Permanent magnet synchronous motor hybrid control method and system

Abstract

The invention discloses a permanent magnet synchronous motor hybrid control method and system, a driving board outputs a control signal to drive a permanent magnet synchronous motor (PMSM) according to a residual error of an expected rotating speed and an actual rotating speed of the motor, and a speed ring controller is arranged in the driving board; the speed loop controller adopts hybrid control combining an integral type predefined time sliding mode controller and a Luenberger disturbance observer, and the Luenberger disturbance observer calculates a disturbance value needing to be compensated according to an error between an estimated rotating speed and an actual rotating speed and outputs an estimated disturbance value; and the speed ring controller updates the sliding mode surface according to the error between the expected rotating speed and the actual rotating speed and the estimated disturbance value, and updates the output of the speed ring controller according to the value of the sliding mode surface. The hybrid control method of the Luenberger disturbance observer and the integral predefined time sliding mode controller is adopted, and the stable time upper limit of the system can be simply and rapidly defined according to requirements; and meanwhile, global robustness is achieved, and dynamic performance and steady-state performance are considered.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular, to a hybrid control method and system for a permanent magnet synchronous motor. Background Art

[0002] Permanent Magnet Synchronous Motors (PMSMs) are widely used in industrial automation, new energy vehicles and other fields due to their high efficiency, high power density, high torque density, good control performance, and low noise and vibration characteristics. However, due to the strong coupling and nonlinear characteristics of PMSMs and various nonlinear interferences, such as the uncertainty of modeling parameters caused by the saturation of the iron core of PMSMs, errors caused by hysteresis effects, and errors generated by the system response time, etc., the control performance of PMSMs will be seriously affected.

[0003] In order to achieve high-performance control of PMSMs, numerous scholars have conducted a large number of studies and experiments. A kind of nonlinear control, Sliding Mode Control (SMC), has been highly concerned by scholars and applied to the control of PMSMs due to its strong robustness and high response speed. However, the traditional sliding mode method can only achieve asymptotic convergence in an infinite domain, and there is no exact convergence time. Although the fixed-time sliding mode control sets an exact upper bound for the convergence time, the convergence time and control parameters are deeply coupled, which is not conducive to industrial design applications. The predefined-time sliding mode well meets the requirements. It takes the convergence time as an adjustable parameter on the controller, which is convenient for adjustment.

[0004] Therefore, in view of the defects of the prior art, it is indeed necessary to propose a technical solution to solve the technical problems existing in the prior art. Summary of the Invention

[0005] In view of this, it is indeed necessary to provide a hybrid control method and system for a permanent magnet synchronous motor, which adopts a hybrid control method (IPTSMC-LDOB) of a Luenberger disturbance observer and an integral-type predefined-time sliding mode controller. Since the predefined-time stable sliding mode control algorithm is adopted, the upper limit of the system stable time can be simply and quickly defined according to requirements; then, due to the combination of integral sliding mode theory, compared with the ordinary predefined-time sliding mode controller, the proposed hybrid controller can have global robustness; finally, due to the use of the Luenberger disturbance observer to compensate for disturbances, the dynamic performance and steady-state performance can also be taken into account.

[0006] In order to solve the technical problems existing in the prior art, the technical solution of the present invention is as follows:

[0007] A hybrid control method for a permanent magnet synchronous motor, in which a driving board outputs a control signal according to the residual between the desired speed and the actual speed of the motor to drive the permanent magnet synchronous motor (PMSM), and a speed loop controller is arranged in the driving board; characterized in that the speed loop controller adopts a hybrid control combining an integral type predefined time sliding mode controller and a Luenberger disturbance observer, and the driving board executes the following steps:

[0008] Step S1: Collect the position information and three-phase current signals of the PMSM through sensors, and calculate the actual speed of the motor by using the position information;

[0009] Step S2: The Luenberger disturbance observer calculates the disturbance value to be compensated according to the error between the estimated speed and the actual speed and outputs the estimated disturbance value;

[0010] Step S3: The speed loop controller updates the sliding mode surface according to the error between the desired speed and the actual speed and the estimated disturbance value, and updates the output of the speed loop controller according to the value of the sliding mode surface; this output is used as the input of the current loop controller;

[0011] Step S4: The current loop controller performs tracking according to the given q-axis current expectation value;

[0012] Step S5: Input it into the space vector pulse width modulation unit to complete the phase current regulation of the three-phase full-bridge inverter, and then use the output of the inverter to control the signal to drive the PMSM;

[0013] Repeat steps S1 to S5, continuously feedback the residual between the actual speed and the target speed, and realize speed control.

[0014] In a preferred embodiment, in step S2, the Luenberger disturbance observer is designed as:

[0015]

[0016] where the system state \(x = [\omega e _d(t)] T \), \(\omega e \) is the electrical angular velocity of the motor, \(d(t)\) is the lumped disturbance of the system, \(\hat{x}\) is the estimate of the system state, which are the estimate of the electrical angular velocity and the estimated disturbance value respectively, \(y = Cx\) is the first item of the system state, that is, the electrical angular velocity, \(\hat{\omega}\) is also the estimate of the electrical angular velocity, \(u = i qref \) is the system control input, and the matrix coefficients are respectively \(C = [1\ 0]\), \(H = [2l g _l g 2 T _l g \) is the observer parameter. ​

[0017] In a preferred embodiment, in step S3, the sliding surface of the speed loop controller is:

[0018]

[0019] where s represents the sliding surface; 0 < ρ 1 < 0.5, α ≥ 1 is a custom parameter value, T c1 > 0 is the predefined time for the sliding surface to converge to 0; e = ω ref - ω represents the mechanical angular velocity error of the motor, sig(x) k = |x| k sign(x), and e(0) is the initial value of the error.

[0020] In a preferred embodiment, in step S3, the output of the speed loop controller, i.e., the system control input, is designed as:

[0021]

[0022] where, is the disturbance value observed by the disturbance observer, 0 < ρ 2 < 1, T c2 > 0 is the predefined time.

[0023] In a preferred embodiment, in step S3, the mathematical model equation of the synchronous motor is:

[0024]

[0025] where ω is the mechanical angular velocity of the motor, K t = 1.5P n ψ f is the torque coefficient, P n is the number of pole pairs of the motor, ψ f is the magnetic flux of the motor, J is the moment of inertia of the motor, is the lumped disturbance.

[0026] In a preferred embodiment, the Lyapunov function is used to prove the stability of the control system and the upper bound of the time to reach stability.

[0027] The stability of the entire system is divided into two stages. The first stage is before the sliding surface reaches 0, which is called the approaching stage, and the second stage is after the sliding surface reaches 0, which is called the sliding mode stage.

[0028] Design the Lyapunov function Taking the derivative gives:

[0029]

[0030] The time for the sliding mode surface to converge to 0 is:

[0031]

[0032] That is, the convergence time of the sliding mode surface will be bounded by T c2 as the upper bound.

[0033] After the sliding mode surface converges to 0, a Lyapunov function is designed Taking the derivative gives:

[0034]

[0035]

[0036] Then the convergence time of the mechanical angular velocity is:

[0037]

[0038] And the upper bound of the convergence time of the entire PMSM system is T c1 +T c2 .

[0039] The present invention also discloses a permanent magnet synchronous motor hybrid control system, which includes a host computer, a permanent magnet synchronous motor, a drive board and a load. Among them,

[0040] The host computer is used to output the desired speed to control the start and stop of the motor, and receive the drive board data to draw the motor speed curve;

[0041] The drive board is used to output a control signal to drive the permanent magnet synchronous motor according to the residual between the desired speed and the actual speed of the motor. A speed loop controller is set in the drive board, and the speed loop controller includes an integral type predefined time sliding mode controller and a Luenberger disturbance observer;

[0042] The permanent magnet synchronous motor is used to perform a rotation operation according to the drive board control signal, and read the motor position information through a sensor and transmit it to the drive board;

[0043] The load is used to output a constant torque.

[0044] In the above technical solution, the drive board performs the following steps:

[0045] Step S1: Collect the position information and three-phase current signals of the PMSM through a sensor. Among them, the actual speed of the motor is calculated using the position information;

[0046] Step S2: The Luenberger disturbance observer calculates the disturbance value to be compensated according to the error between the estimated speed and the actual speed and outputs the estimated disturbance value;

[0047] Step S3: The speed loop controller updates the sliding surface based on the error between the desired speed and the actual speed and the estimated disturbance value, and updates the output of the speed loop controller according to the value of the sliding surface; this output serves as the input to the current loop controller.

[0048] Step S4: The current loop controller performs tracking based on the given desired q-axis current value.

[0049] Step S5: Input it into the space vector pulse width modulation unit to complete the phase current regulation of the three-phase full-bridge inverter, and then use the inverter output control signal to drive the PMSM.

[0050] Repeat steps S1 to S5, continuously feedback the residual between the actual speed and the target speed, and achieve speed control.

[0051] Compared with the prior art, in the speed control of the PMSM, first of all, due to the adoption of the predefined-time stable sliding mode control algorithm, compared with the existing fixed-time sliding mode method of the PMSM system, the upper limit of the system stability time can be simply and quickly defined according to requirements. Then, due to the combination of the integral sliding mode theory, compared with the ordinary predefined-time sliding mode controller, the proposed hybrid controller can have global robustness. Finally, due to the use of the Luenberger disturbance observer to compensate for disturbances, it can also take into account both dynamic performance and steady-state performance. Description of the Drawings

[0052] Figure 1 It is a block diagram of a hybrid control system for a permanent magnet synchronous motor proposed by the present invention;

[0053] Figure 2 It is a flow block diagram of a hybrid control method for a permanent magnet synchronous motor proposed by the present invention;

[0054] Figure 3 It is a flow chart of the execution steps of a hybrid control system for a permanent magnet synchronous motor according to an embodiment of the present invention;

[0055] Figure 4 It is a comparison diagram of speed tracking of the integral-type predefined-time sliding mode method of a hybrid system of a permanent magnet synchronous motor according to an embodiment of the present invention with the ordinary predefined-time sliding mode method and the ordinary sliding mode method under no-load;

[0056] Figure 5 It is a comparison diagram of speed tracking of the integral-type predefined-time sliding mode method of a hybrid system of a permanent magnet synchronous motor according to an embodiment of the present invention with the integral terminal sliding mode method and the ordinary sliding mode method under sudden load addition;

[0057] Figure 6 It is a comparison diagram of the disturbance estimated by the Luenberger disturbance observer and the actual disturbance tracking of a hybrid system of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0058] Figure 7 This is a comparison chart of the rotational speed tracking of a hybrid controller that combines a Luenberger disturbance observer and an integral-type predefined-time sliding mode method with a common integral-type predefined-time sliding mode controller without adding disturbance compensation and an integral-type predefined-time sliding mode controller with a switching term added as disturbance compensation under a sudden load increase in the embodiments of the present invention;

[0059] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. Specific Embodiments

[0060] The technical solutions provided by the present invention will be further described below in conjunction with the drawings.

[0061] In view of the technical defects existing in the prior art, the applicant found in the research that since the PMSM is a first-order system, directly applying the predefined-time sliding mode will lead to the loss of the global robustness of the system, which is not conducive to the design of the system. Combining the integral sliding mode theory can well solve this problem and restore the global robustness of the system. However, the system recovery speed provided by the robustness is slow, and the Luenberger disturbance observer is used for disturbance compensation to further improve the control performance of the system.

[0062] To solve the above problems, the present invention proposes a hybrid control method and system for a permanent magnet synchronous motor. Refer to Figure 1 , which shows the structural schematic diagram of the hybrid control system for a permanent magnet synchronous motor. The system includes a host computer, a permanent magnet synchronous motor, a drive board, and a load. Among them,

[0063] The host computer is used to output the desired rotational speed to control the start and stop of the motor, and receive the drive board data to draw the motor rotational speed curve;

[0064] The drive board is used to output a control signal to drive the permanent magnet synchronous motor according to the residual between the desired rotational speed and the actual rotational speed of the motor. A speed loop controller is set in the drive board, and the speed loop controller adopts a hybrid controller that combines an integral-type predefined-time sliding mode controller and a Luenberger disturbance observer;

[0065] The permanent magnet synchronous motor is used to perform a rotational operation according to the drive board control signal, and read the motor position information through a sensor and transmit it to the drive board;

[0066] The load is a magnetic powder brake, which is used to output a constant torque.

[0067] Figure 1The double-loop control system block diagram of the PMSM system is shown within the dashed box of the middle drive board. In the PMSM control system, in order to achieve high-performance and high-precision speed and torque control, a double-loop control strategy is usually adopted. The double-loop control decomposes the system control task into an outer loop and an inner loop, also known as the speed loop and the current loop. The double-loop control can effectively solve the limitations of a single control loop, and at the same time improve the dynamic response, robustness, and control precision of the system. The PMSM double-loop control system usually consists of the following five parts: speed-loop controller, current-loop controller, coordinate transformation module, inverter, and sensor.

[0068] Among them, the speed loop will generate an expected current target according to the residual between the given expected speed target and the actual speed, based on the speed controller. The current loop will generate a voltage signal according to the residual between the expected current target provided by the speed loop and the actual current, and drive the motor using SVPWM technology and through a three-phase full-bridge inverter. The coordinate transformation module includes the Park transformation, Clarke transformation, and inverse Park transformation introduced above, and is used to switch the three-phase current in each coordinate system. The inverter will generate three-phase PWM signals according to the voltage signal and drive the PMSM. The sensor module is used to detect information such as the actual speed, position, and current of the motor. This article will focus on the design of the speed-loop controller of the PMSM, so the controller of the current loop adopts a PI controller. The output of the speed loop, which is also the input of the current loop, is i qref , and the input of the speed loop is the mechanical angular velocity of the motor.

[0069] The present invention also proposes a hybrid control method for a permanent magnet synchronous motor. Refer to Figure 2 , which shows the flow block diagram of the hybrid control method for the permanent magnet synchronous motor of the present invention. The drive board executes the following steps:

[0070] Step S1: Collect the position information and three-phase current signals of the PMSM through sensors. Among them, the actual speed of the motor is calculated using the position information;

[0071] Step S2: The Luenberger disturbance observer calculates the disturbance value to be compensated according to the error between the estimated speed and the actual speed and outputs the estimated disturbance value;

[0072] Step S3: The hybrid controller updates the sliding surface according to the error between the desired speed and the actual speed and the estimated disturbance value, and updates the output of the hybrid controller according to the value of the sliding surface; this output is used as the input of the current-loop controller;

[0073] Step S4: The current-loop controller tracks according to the given q-axis current expected value;

[0074] Step S5: Input it into the space vector pulse width modulation unit to complete the phase current regulation of the three-phase full-bridge inverter, and then use the output control signal of the inverter to drive the PMSM;

[0075] Steps S1 to S5 are repeatedly executed, continuously feeding back the residual between the actual rotational speed and the target rotational speed, to achieve rotational speed control.

[0076] In the above technical solution, in step S2, the Luenberger disturbance observer is designed as:

[0077]

[0078] where the system state x = [ω e d(t)] T , ω e is the electrical angular velocity of the motor, d(t) is the lumped disturbance of the system, is the estimation of the system state, which are the estimation of the electrical angular velocity and the estimated disturbance value respectively, y = Cx is the first item of the system state, that is, the electrical angular velocity, that is, the estimation of the electrical angular velocity, u = i qref is the system control input, and the matrix coefficients are respectively C = [1 0], H = [2l g l g 2 T , l g is the observer parameter.

[0079] In the above technical solution, the sliding surface of the hybrid controller is:

[0080]

[0081] where s represents the sliding surface. 0 < ρ 1 < 0.5, α ≥ 1 is the self-defined parameter value, T c1 > 0 is the predefined time for the sliding surface to converge to 0; e = ω ref - ω represents the mechanical angular velocity error of the motor, sig(x) k = |x| k sign(x), e(0) is the initial value of the error.

[0082] In the above technical solution, in step S3, the output of the hybrid controller, that is, the system control input, is designed as:

[0083]

[0084] where is the disturbance value estimated by the disturbance observer, 0 < ρ 2 < 1, β ≥ 1 is the self-defined parameter value, T c2 > 0 is the predefined time for the mechanical angular velocity to converge to 0.

[0085] ​In the above technical solution, for a surface-mounted permanent magnet synchronous motor, ignoring the effects of hysteresis loss, eddy current, and core saturation, the voltage equation in the synchronous rotating coordinate system is as follows:

[0086]

[0087] where u d , u q are the d-q axis components of the stator voltage, i d , i q are the d-q axis components of the stator current, R is the stator resistance, L d , L q are the d-q axis components of the inductance, ψ f represents the permanent magnet flux, P n is the number of pole pairs of the motor, and ω is the mechanical angular velocity of the rotor.

[0088] The dynamic equation of the permanent magnet synchronous motor is

[0089]

[0090] where j is the moment of inertia, B is the viscous damping, T e is the electromagnetic torque, and T L is the load.

[0091] The electromagnetic torque of the PMSM can be expressed as:

[0092] T e = 1.5P n i q [i d (L d -L q ) + ψ f (3)

[0093] For a surface-mounted PMSM, there is

[0094] L d = L q = L (4)

[0095] Therefore, equation (3) can be written as

[0096] T e = 1.5P n i q ψ f = K t i q (5)

[0097] where K t = 1.5P n ψ f is the motor torque coefficient.

[0098] Combining Equation (2) and Equation (3) can obtain the mathematical model of the PMSM

[0099]

[0100] where is the lumped disturbance, and \(i_q\) qref is the expected value of the q-axis current output by the speed loop and is also the input of the current loop.

[0101] Next, the predefined-time theory will be introduced. Consider the following dynamic system:

[0102]

[0103] where \(x\) represents the system state, \(y\) is a function of \(x\). According to the new predefined-time stability theory, for a positive constant \(T\) c > 0, if there exists an unbounded Lyapunov function \(V(x)\) that satisfies the following inequality:

[0104]

[0105] where \(0 < \rho < 1\), \(\alpha \geq 1\) are user-defined parameters, then the origin of the system shown in Equation (7) is predefined-time stable, and \(T\) c is the predefined stability time. The following is a simple proof. Equation (8) can be written as:

[0106]

[0107] Separating \(dV\) and \(dt\) and integrating can obtain:

[0108]

[0109] Taking out the constants can obtain:

[0110]

[0111] Furthermore, we can obtain:

[0112]

[0113] Therefore:

[0114]

[0115] Because so \(T\) 0 \(\leq T\) c .

[0116] Finally, we have proved that as long as Equation (8) is satisfied, the system is predefined-time stable.

[0117] However, since the PMSM is a first-order system, the sliding mode surface is usually designed as s = cx. This means that once the system reaches the sliding mode surface, the system state converges to 0, that is, there is only an approaching stage, and there is no robustness in the approaching stage. Therefore, the idea of integral sliding mode is adopted, and the sliding mode surface of the controller is designed as

[0118]

[0119] where e = ω ref - ω, 0 < ρ 1 < 0.5, T c1 > 0 is the predefined stable time, and e(0) is the initial value of the tracking error. Using we can obtain:

[0120]

[0121] Then, design u 1 in the following form:

[0122]

[0123] The control input i qref = u 0 + u 1 . Then combine the estimated value of the Luenberger disturbance observer to obtain:

[0124]

[0125] The stability proof is divided into the approaching stage and the sliding mode stage. Design two Lyapunov functions and respectively prove that both s and e satisfy the predefined-time stability theory, and we can obtain:

[0126]

[0127] These two equations both satisfy the form shown in Equation (8). Therefore, the PMSM system will reach stability within the predefined time T c1 + T c2 .

[0128] For the working flow chart of the system, see Figure 3 . After the system is initialized, update the Luenberger observer according to the error between the estimated speed and the actual speed and output the estimated disturbance. Update the sliding mode surface according to the error between the desired speed and the actual speed and the estimated disturbance value, and calculate the controller output.

[0129] With the above technical solution, the present invention proposes a hybrid control method (IPTSMC-LDOB) for a permanent magnet synchronous motor that combines a Luenberger disturbance observer and an integral-type predefined-time sliding mode controller. First, a mathematical model of the permanent magnet synchronous motor is established; then, according to the predefined-time stable system and integral sliding mode theory, a sliding mode surface and a control law are constructed; finally, the Luenberger disturbance observer is used for disturbance compensation. Through reasonable parameter design, the proposed hybrid controller combining the integral-type predefined-time sliding mode and the Luenberger disturbance observer has excellent performance in both dynamic and steady-state performance.

[0130] To verify the technical effects of the present invention, corresponding simulation experiments were carried out. The simulation results are shown in Figures 4 to 7 , Figure 4 For the experiment under no-load conditions, the ordinary sliding mode controller (SMC) and the ordinary predefined-time stable sliding mode controller (PTSMC) were compared with the first part of the proposed hybrid controller, the integral predefined-time sliding mode controller (IPTSMC). The initial set speed was 500 rpm, and the speed was set to 700 rpm at 4 seconds. It can be seen that dynamically, IPTSMC converges the fastest at 0 seconds and 4 seconds, and statically, it can be seen that IPTSMC has the smallest chattering and the best control effect. Figure 5 For the sudden load addition experiment, SMC and the integral terminal sliding mode controller (ITSMC) were compared with IPTSMC. The initial set speed was 500 rpm, the load was increased to 0.1 Nm at 2.5 seconds, and the speed was set to 700 rpm at 4 seconds. Due to the combination of integral sliding mode theory, IPTSMC has global robustness and will spontaneously compensate for disturbances. It can be seen that the speed drop of IPTSMC is the smallest at 2.5 seconds and the time to recover to 500 rpm is the shortest, which can prove that the algorithm proposed in this paper has stronger robustness. Figure 6 It shows a comparison diagram of the estimated value of the Luenberger disturbance observer and the actual value. It can be seen that the estimation effect is excellent and well follows the actual value. Figure 7For comprehensive experiments, a hybrid controller (IPTSMC-LDOB) was used to compare with a controller with ordinary integral predefined combined with switching items (IPTSMC-Dsign(s)) and IPTSMC without disturbance compensation. The starting target speed was set to 500rpm, a load of 0.1Nm was added at 0.25 seconds, and the speed was set to 700rpm at 0.4 seconds. It can be seen that although the steady-state jitter of the hybrid controller is slightly greater than that of the controller without disturbance compensation, the dynamic performance of the hybrid controller after adding the load for 0.25 seconds is the smallest and the recovery speed is the fastest. Although LDOB is used for disturbance compensation, it sacrifices part of the steady-state performance, but in exchange for higher dynamic performance, which is acceptable. In summary, the solution proposed in the present invention has a good balance between dynamic performance and steady-state performance, and exhibits excellent control effects.

[0131] The above embodiments are only used to help understand the method and core idea of ​​the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0132] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A hybrid control method for a permanent magnet synchronous motor, wherein a driving board outputs a control signal to drive a permanent magnet synchronous motor PMSM according to the residual difference between a desired speed and an actual speed of the motor, and a speed loop controller is arranged in the driving board; characterized in that: The speed loop controller adopts a hybrid control combining an integral type predefined time sliding mode controller and a Lumberg disturbance observer, and the drive board performs the following steps: Step S1: collecting position information and three-phase current signals of the PMSM through sensors, wherein the position information is used to calculate the actual speed of the motor; Step S2: the Lumberg disturbance observer calculates the disturbance value to be compensated according to the error between the estimated speed and the actual speed and outputs the estimated disturbance value; Step S3: the speed loop controller updates the sliding surface according to the error between the desired speed and the actual speed and the estimated disturbance value, and updates the output of the speed loop controller according to the value of the sliding surface; the output serves as the input of the current loop controller; Step S4: the current loop controller performs tracking according to a given q-axis current expected value; Step S5: inputting into the space vector pulse width modulation unit to complete the phase current regulation of the three-phase full-bridge inverter, and then using the inverter output control signal to drive the PMSM; Steps S1 to S5 are repeatedly executed to continuously feed back the residual difference between the actual speed and the target speed to achieve speed control.

2. The hybrid control method of a permanent magnet synchronous motor according to claim 1, characterized in that: In step S2, the Lumberg disturbance observer is designed as: Among them, the system state x=[ω e d(t)] T ,ω e is the motor electrical angular velocity, d(t) is the system lumped disturbance, is the estimation of the system state, which is the estimation of the electrical angular velocity and the estimated disturbance value respectively. y=Cx is the first item of the system state, i.e., the electrical angular velocity. That is, the estimate of electrical angular velocity, u = i qref is the system control input, and the matrix coefficients are C=[1 0],H=[2l g l g 2 ] T , l g are observer parameters.

3. The hybrid control method of permanent magnet synchronous motor according to claim 1, characterized in that: In step S3, the sliding surface of the speed loop controller is: Where s represents the sliding surface; 0<ρ1<0.5, α≥1 is a custom parameter value, T c1 >0 is the predefined time for the sliding surface to converge to 0; e=ω ref -ω represents the mechanical angular velocity error of the motor, sig(x) k =|x| k sign(x), e(0) is the initial value of the error.

4. The hybrid control method of a permanent magnet synchronous motor according to claim 1, characterized in that: In step S3, the output of the speed loop controller, that is, the system control input, is designed as: in, is the disturbance value observed by the disturbance observer, 0<ρ2<1, T c2 >0 is the predefined time.

5. The hybrid control method of a permanent magnet synchronous motor according to claim 1, characterized in that: In step S3, the mathematical model equation of the synchronous motor is: Where, ω is the mechanical angular velocity of the motor, K t =1.5P n ψ f is the torque coefficient, P n is the number of motor pole pairs, ψ f is the magnetic flux of the motor, J is the moment of inertia of the motor, It is the aggregate interference.

6. The permanent magnet synchronous motor hybrid control system according to any one of claims 1 to 5, characterized in that: The system includes a host computer, a permanent magnet synchronous motor, a drive board and a load, among which: The host computer is used to output the desired speed to control the start and stop of the motor, and receive the driver board data to draw the motor speed curve; The driving board is used to output a control signal to drive the permanent magnet synchronous motor according to the residual difference between the expected speed and the actual speed of the motor. A speed loop controller is arranged in the driving board, and the speed loop controller includes an integral type predefined time sliding mode controller and a Romberg disturbance observer; The permanent magnet synchronous motor is used to perform a rotation operation according to a control signal from a drive board, and read the motor position information through a sensor and transmit it to the drive board; The load is used to output a constant torque.

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