physical location θ by following algorithm_r：

EMF_A(n) and EMF_BKnown parameters I of (n) according to the (n-1)th sampled point_A(n-1)、V_A(n-1)、Z_A (n-1)、I_B(n-1)、V_B(n-1)、And Z_B(n-1) obtain in the following way：

|Z_A(n)|≤Z_max；

|Z_B(n)|≤Z_max；

V_A(n)=K_p·(I_Aref-I_A(n))+K_i∫(I_Aref-I_A(n))dt；

V_B(n)=K_p·(I_Bref-I_B(n))+K_i∫(I_Bref-I_B(n))dt；

I_Aref=I_P·sinθ_ref,I_Bref=I_P·cosθ_ref；

Respectively to Z_A(n) and Z_BN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWith

Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectively_A(n) and EMF_B(n)；

Wherein, I_A(n-1)、V_A(n-1)、And Z_A(n-1) the A windings of the motor are represented respectively The sample rate current of corresponding (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_A(n)、V_A(n)、EMF_A(n) and Z_AN () represents the A windings of the motor respectively The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force And Dynamic gene；

I_B(n-1)、V_B(n-1)、And Z_B(n-1) represent that the B windings of the motor are corresponded to respectively The sample rate current of (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_B(n)、V_B(n)、EMF_B(n) and Z_BN () represents the B windings of the motor respectively The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force And Dynamic gene；

T_pwmFor sampling period, k₂、K_pAnd K_iIt is constant coefficient, Z_maxIt is maximum Dynamic gene,；

R_AAnd L_AIt is the resistance and inductance of the A windings of the motor respectively；

R_BAnd L_BIt is the resistance and inductance of the B windings of the motor respectively.

In one embodiment,

The second processing unit is additionally operable to, according to the given electric current I_P, respectively to the A windings of the motor and B winding applied voltages V_AAnd V_B：

V_A=K_p·(I_Aref-I_A)+K_i∫(I_Aref-I_A)dt；

V_B=K_p·(I_Bref-I_B)+K_i∫(I_Bref-I_B)dt；

Wherein, I_Aref=I_P·sinθ_ref, I_Bref=I_P·cosθ_ref, I_AAnd I_BIt is the sampling of motor A windings respectively Electric current and the sample rate current of B windings.

The present invention does not increase any device and cost, is fed back according to motor actual motion electric current reconstructing speed, position, according to The error of given and feedback position realizes power transformation flow control, improves drive efficiency to greatest extent.

The present invention estimates the physical location of motor by motor running current, does power transformation according to site error Flow control.Have the following advantages：Electric current is adjusted according to actual loading, efficiency is improved, reduces system loss, relatively common during light load Constant-current driving motor can substantially reduce that the motor feels hot, reduce the vibration amplitude of motor low regime, without position sensor, Hardware cost is not increased.

【Description of the drawings】

Fig. 1 is the current control method some algorithm schematic diagram of the motor of an embodiment of the present invention；

Fig. 2 is the current control method some algorithm schematic diagram of the motor of an embodiment of the present invention.

【Specific embodiment】

Preferred embodiment to inventing is described in further detail below.

A kind of current control method of motor, comprises the steps：

(1):Obtain the given position θ of stepping motor rotor_ref, so-called given position θ_ref, it is to need rotor to reach Position, represented with angle, for example, it is possible to according to external pulse obtain rotor given position θ_ref；

(2):If the given position θ_refWith physical location θ_rDifference increase, then increase given electric current I_PTo described Motor is driven, if the given position θ_refWith physical location θ_rDifference reduce, then reduce given electric current I_P The motor is driven, i.e., is made power transformation flow control to the motor and is obtained given electric current I_P, calculate this respectively Carve the electric current I of corresponding A windings_ArefElectric current I with B windings_Bref：

I_Aref=I_P·sinθ_ref,I_Bref=I_P·cosθ_ref；

(3):Respectively the electric current of A windings and B windings is controlled using two proportional integral (PI) controllers obtain A around Winding voltage V of group_A(given voltage) and winding voltage V of B windings_B(given voltage)；

V_A=K_p·(I_Aref-I_A)+K_i∫(I_Aref-I_A)dt

V_B=K_p·(I_Bref-I_B)+K_i∫(I_Bref-I_B)dt；

So as to complete the control to motor.When the load of motor is larger, given position θ_refWith the reality Position θ_rDifference larger, namely the angle of lag of motor is larger, thus the winding current of control motor is larger, and works as Given position θ_refWith physical location θ_rDifference less, namely the angle of lag of motor is less, thus control stepping electricity The winding current of machine is less, so as to reduce the degree of motor heating when loading less.

In one embodiment, given electric current I can be obtained in the following way_P：

I_P=I_max·k₁+K_pp·(θ_ref-θ_r)+ΣK_pi(θ_ref-θ_r)；

Wherein, 0 ＜ k₁≤ 1, K_ppAnd K_piIt is constant, I_maxRated current peak value for the motor.

As calculated I_PValue be more than I_maxWhen, then I_PTake I_max.

Physical location θ can be obtained by following algorithm_rAnd I_P：

For motor, with following relation：

Wherein, EMF_AAnd EMF_BThe counter electromotive force of the A windings and B windings of respectively described motor, V_AAnd V_BDifference table Show the winding voltage of the A windings and B windings of the motor, R_AAnd R_BRepresent respectively the A windings and B of the motor around The winding resistance of group, L_AAnd L_BThe winding inductance of the A winding and B winding of the motor, I are represented respectively_AAnd I_BIt is institute respectively State the real-time sampling electric current of the A windings and B windings of motor.

Can be obtained by formula (1)：

And for motor, the electromotive force that stator winding cutting PM rotor is produced has following relation simultaneously again：

Wherein ω_rFor the angular frequency that rotor is rotated, ψ_mObtain during the generation magnetic flux for cutting PM rotor for stator winding Maximum magnetic linkage.

If directly asking for counter electromotive force using formula (2), due to change and the differential of calculating current of motor inductanceWhen, very big noise may be produced, is caused result to fail, counter electromotive force can be asked for using a kind of sliding mode controller：

By taking motor A windings as an example, electric current is solved by formula (1)：

Represented with digital display circuit：

I is obtained_A(n)=F I_A(n-1)+G·(V_A(n-1)-EMF_A(n-1)) formula (6)

WhereinT_pwmIt is the sample rate current to A winding currents, namely to motor The controlling cycle of electric current, R_AAnd L_AIt is the resistance and inductance of the A windings of the motor respectively, R_BAnd L_BIt is the step respectively The resistance and inductance of the B windings of stepper motor.

According to formula (6), can be according to known parameters I of the (n-1)th sampled point_A(n-1)、V_A(n-1)、Z_A (n-1)、I_B(n-1)、V_B(n-1)、And Z_B(n-1) EMF is obtained in the following way_A(n) and EMF_BN (), such as schemes Shown in 1：

|Z_A(n)|≤Z_max；

|Z_B(n)|≤Z_max；

V_A(n)=K_p·(I_Aref-I_A(n))+K_i∫(I_Aref-I_A(n))dt；

V_B(n)=K_p·(I_Bref-I_B(n))+K_i∫(I_Bref-I_B(n))dt；

I_Aref=I_P·sinθ_ref,I_Bref=I_P·cosθ_ref；

As shown in Fig. 2 respectively to Z_A(n) and Z_BN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWithFor calculate (n-1)th sampled point relevant parameter when use；

Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectively_A(n) and EMF_B(n)；

Wherein, I_A(n-1)、V_A(n-1)、And Z_A(n-1) the A windings of the motor are represented respectively The sample rate current of corresponding (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_A(n)、V_A(n)、EMF_A(n) and Z_AN () represents the A windings of the motor respectively The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force And Dynamic gene；

I_B(n-1)、V_B(n-1)、And Z_B(n-1) represent respectively the motor B windings corresponding the The sample rate current of n-1 sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_B(n)、V_B(n)、EMF_B(n) and Z_BN () represents the B windings of the motor respectively The discreet current of corresponding n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force And Dynamic gene；

T_pwmFor sampling period, k₂、K_pAnd K_iIt is constant coefficient, Z_max；It is maximum Dynamic gene,；

R_AAnd L_AIt is the resistance and inductance of the A windings of the motor respectively；

R_BAnd L_BIt is the resistance and inductance of the B windings of the motor respectively.

Above-mentioned formula is illustrated by taking A windings as an example：

In one embodiment, initialization assignment is carried out to the parameters of the 0th sampled point：

By V_A(0)、Z_A(0)、V_B(0)、And Z_B(0) 0 is entered as, further according to adopting to A windings The I that sample is obtained_A(0), the relevant parameter V of the first sampled point can be obtained according to above-mentioned formula_A(1)、Z_A(1) andThen calculating prediction can be carried out to the relevant parameter of second sampled point according to above-mentioned formula, the like.

Such that it is able to obtain physical location θ_r：

According to the rotor angle for obtaining_rWith given rotor angle_refSite error power transformation flow control is carried out to motor, PI is done by site error size and adjusts power transformation flow control：

I_P=I_max·k₁+K_pp·(θ_ref-θ_r)+∑K_pi(θ_ref-θ_r)；

Wherein, 0 ＜ k₁≤ 1, K_ppAnd K_piIt is constant, I_maxRated current peak value for the motor；When being calculated I_PValue be more than I_maxWhen, then I_PTake I_max.

Wherein, k₁Can be 0.3-0.5, for example, can be 0.4.

Above content is further description made for the present invention with reference to specific preferred implementation, it is impossible to assert The present invention be embodied as be confined to these explanations.For general technical staff of the technical field of the invention, On the premise of without departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention by The scope of patent protection that the claims that is submitted to determine.

Claims (6)

1. a kind of current control method of motor, is characterized in that, comprise the steps：

Obtain physical location θ of stepping motor rotor_r, obtain the given position θ of the stepping motor rotor_ref；

If the given position θ_refWith physical location θ_rDifference increase, then increase given electric current I_PTo the motor It is driven, if the given position θ_refWith physical location θ_rDifference reduce, then reduce given electric current I_PTo the step Stepper motor is driven；

I_P=I_max·k₁+K_pp·(θ_ref-θ_r)+∑K_pi(θ_ref-θ_r)；

Wherein, 0 ＜ k₁≤ 1, K_ppAnd K_piIt is constant, I_maxRated current peak value for the motor；

Physical location θ is obtained by following algorithm_r：

${\mathrm{\θ}}_r=arctan\frac{-{\mathrm{EMF}}_A\left(n\right)}{{\mathrm{EMF}}_B\left(n\right)};$

EMF_A(n) and EMF_BKnown parameters I of (n) according to the (n-1)th sampled point_A(n-1)、V_A(n-1)、Z_A(n- 1)、I_B(n-1)、V_B(n-1)、And Z_B(n-1) obtain in the following way：

$I_A^{*}\left(n\right)=F_A\·I_A(n-1)+G_A\·\left(V_A\right(n-1)-{\mathrm{EMF}}_A^{*}(n-1)-Z_A(n-1\left)\right);$

$I_B^{*}\left(n\right)=F_B\·I_B(n-1)+G_B\·\left(V_B\right(n-1)-{\mathrm{EMF}}_B^{*}(n-1)-Z_B(n-1\left)\right);$

$Z_A\left(n\right)=k_2\left(I_A\right(n)-I_A^{*}(n\left)\right);$

$Z_B\left(n\right)=k_2\left(I_B\right(n)-I_B^{*}(n\left)\right);$

|Z_A(n)|≤Z_max；

|Z_B(n)|≤Z_max；

$F_A=(1-T_{pwm}\·\frac{R_A}{L_A}),G_A=\frac{T_{pwm}}{L_A},F_B=(1-T_{pwm}\·\frac{R_B}{L_B}),G_B=\frac{T_{pwm}}{L_B};$

V_A(n)=K_p·(I_Aref-I_A(n))+K_i∫(I_Aref-I_A(n))dt；

V_B(n)=K_p·(I_Bref-I_B(n))+K_i∫(I_Bref-I_B(n))dt；

I_Aref=I_P·sinθ_ref,I_Bref=I_P·cosθ_ref；

Respectively to Z_A(n) and Z_BN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWith

Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectively_A(n) and EMF_B(n)；

Wherein, I_A(n-1)、V_A(n-1)、And Z_A(n-1) represent that the A windings of the motor are corresponded to respectively The sample rate current of (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_A(n)、V_A(n)、EMF_A(n) and Z_AN () represents corresponding to for the A windings of the motor respectively The discreet current of n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force and tune Integral divisor；

I_B(n-1)、V_B(n-1)、And Z_B(n-1) represent respectively the motor B windings corresponding (n-1)th The sample rate current of individual sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_B(n)、V_B(n)、EMF_B(n) and Z_BN () represents corresponding to for the B windings of the motor respectively The discreet current of n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force and tune Integral divisor；

T_pwmFor sampling period, k₂、K_pAnd K_iIt is constant coefficient, Z_maxIt is maximum Dynamic gene；

R_AAnd L_AIt is the resistance and inductance of the A windings of the motor respectively；

R_BAnd L_BIt is the resistance and inductance of the B windings of the motor respectively.

2. the current control method of motor as claimed in claim 1, is characterized in that：

As calculated I_PValue be more than I_maxWhen, then I_PTake I_max.

3. the current control method of motor as claimed in claim 1, is characterized in that：

According to the given electric current I_P, A windings and B winding applied voltages V to the motor respectively_AAnd V_B：

V_A=K_p·(I_Aref-I_A)+K_i∫(I_Aref-I_A)dt；

V_B=K_p·(I_Bref-I_B)+K_i∫(I_Bref-I_B)dt；

Wherein, I_Aref=I_P·sinθ_ref, I_Bref=I_P·cosθ_ref, I_AAnd I_BIt is the sample rate current of motor A windings respectively Sample rate current with B windings.

4. a kind of current control device of motor, is characterized in that, including first processing units and second processing unit：

First processing units, for obtaining physical location θ of stepping motor rotor_r；

Second processing unit, for obtaining the given position θ of the stepping motor rotor_refIf, the given position θ_refWith institute State physical location θ_rDifference increase, then increase given electric current I_PThe motor is driven, if the given position θ_refWith physical location θ_rDifference reduce, then reduce given electric current I_PThe motor is driven；

I_P=I_max·k₁+K_pp·(θ_ref-θ_r)+∑K_pi(θ_ref-θ_r)；

Wherein, 0 ＜ k₁≤ 1, K_ppAnd K_piIt is constant, I_maxRated current peak value for the motor；

The second processing unit is additionally operable to, and obtains physical location θ by following algorithm_r：

${\mathrm{\θ}}_r=arctan\frac{-{\mathrm{EMF}}_A\left(n\right)}{{\mathrm{EMF}}_B\left(n\right)};$

EMF_A(n) and EMF_BKnown parameters I of (n) according to the (n-1)th sampled point_A(n-1)、V_A(n-1)、Z_A(n- 1)、I_B(n-1)、V_B(n-1)、And Z_B(n-1) obtain in the following way：

$I_A^{*}\left(n\right)=F_A\·I_A(n-1)+G_A\·\left(V_A\right(n-1)-{\mathrm{EMF}}_A^{*}(n-1)-Z_A(n-1\left)\right);$

$I_B^{*}\left(n\right)=F_B\·I_B(n-1)+G_B\·\left(V_B\right(n-1)-{\mathrm{EMF}}_B^{*}(n-1)-Z_B(n-1\left)\right);$

$Z_A\left(n\right)=k_2\left(I_A\right(n)-I_A^{*}(n\left)\right);$

$Z_B\left(n\right)=k_2\left(I_B\right(n)-I_B^{*}(n\left)\right);$

|Z_A(n)|≤Z_max；

|Z_B(n)|≤Z_max；

$F_A=(1-T_{pwm}\·\frac{R_A}{L_A}),G_A=\frac{T_{pwm}}{L_A},F_B=(1-T_{pwm}\·\frac{R_B}{L_B}),G_B=\frac{T_{pwm}}{L_B};$

V_A(n)=K_p·(I_Aref-I_A(n))+K_i∫(I_Aref-I_A(n))dt；

V_B(n)=K_p·(I_Bref-I_B(n))+K_i∫(I_Bref-I_B(n))dt；

I_Aref=I_P·sinθ_ref,I_Bref=I_P·cosθ_ref；

Respectively to Z_A(n) and Z_BN () carries out the value that low-pass filtering obtains and is assigned to respectivelyWith

Right respectivelyWithCarry out the value that low-pass filtering obtains and be assigned to EMF respectively_A(n) and EMF_B(n)；

Wherein, I_A(n-1)、V_A(n-1)、And Z_A(n-1) represent that the A windings of the motor are corresponded to respectively The sample rate current of (n-1)th sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_A(n)、V_A(n)、EMF_A(n) and Z_AN () represents corresponding to for the A windings of the motor respectively The discreet current of n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force and tune Integral divisor；

I_B(n-1)、V_B(n-1)、And Z_B(n-1) represent respectively the motor B windings corresponding (n-1)th The sample rate current of individual sampled point, winding voltage, first estimate counter electromotive force and Dynamic gene；

I_B(n)、V_B(n)、EMF_B(n) and Z_BN () represents corresponding to for the B windings of the motor respectively The discreet current of n-th sampled point, sample rate current, winding voltage, first are estimated counter electromotive force, second estimate counter electromotive force and tune Integral divisor；

T_pwmFor sampling period, k₂、K_pAnd K_iIt is constant coefficient, Z_maxIt is maximum Dynamic gene；

R_AAnd L_AIt is the resistance and inductance of the A windings of the motor respectively；

R_BAnd L_BIt is the resistance and inductance of the B windings of the motor respectively.

5. the current control device of motor as claimed in claim 4, is characterized in that：

As calculated I_PValue be more than I_maxWhen, then I_PTake I_max.

6. the current control device of motor as claimed in claim 4, is characterized in that：

The second processing unit is additionally operable to, according to the given electric current I_P, the A windings and B windings to the motor respectively Applied voltage V_AAnd V_B：

V_A=K_p·(I_Aref-I_A)+K_i∫(I_Aref-I_A)dt；

V_B=K_p·(I_Bref-I_B)+K_i∫(I_Bref-I_B)dt；

Wherein, I_Aref=I_P·sinθ_ref, I_Bref=I_P·cosθ_ref, I_AAnd I_BIt is the sample rate current of motor A windings respectively Sample rate current with B windings.