CN107994830B - A kind of method and device inhibiting motor torque ripple - Google Patents
A kind of method and device inhibiting motor torque ripple Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The invention discloses a kind of method and devices for inhibiting motor torque ripple, by using motor electrical angle as independent variable, augmented system is constructed in position field, and finite element grid is constructed using motor angular rate as intermediate parameters, subduer is designed to augmented system, Infinite Matrix inequality is converted into finite dimensioned, then first object control parameter matrix and the second target control parameter matrix are obtained according to the motor position sampled signal periodically acquired, and then output quantity is calculated according to updated control parameter matrix and motor current value, according to the operation of output quantity control motor, inhibit the torque ripple of motor, it realizes and motor torque Ripple Suppression problem is associated with the tracking control problem based on corner change system, effectively inhibit motor torque ripple to realize, reduce power loss, lifting system efficiency, to Improve and drives comfort level.
Description
Technical field
The present invention relates to motor control technology fields, more particularly to a kind of method and dress for inhibiting motor torque ripple
It sets.
Background technique
When automobile electronic controller system executes various functions using motor as actuator, generally existing motor torque ripple
Phenomenon.For example, realizing that motorcar electric helps by EPS (Electric Power Steering, electric booster steering controller) system
When power turning function, such as pilot control steering wheel, need to guarantee simultaneously the synchronized relation of motor speed Yu direction disk rotating speed, with
And the synchronized relation of motor speed and stator voltage fundamental frequency, this just needs to adjust the speed motor stator voltage, but adjusts
Speed depends on power electronic devices, and adjusting the speed relied on power electronic devices is non-ideal characteristic, and it is fixed that this will cause motor
Sub- voltage is distorted, to generate torque ripple, and then is increased power loss, is reduced system effectiveness, or even vehicle is caused to shake
It is dynamic, it reduces and drives comfort level.
Currently, existing motor torque Ripple Suppression method mainly uses the scheme of compensation Inverter Dead-time voltage, but
It is that it belongs to general motor torque Ripple Suppression technology, frequency following steering wheel rotation speed change this for EPS and moment become
The system of change is not obvious enough to the inhibitory effect of torque ripple.
Accordingly, it is desirable to provide a kind of method for inhibiting motor torque ripple, effectively inhibits motor torque ripple, from
And power loss, lifting system efficiency are reduced, and improve and drive comfort level.
Summary of the invention
It is an object of the invention to propose a kind of method and device for inhibiting motor torque ripple, effectively inhibit electricity to realize
Machine torque ripple reduces power loss, lifting system efficiency, and improves and drive comfort level.
In order to achieve the above objectives, the present invention provides following technical schemes:
A method of inhibiting motor torque ripple, which comprises
Using motor electrical angle as independent variable, augmented system is constructed in position field, and determine the first of the augmented system
Control parameter matrix；
Using N number of motor angular rate as intermediate parameters, finite element grid is constructed, the augmented system is designed calm
Device, and determine the second control parameter matrix of the subduer, wherein each motor angular rate corresponds to different second
Control parameter matrix, N are the positive integer more than or equal to 3；
Periodically acquire motor position sampled signal and motor current signal；
When collecting the motor position sampled signal and the motor current signal for the first time, or in motor electric angle
When spending increment greater than control threshold, motor electrical angle estimated value and motor electric angle speed are determined according to the motor position sampled signal
Estimated value is spent, and motor current value is determined according to the motor current signal, the motor electrical angle increment is by currently collecting
The motor position sampled signal and it is preceding it is primary inhibit motor torque ripple when the motor position sampled signal calculate
It arrives；
It is calculated and the motor electrical angle estimated value according to the motor electrical angle estimated value and the first control parameter matrix
Corresponding first object control parameter matrix；
By two motor angular rates adjacent with the motor angular rate estimated value in the finite element grid
Be determined as target motor angular rate, two target motor angular rates be denoted as respectively first object motor angular rate and
Second target motor angular rate；
It is calculated according to two the second control parameter matrixes corresponding with two target motor angular rates and institute
State the corresponding second target control parameter matrix of motor angular rate estimated value；
According to the motor current value, the first object control parameter matrix and the second target control parameter matrix
Output quantity is calculated, the output quantity is the control signal of each switching device of motor pressure-speed regulating device；
The operation that motor is controlled according to the output quantity, inhibits the torque ripple of the motor.
Preferably, using motor electrical angle as independent variable, augmented system is constructed in position field, and determine the augmented system
The first control parameter matrix, comprising:
Using motor electrical angle as independent variable, motor and motor torque disturbance are modeled in position field, construct motor
Model and motor torque Disturbance Model；
Using motor electrical angle as independent variable, internal model is established to motor and motor torque disturbance in position field, constructs motor
Internal model and motor torque disturb internal model；
It is disturbed according to the motor model, the motor torque Disturbance Model, the motor internal model and the motor torque
Internal model constructs the augmented system, and determines the first control parameter matrix of the augmented system.
Preferably, the motor model, the motor torque Disturbance Model, the motor internal model and the motor torque are disturbed
Dynamic internal model is the model established with standard state space form.
Preferably, determine that motor electrical angle estimated value and motor angular rate are estimated according to the motor position sampled signal
Value, and motor current value is determined according to the motor current signal, comprising:
The estimation of motor electrical angle and the estimation of motor angular rate are carried out to the motor position sampled signal, obtain the electricity
Electromechanical angle estimation value and the motor angular rate estimated value；
Dq coordinate transform is carried out to the motor current signal, obtains the motor current value.
Preferably, according to two the second control parameter matrix meters corresponding with two target motor angular rates
Calculate the second target control parameter matrix corresponding with the motor angular rate estimated value, comprising:
Institute is determined according to the difference between the first object motor angular rate and the motor angular rate estimated value
State corresponding first weighted value of first object motor angular rate；
Institute is determined according to the difference between the second target motor angular rate and the motor angular rate estimated value
State corresponding second weighted value of the second target motor angular rate；
According to first weighted value, second weighted value, the first object motor angular rate corresponding second
Control parameter matrix and the corresponding second control parameter matrix of the second target motor angular rate calculate and the motor
The corresponding second target control parameter matrix of angular rate estimated value.
A kind of device inhibiting motor torque ripple, comprising:
Construction unit, for constructing augmented system in position field, and determine the increasing using motor electrical angle as independent variable
First control parameter matrix of wide system；
Structural unit, for finite element grid being constructed, to the augmentation using N number of motor angular rate as intermediate parameters
System designs subduer, and determines the second control parameter matrix of the subduer, wherein each motor angular rate pair
The second different control parameter matrixes is answered, N is the positive integer more than or equal to 3；
Acquisition unit, for periodically acquiring motor position sampled signal and motor current signal；
First determination unit, for collecting the motor position sampled signal and the motor current signal for the first time
When, or when motor electrical angle increment is greater than control threshold, motor electrical angle is determined according to the motor position sampled signal
Estimated value and motor angular rate estimated value, and motor current value, the motor electric angle are determined according to the motor current signal
Spend the motor of the increment by the current collected motor position sampled signal and preceding primary inhibition motor torque ripple when
Position sampled signal is calculated；
First computing unit, for according to the motor electrical angle estimated value and the first control parameter matrix calculate with it is described
The corresponding first object control parameter matrix of motor electrical angle estimated value；
Second determination unit, for by two adjacent with the motor angular rate estimated value in the finite element grid
The motor angular rate is determined as target motor angular rate, and two target motor angular rates are denoted as the first mesh respectively
Mark motor angular rate and the second target motor angular rate；
Second computing unit, for being controlled according to two corresponding two second of target motor angular rates
Parameter matrix calculates the second target control parameter matrix corresponding with the motor angular rate estimated value；
Third computing unit, for according to the motor current value, the first object control parameter matrix and described the
Two target control parameter matrixes calculate output quantity, and the output quantity is the control letter of each switching device of motor pressure-speed regulating device
Number；
Control unit inhibits the torque ripple of the motor for controlling the operation of motor according to the output quantity.
Preferably, the construction unit includes:
First building subelement, for being disturbed to motor and motor torque in position field using motor electrical angle as independent variable
It is dynamic to be modeled, construct motor model and motor torque Disturbance Model；
Second building subelement, for being disturbed to motor and motor torque in position field using motor electrical angle as independent variable
It is dynamic to establish internal model, it constructs motor internal model and motor torque disturbs internal model；
Third constructs subelement, for according to the motor model, the motor torque Disturbance Model, the motor internal model
The augmented system is constructed with motor torque disturbance internal model, and determines the first control parameter matrix of the augmented system.
Preferably, the motor model, the motor torque Disturbance Model, the motor internal model and the motor torque are disturbed
Dynamic internal model is the model established with standard state space form.
Preferably, first determination unit includes:
Pre-estimation subelement, for carrying out the estimation of motor electrical angle and motor electric angle speed to the motor position sampled signal
Degree estimation, obtains the motor electrical angle estimated value and the motor angular rate estimated value；
Subelement is converted, for carrying out dq coordinate transform to the motor current signal, obtains the motor current value.
Preferably, second computing unit includes:
First determines subelement, for being estimated according to the first object motor angular rate and the motor angular rate
Difference between value determines corresponding first weighted value of the first object motor angular rate；
Second determines subelement, for being estimated according to the second target motor angular rate and the motor angular rate
Difference between value determines corresponding second weighted value of the second target motor angular rate；
Computation subunit, for according to first weighted value, second weighted value, the first object motor electric angle
The corresponding second control parameter matrix of speed and the corresponding second control parameter matrix of the second target motor angular rate
Calculate the second target control parameter matrix corresponding with the motor angular rate estimated value.
It can be seen via above technical scheme that compared with prior art, the invention discloses a kind of inhibition motor torque lines
The method and device of wave, by constructing augmented system in position field, and with motor electric angle using motor electrical angle as independent variable
Speed constructs finite element grid as intermediate parameters, designs subduer to augmented system, Infinite Matrix inequality is converted to
Then finite dimensioned obtains first object control parameter matrix and second according to the motor position sampled signal periodically acquired
Target control parameter matrix, and then output quantity is calculated according to updated control parameter matrix and motor current value, according to output
The operation of amount control motor, inhibits the torque ripple of motor, that is, realizes by motor torque Ripple Suppression problem and based on corner
The tracking control problem of change system is associated.Augmented system is constructed with motor electrical angle since the present invention uses, so this hair
The bright mode for inhibiting motor torque ripple belongs to time-varying internal model, therefore the performance under motor speed operation can be improved, improve electricity
Machine torque ripple inhibitory effect effectively inhibits motor torque ripple to realize, reduces power loss, lifting system efficiency, thus
Improve and drives comfort level.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of method flow diagram for inhibiting motor torque ripple provided in an embodiment of the present invention；
Fig. 2 is the specific flow chart of the step S101 in Fig. 1 provided in an embodiment of the present invention；
Fig. 3 is the specific flow chart of the step S104 in Fig. 1 provided in an embodiment of the present invention；
Fig. 4 is the specific flow chart of the step S107 in Fig. 1 provided in an embodiment of the present invention；
Fig. 5 is the hardware structure diagram of motor control provided in an embodiment of the present invention；
Fig. 6 is provided in an embodiment of the present invention with inhibition motor performed by time-varying internal model control in embodiment illustrated in fig. 5
The method flow diagram of torque ripple；
Fig. 7 is a kind of apparatus structure schematic diagram for inhibiting motor torque ripple provided in an embodiment of the present invention；
Fig. 8 is the concrete structure schematic diagram of construction unit 701 in Fig. 7 provided in an embodiment of the present invention；
Fig. 9 is the concrete structure schematic diagram of the first determination unit 704 in Fig. 7 provided in an embodiment of the present invention；
Figure 10 is the concrete structure schematic diagram of the second computing unit 707 in Fig. 7 provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the embodiment of the invention discloses a kind of method for inhibiting motor torque ripple, this method specifically include as
Lower step:
In step S101, using motor electrical angle as independent variable, augmented system is constructed in position field, and determine augmented system
The first control parameter matrix.
Referring to fig. 2, in a kind of specific embodiment of the embodiment of the present invention, step S101 be can specifically include:
In step S201, using motor electrical angle as independent variable, motor and motor torque disturbance are built in position field
Mould constructs motor model and motor torque Disturbance Model.
In step S202, using motor electrical angle as independent variable, in position field establishes motor and motor torque disturbance
Mould, constructs motor internal model and motor torque disturbs internal model.
In step S203, internal model structure is disturbed according to motor model, motor torque Disturbance Model, motor internal model and motor torque
Augmented system is built, and determines the first control parameter matrix of augmented system.
Specifically, in the present embodiment, modeling refers to the motor mould that building standard state space form indicates in step S201
Type and motor torque Disturbance Model, and the independent variable of state equation corresponding to motor model and motor torque Disturbance Model is electricity
Electromechanical angle.
Internal model is established in step S202 refers to that the motor internal model of building standard state space form expression and motor torque are disturbed
Dynamic internal model, and the independent variable of state equation corresponding to motor internal model and motor torque disturbance internal model is motor electrical angle.
It should be noted that during specific implementation of the embodiment of the present invention, in addition to the specific embodiment shown in Fig. 2,
There is also other specific embodiments by step S101, and the first control ginseng of augmented system can be such as determined first with motor electrical angle
Matrix number carries out motor model, motor torque Disturbance Model, the establishment process of motor internal model and motor torque disturbance internal model afterwards,
Realize the building of augmented system.In addition, motor model, motor torque Disturbance Model, motor internal model and motor torque disturb internal model
In addition to can be by the expression of standard state space form, it be also possible to the representation of other coordinate spaces.As long as being that by
Using motor electrical angle as independent variable, in the specific implementation of position field building augmented system, in the guarantor of the embodiment of the present invention
It protects in range.
In step S102, using N number of motor angular rate as intermediate parameters, finite element grid is constructed, augmented system is set
Subduer is counted, and determines the second control parameter matrix of subduer, wherein each motor angular rate corresponds to the second different controls
Parameter matrix processed, N are the positive integer more than or equal to 3.
It should be noted that the present embodiment using motor angular rate as intermediate parameters, be in order to by Infinite Matrix not
Equation problem is converted to finite dimensioned problem, using N number of motor angular rate as intermediate parameters, constructs finite element grid, and
Motor angular rate in finite element grid is constructed into N-1 section, such as N=5, corresponding motor angular rate (unit: rad/
S) be respectively π, 2 π, 3 π, 4 π, 5 π, then finite element grid is expressed as [π, 2 π, 3 π, 4 π, 5 π], can construct (π, 2 π), (2 π, 3
π), (3 π, 4 π), 4 sections (4 π, 5 π) design subduer to augmented system, and determine the second control parameter square of subduer
Battle array, the π in finite element grid, 2 π, 3 π, 4 π and 5 π respectively correspond the second different control parameter matrixes.
In step S103, motor position sampled signal and motor current signal are periodically acquired.
Specifically, during the embodiment of the present invention is embodied, motor position sampled signal and current of electric are acquired
The period of signal can determine according to actual needs, such as 10ms, 20ms, 50ms.
In step S104, when collecting motor position sampled signal and motor current signal for the first time, or in motor
When electrical angle increment is greater than control threshold, motor electrical angle estimated value and motor electric angle speed are determined according to motor position sampled signal
Estimated value is spent, and motor current value is determined according to motor current signal, motor electrical angle increment is by current collected motor position
Motor position sampled signal when setting sampled signal and preceding primary inhibition motor torque ripple is calculated.
That is, except collecting after motor position sampled signal and motor current signal directly according to motor position for the first time
It sets sampled signal and determines motor electrical angle estimated value and motor angular rate estimated value, and motor is determined according to motor current signal
Outside current value, it is subsequent every time collect motor position sampled signal and motor current signal when, will all compare motor electrical angle
The size of increment and control threshold.When motor electrical angle increment is greater than control threshold, then samples and believe again according to motor position
It number determines motor electrical angle estimated value and motor angular rate estimated value, and motor current value is determined according to motor current signal.
Wherein, determine according to actual needs, such as the corresponding angle of control threshold can be 0.2 π, 0.3 π to control threshold；Motor electric angle
Motor position of the increment by current collected motor position sampled signal and preceding primary inhibition motor torque ripple when is spent to sample
Signal is calculated.If the corresponding angle of control threshold is 0.2 π, collected motor position sampled signal is corresponding for the first time
Motor electrical angle is 0.1 π, and the corresponding motor electrical angle of collected motor position sampled signal is also 0.1 π, third for the second time
The corresponding motor electrical angle of secondary collected motor position sampled signal is 0.2 π, the 4th collected motor position sampling letter
Number corresponding motor electrical angle is 0.35 π, then corresponding motor electrical angle when the 4th collected motor position sampled signal
Increment is 0.25 π, meets the condition that motor electrical angle increment is greater than control threshold, will execute adopted according to motor position again at this time
Sample signal determines motor electrical angle estimated value and motor angular rate estimated value, and determines current of electric according to motor current signal
The step of value.
Wherein, shown in Figure 3, in a kind of specific embodiment of the embodiment of the present invention, sampled according to motor position
Signal determines motor electrical angle estimated value and motor angular rate estimated value, and determines motor current value according to motor current signal
The step of may include:
In step S301, the estimation of motor electrical angle is carried out to motor position sampled signal and motor angular rate is estimated, is obtained
To motor electrical angle estimated value and motor angular rate estimated value.
In step S302, dq coordinate transform is carried out to motor current signal, obtains motor current value.
It should be noted that during specific implementation of the embodiment of the present invention, in addition to the specific embodiment shown in Fig. 3,
There is also other specific embodiments by step S105, such as calculate the reality of motor current value according to motor current signal in the prior art
Applying mode can be with calculating motor current value in step s105.
In step S105, is calculated according to motor electrical angle estimated value and the first control parameter matrix and estimated with motor electrical angle
It is worth corresponding first object control parameter matrix.
Specifically, the first control parameter matrix is to estimate motor electrical angle using motor electrical angle as the function of independent variable
Value, which substitutes into the first control parameter matrix, can be obtained first object control parameter matrix.
It is in step S106, two motor angular rates adjacent with motor angular rate estimated value in finite element grid are true
It is set to target motor angular rate, two target motor angular rates are denoted as first object motor angular rate and the second mesh respectively
Mark motor angular rate.
Here with finite element grid to be illustrated for [π, 2 π, 3 π, 4 π, 5 π], if motor angular rate estimated value is
2.3 π determine that the motor angular rate estimated value is fallen in the section of (2 π, 3 π), then the motor angular rate estimated value is adjacent
Two motor angular rates be determined as target motor angular rate, the two target motor angular rates are denoted as the first mesh respectively
Mark motor angular rate and the second target motor angular rate, it may be assumed that first object motor angular rate is 2 π, the second target motor
Angular rate is 3 π.
In step S107, according to two the second control parameter matrix meters corresponding with two target motor angular rates
Calculate the second target control parameter matrix corresponding with motor angular rate estimated value.
In the present embodiment, since each motor angular rate in finite element grid has corresponding second target control to join
Matrix number, so the two motor angular rates adjacent with motor angular rate estimated value are determined as target in step s 106
It, then can be according to corresponding two the second target control parameters of the two target motor angular rates after motor angular rate
Matrix calculates the second target control parameter matrix corresponding with motor angular rate estimated value.
Specifically, shown in Figure 4, in a kind of specific embodiment of the embodiment of the present invention, step S107 be can wrap
It includes:
In step S401, determined according to the difference between first object motor angular rate and motor angular rate estimated value
Corresponding first weighted value of first object motor angular rate.
In step S402, determined according to the difference between the second target motor angular rate and motor angular rate estimated value
Corresponding second weighted value of second target motor angular rate.
In step S403, according to the first weighted value, the second weighted value, corresponding second control of first object motor angular rate
Parameter matrix processed and the corresponding second control parameter matrix calculating of the second target motor angular rate are estimated with motor angular rate
The corresponding second target control parameter matrix of evaluation.
Wherein, between the first weighted value and first object motor angular rate and motor angular rate estimated value difference fortune
Calculation relationship, the operation of difference is closed between the second weighted value and the second target motor angular rate and motor angular rate estimated value
System and the second target control parameter matrix are corresponding with the first weighted value, the second weighted value, first object motor angular rate
Operation relation between second control parameter matrix and the corresponding second control parameter matrix of the second target motor angular rate can
To be determined according to the running environment of motor and motor.
It should be noted that during specific implementation of the embodiment of the present invention, in addition to the specific embodiment shown in Fig. 4,
It is also possible that the numerical value of each position can pass through in the corresponding second target control parameter matrix of motor angular rate estimated value
The numerical value of corresponding position in two the second control parameter matrixes is averaged to obtain；Alternatively, can be controlled according to two second
The numerical value of each corresponding position in parameter matrix processed determines straight line, is then calculated according to the slope of every straight line
The numerical value of same position in second target control parameter matrix finally obtains corresponding second target of motor angular rate estimated value
Control parameter matrix.
In step S108, according to motor current value, first object control parameter matrix and the second target control parameter matrix
Output quantity is calculated, output quantity is the control signal of each switching device of motor pressure-speed regulating device.
Specifically, it is calculated according to motor current value, first object control parameter matrix and the second target control parameter matrix
The duty ratio of the control signal of each switching device of motor pressure-speed regulating device, the control signal that calculated duty ratio is determined
As output quantity.Here motor pressure-speed regulating device refers to the devices such as inverter.
In step S109, the operation of motor is controlled according to output quantity, inhibits the torque ripple of motor.
The embodiment of the invention discloses a kind of methods for inhibiting motor torque ripple, by using motor electrical angle as change certainly
Amount is constructed augmented system in position field, and is constructed finite element grid using motor angular rate as intermediate parameters, to augmentation system
System design subduer, is converted to finite dimensioned for Infinite Matrix inequality, then according to the motor position periodically acquired
Sampled signal obtains first object control parameter matrix and the second target control parameter matrix, and then is joined according to updated control
Matrix number and motor current value calculate output quantity, according to the operation of output quantity control motor, inhibit the torque ripple of motor, i.e., in fact
Show and motor torque Ripple Suppression problem has been associated with the tracking control problem based on corner change system.Since the present invention adopts
Augmented system is constructed to motor electrical angle, so the embodiment of the present invention inhibits the mode of motor torque ripple to belong in time-varying
Mould, therefore the performance under motor speed operation can be improved, improve motor torque Ripple Suppression effect, effectively inhibit electricity to realize
Machine torque ripple reduces power loss, lifting system efficiency, so as to improve comfort level is driven.
For convenience of understanding, it is provided for the embodiments of the invention below with reference to a specific example and inhibits motor torque ripple
Method is illustrated.
As shown in figure 5, being a kind of hardware structure diagram of motor control provided in an embodiment of the present invention, direct current is specifically included that
Bus 501, input filter circuit 502, inverter 503, output filter circuit 504, motor 505, modulation unit 506, controller
Computing unit 507.Wherein, DC bus 501, input filter circuit 502, inverter 503, output filter circuit 504, motor
Sequentially connection between 505 on circuit constitutes main circuit, is the access of power transmission.Modulation unit 506 is connected in output filter
On circuit between wave circuit 504 and motor 505, the both ends of controller computing unit 507 respectively with modulation unit 506 and inversion
Device 503 couples, and modulation unit 506 and controller computing unit 507 constitute time-varying inner membrance controller, modulation unit 506, controller
Control circuit is constituted between computing unit 507 and main circuit, is the access for controlling signal.It is machine between motor 505 and load 508
Tool connection.
Inhibition motor torque ripple performed by time-varying inner membrance controller in 6 pairs of embodiment illustrated in fig. 5 with reference to the accompanying drawing
Method be described further.
As shown in fig. 6, being the detailed process of motor torque Ripple Suppression of the present invention, the control of motor torque Ripple Suppression is completed
System.Below using the EPS of PMSM (Permanent Magnet Synchronous Motor, permanent magnet synchronous motor)
(Electric Power Steering, electric booster steering controller) and three-phase full-bridge inverter PWM (Pulse Width
Modulate, pulsewidth modulation) for, the rate-determining steps for realizing motor torque Ripple Suppression are described in detail in conjunction with Fig. 6:
In step s 601, using PMSM electrical angle θ as independent variable, PMSM and PMSM torque disturbance is built in position field
Mould constructs PMSM model and PMSM torque disturbance model.
In step S602, using PMSM electrical angle θ as independent variable, in position field establishes PMSM and PMSM torque disturbance
Mould constructs PMSM internal model and PMSM torque disturbance internal model.
In step S603, according to PMSM model, PMSM torque disturbance model, PMSM internal model and PMSM torque disturbance internal model
Augmented system is constructed, and determines the first control parameter matrix of augmented system.
In the present embodiment, using PMSM electrical angle θ as independent variable, internal model is carried out to PMSM and torque disturbance in position field and is set
Meter, internal model have following form:
Above-mentioned formula is time-varying internal model, is denoted as (Φ1,Ψ1,Γ1,Φ2,Ψ2,Γ2,D2), wherein Φ1,Ψ1,Γ1,Φ2,
Ψ2,Γ2,D2It is all the first control parameter matrix of model,It is state variable,It is intermediate variable.Specifically,The referred to as input quantity of motor torque disturbance internal model,The referred to as state variable of motor torque disturbance internal model,ForDerivative,The referred to as state variable of motor internal model,For508 derivative,The referred to as input quantity of motor internal model, Φ1Referred to as motor
The state matrix of torque disturbance internal model, Φ2The referred to as state matrix of motor internal model, Ψ1The referred to as input of motor torque disturbance internal model
Matrix, Ψ2The referred to as input matrix of motor internal model, Γ1The referred to as output matrix of motor torque disturbance internal model, Γ2Referred to as in motor
The output matrix of mould, D2The referred to as feedforward matrix of motor internal model,The referred to as output quantity of motor torque disturbance internal model.
The model of above-mentioned steps S601 and step S602 constitute augmented system together.
In step s 604, with N number of PMSM angular rateAs intermediate parameters, finite element grid is constructed, to augmented system
Subduer is designed, and determines the second control parameter matrix of subduer, wherein each PMSM angular rate corresponds to different second
Control parameter matrix, N are the positive integer more than or equal to 3.
In the present embodiment, with PMSM angular rateAs intermediate parameters, construct finite element grid [6 π, 12 π, 18 π, 30 π,
60 π, 90 π] (unit: rad/s), subduer is designed to gained augmented system, there is following form:
It is denoted as (Gst,Fst,Hst,Kst).Wherein Gst,Fst,Hst,KstIt is the second control parameter matrix, specifically,Referred to as
The state variable of subduer,ForDerivative,The referred to as input quantity of subduer,The referred to as value of feedback of subduer,Claim
For the output quantity (i.e. the input quantity of motor internal model) of subduer, GstThe referred to as state matrix of subduer, FstReferred to as subduer is defeated
Enter matrix, HstThe referred to as output matrix of subduer, KstThe referred to as feedforward matrix of subduer.
It should be noted that using PMSM angular rate as intermediate parameters, Infinite Matrix inequality is asked for the present embodiment
Topic is converted to finite dimensioned problem, using N number of PMSM angular rate as intermediate parameters, constructs finite element grid, and will be limited
PMSM angular rate in first grid constructs N-1 section, and such as N=6, corresponding PMSM angular rate (unit: rad/s) is respectively
For 6 π, 12 π, 18 π, 30 π, 60 π, 90 π, then finite element grid is expressed as [6 π, 12 π, 18 π, 30 π, 60 π, 90 π], can construct
5 sections (6 π, 12 π), (12 π, 18 π), (18 π, 30 π), (30 π, 60 π) and (60 π, 90 π) are designed augmented system calm
Device, and determine the second control parameter matrix of subduer, 6 π in finite element grid, 12 π, 18 π, 30 π, 60 π and 90 π are right respectively
Answer the second different control parameter matrixes.
In step s 605, the position PMSM sampled signal and PMSM current signal are periodically acquired.
Specifically, during the embodiment of the present invention is embodied, the position PMSM sampled signal and PMSM electric current are acquired
The period of signal can determine according to actual needs, such as 10ms, 20ms, 50ms.
In step S606, when collecting the position PMSM sampled signal and PMSM current signal for the first time, Huo Zhe
When PMSM electrical angle increment is greater than control threshold, PMSM electrical angle estimated value and PMSM electricity are determined according to the position PMSM sampled signal
Attitude rate estimator value, and PMSM current value is determined according to PMSM current signal, PMSM electrical angle increment is by current collected
The position PMSM sampled signal when the position PMSM sampled signal and preceding primary inhibition motor torque ripple is calculated.
That is, except collecting after the position PMSM sampled signal and PMSM current signal directly according to PMSM for the first time
It sets sampled signal and determines PMSM electrical angle estimated value and PMSM angular rate estimated value, and PMSM is determined according to PMSM current signal
Outside current value, it is subsequent every time collect the position PMSM sampled signal and PMSM current signal when, will all compare PMSM electrical angle
The size of increment and control threshold.When PMSM electrical angle increment is greater than control threshold, then samples and believe again according to the position PMSM
It number determines PMSM electrical angle estimated value and PMSM angular rate estimated value, and PMSM current value is determined according to PMSM current signal.
Wherein, determine according to actual needs, such as the corresponding angle of control threshold can be 2 π, 3 π to control threshold；PMSM electrical angle increases
The position PMSM sampled signal when amount is by current collected motor position sampled signal and preceding primary inhibition motor torque ripple
It is calculated.If the corresponding angle of control threshold is 2 π, sampled signal corresponding PMSM in the collected position PMSM is electric for the first time
Angle is 1 π, and second of corresponding PMSM electrical angle of the collected position PMSM sampled signal is also 1 π, and third time is collected
Sampled signal corresponding PMSM electrical angle in the position PMSM is 2 π, the corresponding PMSM of the 4th collected position PMSM sampled signal
Electrical angle is 3.5 π, then corresponding 2.5 π of PMSM electrical angle increment position when the 4th collected position PMSM sampled signal, full
Sufficient PMSM electrical angle increment is greater than the condition of control threshold, will execute again determine PMSM according to the position PMSM sampled signal at this time
Electrical angle estimated value and PMSM angular rate estimated value, and the step of PMSM current value is determined according to PMSM current signal.
Specifically, carrying out the estimation of PMSM electrical angle and the estimation of PMSM angular rate to the position PMSM sampled signal, obtain
PMSM electrical angle estimated value and PMSM angular rate estimated value；Dq coordinate transform is carried out to PMSM current signal, obtains PMSM electricity
Flow valuve.
In step S607, is calculated according to PMSM electrical angle estimated value and the first control parameter matrix and estimated with PMSM electrical angle
The corresponding first object control parameter matrix of evaluation.
Specifically, the first control parameter matrix is to estimate PMSM electrical angle using PMSM electrical angle as the function of independent variable
Value, which substitutes into the first control parameter matrix, can be obtained first object control parameter matrix.
In step S608, by two PMSM angular rates adjacent with PMSM angular rate estimated value in finite element grid
It is determined as target PMSM angular rate, two PMSM motor angular rates are denoted as first object PMSM angular rate and second respectively
Target PMSM angular rate.
Here with finite element grid to be illustrated for [6 π, 12 π, 18 π, 30 π, 60 π, 90 π], if PMSM angular rate
Estimated value is 15 π, determines that the PMSM angular rate estimated value falls in (12 π, 18 π), it is determined that the PMSM angular rate estimated value
Two adjacent PMSM angular rates are determined as target PMSM angular rate, the two targets PMSM angular rate is denoted as respectively
One target PMSM angular rate and the second target PMSM angular rate, it may be assumed that first object PMSM angular rate is 12 π, the second mesh
Mark PMSM angular rate is 18 π.
In step S609, according to two the second control parameter matrixes corresponding with two target PMSM angular rates
Calculate the second target control parameter matrix corresponding with PMSM angular rate estimated value.
In the present embodiment, since each PMSM angular rate in finite element grid has corresponding second target control to join
Matrix number, so the two PMSM angular rates adjacent with PMSM angular rate estimated value are determined as target in step S608
It, then can be according to corresponding two the second target control parameters of the two targets PMSM angular rate after PMSM angular rate
Matrix calculates the second target control parameter matrix corresponding with PMSM angular rate estimated value.
Specifically, it can be determined according to the difference between first object PMSM angular rate and PMSM angular rate estimated value
Corresponding first weighted value of first object PMSM angular rate is estimated according to the second target PMSM angular rate with PMSM angular rate
Difference between evaluation determines corresponding second weighted value of the second target PMSM angular rate, according to the first weighted value, the second power
The corresponding second control parameter matrix of weight values, first object PMSM angular rate and the second target PMSM angular rate are corresponding
Second control parameter matrix calculates the second target control parameter matrix corresponding with PMSM angular rate estimated value.Wherein, first
The operation relation of difference, the second weighted value between weighted value and first object PMSM angular rate and PMSM angular rate estimated value
The operation relation of difference and the second target control between the second target PMSM angular rate and PMSM angular rate estimated value
Parameter matrix the second control parameter matrix corresponding with the first weighted value, the second weighted value, first object PMSM angular rate and
Operation relation between the corresponding second control parameter matrix of second target PMSM angular rate can be according to PMSM's and PMSM
Running environment determines.
In step S610, according to PMSM current value, first object control parameter matrix and the second target control parameter matrix
Output quantity is calculated, output quantity is the control signal of each switching device of the pressure-speed regulating device of motor.
Specifically, it is calculated according to PMSM current value, first object control parameter matrix and the second target control parameter matrix
The duty ratio of the control signal of each switching device of PMSM pressure-speed regulating device, the control signal that calculated duty ratio is determined
As output quantity.Here PMSM pressure-speed regulating device refers to the devices such as inverter.
In step S611, the operation of PMSM is controlled according to output quantity, inhibits the torque ripple of PMSM.
Since the embodiment of the present invention uses the internal model constructed with PMSM electrical angle, and PMSM electrical angle and time correlation, institute
To belong to time-varying internal model, therefore the performance under motor speed operation can be improved, improve PMSM torque ripple inhibitory effect, with reality
Existing effect inhibits PMSM torque ripple, reduces power loss, lifting system efficiency, so as to improve comfort level is driven.
The embodiment of the present invention also discloses corresponding Installation practice on the basis of embodiment of the method disclosed above.
Below to it is provided in an embodiment of the present invention it is a kind of inhibit motor torque ripple device be introduced, the inhibition motor
The device of torque ripple is used to execute the method for inhibiting motor torque ripple in preceding method embodiment.It should be noted that having
The explanation for closing the device of the inhibition motor torque ripple can refer to the method provided above for inhibiting motor torque ripple, below simultaneously
It does not repeat them here.
Referring to Fig. 7, the embodiment of the invention provides a kind of device for inhibiting motor torque ripple, which can specifically be wrapped
Include: construction unit 701, structural unit 702, acquisition unit 703, the first determination unit 704, the first computing unit 705, second are really
Order member 706, the second computing unit 707, third computing unit 708 and control unit 709, wherein the specific effect of each unit
It is as follows:
Construction unit 701, for constructing augmented system in position field, and determine and increase using motor electrical angle as independent variable
First control parameter matrix of wide system.
Structural unit 702, for finite element grid being constructed, to augmentation system using N number of motor angular rate as intermediate parameters
System design subduer, and determine the second control parameter matrix of subduer, wherein each motor angular rate corresponds to different the
Two control parameter matrixes, N are the positive integer more than or equal to 3.
Acquisition unit 703, for periodically acquiring motor position sampled signal and motor current signal.
First determination unit 704, for when collecting motor position sampled signal and motor current signal for the first time, or
Person determines motor electrical angle estimated value and electricity according to motor position sampled signal when motor electrical angle increment is greater than control threshold
Electromechanical Attitude rate estimator value, and motor current value is determined according to motor current signal, motor electrical angle increment is by currently collecting
Motor position sampled signal and it is preceding it is primary inhibit motor torque ripple when motor position sampled signal be calculated.
First computing unit 705, for according to motor electrical angle estimated value and the calculating of the first control parameter matrix and motor
The corresponding first object control parameter matrix of electrical angle estimated value.
Second determination unit 706, for by two motors adjacent with motor angular rate estimated value in finite element grid
Angular rate is determined as target motor angular rate, and two target motor angular rates are denoted as first object motor electric angle speed respectively
Degree and the second target motor angular rate.
Second computing unit 707, for according to two second corresponding with two target motor angular rates controls
Parameter matrix calculates the second target control parameter matrix corresponding with motor angular rate estimated value.
Third computing unit 708, for according to motor current value, first object control parameter matrix and the second target control
Parameter matrix calculates output quantity, and output quantity is the control signal of each switching device of motor pressure-speed regulating device.
Control unit 709 inhibits the torque ripple of motor for controlling the operation of motor according to output quantity.
It is shown in Figure 8, it is preferred that construction unit 701 includes: the first building subelement 801, second building subelement
802 and third construct subelement 803, wherein each unit it is specific act on it is as follows:
First building subelement 801, is used for using motor electrical angle as independent variable, in position field to motor and motor torque
Disturbance is modeled, and motor model and motor torque Disturbance Model are constructed.
Second building subelement 802, is used for using motor electrical angle as independent variable, in position field to motor and motor torque
Internal model is established in disturbance, constructs motor internal model and motor torque disturbs internal model.
Third constructs subelement 803, for being turned according to motor model, motor torque Disturbance Model, motor internal model and motor
Square disturbs internal model and constructs augmented system, and determines the first control parameter matrix of augmented system.
Preferably, motor model, motor torque Disturbance Model, motor internal model and motor torque disturbance internal model are with standard shape
The model that state space form is established.
It is shown in Figure 9, it is preferred that the first determination unit 704 includes: pre-estimation subelement 901 and transformation subelement
902, wherein the specific effect of each unit is as follows:
Pre-estimation subelement 901, for carrying out the estimation of motor electrical angle and motor electric angle speed to motor position sampled signal
Degree estimation, obtains motor electrical angle estimated value and motor angular rate estimated value.
Subelement 902 is converted, for carrying out dq coordinate transform to motor current signal, obtains motor current value.
It is shown in Figure 10, it is preferred that the second computing unit 707 includes: that the first determining subelement 1001, second determines son
Unit 1002 and the second computation subunit 1003, wherein the specific effect of each unit is as follows:
First determines subelement 1001, for according to first object motor angular rate and motor angular rate estimated value it
Between difference determine corresponding first weighted value of first object motor angular rate.
Second determines subelement 1002, for according to the second target motor angular rate and motor angular rate estimated value it
Between difference determine corresponding second weighted value of the second target motor angular rate.
Computation subunit 1003, for corresponding according to the first weighted value, the second weighted value, first object motor angular rate
The second control parameter matrix and the corresponding second control parameter matrix of the second target motor angular rate calculate and motor electricity
The corresponding second target control parameter matrix of Attitude rate estimator value.
The embodiment of the invention provides a kind of devices for inhibiting motor torque ripple, by using motor electrical angle as change certainly
Amount is constructed augmented system in position field, and is constructed finite element grid using motor angular rate as intermediate parameters, to augmentation system
System design subduer, is converted to finite dimensioned for Infinite Matrix inequality, then according to the motor position periodically acquired
Sampled signal obtains first object control parameter matrix and the second target control parameter matrix, and then is joined according to updated control
Matrix number and motor current value calculate output quantity, according to the operation of output quantity control motor, inhibit the torque ripple of motor, i.e., in fact
Show and motor torque Ripple Suppression problem has been associated with the tracking control problem based on corner change system.Since the present invention adopts
Augmented system is constructed to motor electrical angle, so the embodiment of the present invention inhibits the mode of motor torque ripple to belong in time-varying
Mould, therefore the performance under motor speed operation can be improved, improve motor torque Ripple Suppression effect, effectively inhibit electricity to realize
Machine torque ripple reduces power loss, lifting system efficiency, so as to improve comfort level is driven.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, apparatus or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (device) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
It should be noted that, in this document, these computer program instructions may also be stored in be able to guide computer or other
In programmable data processing device computer-readable memory operate in a specific manner, computer-readable deposited so that being stored in this
Instruction in reservoir generates the manufacture including command device, which realizes in one or more flows of the flowchart
And/or the function of being specified in one or more blocks of the block diagram.
It should be noted that, in this document, these computer program instructions can also be loaded into computer or other are programmable
On data processing equipment, so that executing series of operation steps on a computer or other programmable device to generate computer reality
Existing processing, so that instruction executed on a computer or other programmable device is provided for realizing in one process of flow chart
Or in multiple processes and/or one or more blocks of the block diagram specify function the step of.
It should be noted that, in this document, particular embodiments described above, to the purpose of the present invention, technical solution and
Beneficial effect has been further described, it should be understood that the above is only a specific embodiment of the present invention,
It is not intended to limit the scope of protection of the present invention, all within the spirits and principles of the present invention, any modification for being made equally is replaced
It changes, improve, should all be included in the protection scope of the present invention.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion so that article or equipment including a series of elements not only include those elements, but also is wrapped
Other elements that are not explicitly listed are included, or further include for this article or the intrinsic element of equipment.Do not having more
In the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that include above-mentioned element article or
There is also other identical elements in person's equipment.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of method for inhibiting motor torque ripple, which is characterized in that the described method includes:
Using motor electrical angle as independent variable, augmented system is constructed in position field, and determine the first control of the augmented system
Parameter matrix；
Using N number of motor angular rate as intermediate parameters, finite element grid is constructed, subduer is designed to the augmented system, and
Determine the second control parameter matrix of the subduer, wherein each motor angular rate corresponds to the second different control
Parameter matrix, N are the positive integer more than or equal to 3；
Periodically acquire motor position sampled signal and motor current signal；
Increase when collecting the motor position sampled signal and the motor current signal for the first time, or in motor electrical angle
When amount is greater than control threshold, determine that motor electrical angle estimated value and motor angular rate are estimated according to the motor position sampled signal
Evaluation, and motor current value is determined according to the motor current signal, the motor electrical angle increment is by current collected institute
Motor position sampled signal when stating motor position sampled signal and preceding primary inhibition motor torque ripple is calculated；
It is calculated according to the motor electrical angle estimated value and the first control parameter matrix corresponding with the motor electrical angle estimated value
First object control parameter matrix；
Two motor angular rates adjacent with the motor angular rate estimated value in the finite element grid are determined
For target motor angular rate, two target motor angular rates are denoted as first object motor angular rate and second respectively
Target motor angular rate；
It is calculated and the electricity according to two the second control parameter matrixes corresponding with two target motor angular rates
The corresponding second target control parameter matrix of electromechanical Attitude rate estimator value；
It is calculated according to the motor current value, the first object control parameter matrix and the second target control parameter matrix
Output quantity, the output quantity are the control signal of each switching device of motor pressure-speed regulating device；
The operation that motor is controlled according to the output quantity, inhibits the torque ripple of the motor.
2. the method according to claim 1, wherein being constructed using motor electrical angle as independent variable in position field
Augmented system, and determine the first control parameter matrix of the augmented system, comprising:
Using motor electrical angle as independent variable, motor and motor torque disturbance are modeled in position field, construct motor model
With motor torque Disturbance Model；
Using motor electrical angle as independent variable, internal model is established to motor and motor torque disturbance in position field, constructs motor internal model
Internal model is disturbed with motor torque；
Internal model is disturbed according to the motor model, the motor torque Disturbance Model, the motor internal model and the motor torque
The augmented system is constructed, and determines the first control parameter matrix of the augmented system.
3. according to the method described in claim 2, it is characterized in that, the motor model, the motor torque Disturbance Model, institute
Stating motor internal model and motor torque disturbance internal model is the model established with standard state space form.
4. the method according to claim 1, wherein determining motor electric angle according to the motor position sampled signal
Estimated value and motor angular rate estimated value are spent, and motor current value is determined according to the motor current signal, comprising:
The estimation of motor electrical angle and the estimation of motor angular rate are carried out to the motor position sampled signal, obtain the motor electricity
Angle estimation value and the motor angular rate estimated value；
Dq coordinate transform is carried out to the motor current signal, obtains the motor current value.
5. the method according to claim 1, wherein according to right respectively with two target motor angular rates
Two the second control parameter matrixes answered calculate the second target control parameter square corresponding with the motor angular rate estimated value
Battle array, comprising:
Described is determined according to the difference between the first object motor angular rate and the motor angular rate estimated value
Corresponding first weighted value of one target motor angular rate；
Described is determined according to the difference between the second target motor angular rate and the motor angular rate estimated value
Corresponding second weighted value of two target motor angular rates；
According to first weighted value, second weighted value, corresponding second control of the first object motor angular rate
Parameter matrix and the corresponding second control parameter matrix of the second target motor angular rate calculate and the motor electric angle
Velocity estimation is worth the corresponding second target control parameter matrix.
6. a kind of device for inhibiting motor torque ripple characterized by comprising
Construction unit, for constructing augmented system in position field, and determine the augmentation system using motor electrical angle as independent variable
First control parameter matrix of system；
Structural unit, for finite element grid being constructed, to the augmented system using N number of motor angular rate as intermediate parameters
Subduer is designed, and determines the second control parameter matrix of the subduer, wherein each motor angular rate is corresponding not
The second same control parameter matrix, N are the positive integer more than or equal to 3；
Acquisition unit, for periodically acquiring motor position sampled signal and motor current signal；
First determination unit, for when collecting the motor position sampled signal and the motor current signal for the first time,
Or when motor electrical angle increment is greater than control threshold, determine that motor electrical angle is estimated according to the motor position sampled signal
Value and motor angular rate estimated value, and motor current value is determined according to the motor current signal, the motor electrical angle increases
Motor position when amount is by the current collected motor position sampled signal and preceding primary inhibition motor torque ripple
Sampled signal is calculated；
First computing unit, for being calculated and the motor according to the motor electrical angle estimated value and the first control parameter matrix
The corresponding first object control parameter matrix of electrical angle estimated value；
Second determination unit, for will be described in two adjacent with the motor angular rate estimated value in the finite element grid
Motor angular rate is determined as target motor angular rate, and two target motor angular rates are denoted as first object electricity respectively
Electromechanical angular speed and the second target motor angular rate；
Second computing unit, for according to two the second control parameters corresponding with two target motor angular rates
Matrix calculates the second target control parameter matrix corresponding with the motor angular rate estimated value；
Third computing unit, for according to the motor current value, the first object control parameter matrix and second mesh
It marks control parameter matrix and calculates output quantity, the output quantity is the control signal of each switching device of motor pressure-speed regulating device；
Control unit inhibits the torque ripple of the motor for controlling the operation of motor according to the output quantity.
7. device according to claim 6, which is characterized in that the construction unit includes:
First building subelement, for using motor electrical angle as independent variable, position field to motor and motor torque disturb into
Row modeling, constructs motor model and motor torque Disturbance Model；
Second building subelement, for being built to motor and motor torque disturbance in position field using motor electrical angle as independent variable
Vertical internal model, constructs motor internal model and motor torque disturbs internal model；
Third constructs subelement, for according to the motor model, the motor torque Disturbance Model, the motor internal model and institute
It states motor torque disturbance internal model and constructs the augmented system, and determine the first control parameter matrix of the augmented system.
8. device according to claim 7, which is characterized in that the motor model, the motor torque Disturbance Model, institute
Stating motor internal model and motor torque disturbance internal model is the model established with standard state space form.
9. device according to claim 6, which is characterized in that first determination unit includes:
Pre-estimation subelement, for estimating to motor position sampled signal progress motor electrical angle estimation and motor angular rate
Meter, obtains the motor electrical angle estimated value and the motor angular rate estimated value；
Subelement is converted, for carrying out dq coordinate transform to the motor current signal, obtains the motor current value.
10. device according to claim 6, which is characterized in that second computing unit includes:
First determines subelement, for according to the first object motor angular rate and the motor angular rate estimated value it
Between difference determine corresponding first weighted value of the first object motor angular rate；
Second determines subelement, for according to the second target motor angular rate and the motor angular rate estimated value it
Between difference determine corresponding second weighted value of the second target motor angular rate；
Computation subunit, for according to first weighted value, second weighted value, the first object motor angular rate
Corresponding second control parameter matrix and the corresponding second control parameter matrix of the second target motor angular rate calculate
The second target control parameter matrix corresponding with the motor angular rate estimated value.
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