Annular permanent magnet linear synchronous motor speed feed-forward compound control method and system considering disturbance compensation

Abstract

The invention discloses an annular permanent magnet linear synchronous motor speed feedforward compound control method considering disturbance compensation, and the method comprises the steps: taking an annular permanent magnet linear synchronous motor TPMLSM as a control object, and building a voltage model of the TPMLSM under a three-phase static coordinate system; based on this, establishing a control model under a d-q rotating coordinate system; determining a speed loop transfer function of the TPMLSM based on conventional integral proportion (PI) control, introducing a feed-forward controller on the basis, and designing a TPMLSM speed feed-forward composite controller through the transfer function of the feed-forward controller; a quasi-resonance extended state observer (ESO) is used for observing external disturbance, a disturbance observation value is equivalent to a q-axis current disturbance quantity, and feedforward compensation is carried out on the q-axis current disturbance quantity to a speed ring for output, so that the anti-disturbance capability of the speed ring is improved; proportional control is introduced into disturbance observation items of the ESO disturbance observer, dynamic response of the disturbance observer under low bandwidth is accelerated, the dynamic response of a motor control system is improved, and the anti-disturbance capability of the system is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of linear motor control, and in particular to a speed feedforward composite control method of an annular permanent magnet linear synchronous motor considering disturbance compensation. Background Art

[0002] Permanent magnet linear synchronous motors (PMLSMs) have been widely used in high-precision motion control applications such as CNC machine tools and medical devices due to their high precision, high response speed, and direct drive capabilities. However, the dynamic behavior of motors is a complex, multi-stage, time-varying, and nonlinear system behavior, and improving their dynamic performance still faces numerous challenges. Traditional control methods, such as proportional-integral (PI)-based vector control, struggle to balance dynamic response and steady-state performance under high-speed and high-acceleration conditions, resulting in increased tracking error. Furthermore, end forces caused by the slot structure of the linear motor's primary core and cogging forces due to the motor's unique core disconnect structure can cause system oscillations. Furthermore, unmodeled motor parameters, environmental disturbances, and other factors can lead to speed fluctuations, reducing the control accuracy of the motor system. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the existing technology. In order to solve the problem that nonlinear disturbances in different working conditions of the motor cause speed fluctuations and reduce the robustness of the system, a speed feedforward composite control method of annular permanent magnet linear synchronous motor considering disturbance compensation is proposed, so as to more reliably and accurately perform closed-loop control of the motor.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is: a speed feedforward composite control method of a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation, characterized in that it includes the following steps: Step 1: Take the ring permanent magnet linear synchronous motor TPMLSM as the control object and establish the voltage equation of TPMLSM in the three-phase stationary coordinate system; based on this, derive dq Voltage equation in rotating coordinate system; Step 2: Derive the speed loop transfer function of TPMLSM based on PI control, introduce the feedforward controller on this basis, derive the feedforward controller transfer function, and design the TPMLSM speed feedforward composite controller; Step 3: Use the extended state observer ESO to observe the external disturbance and convert the disturbance observation value into q The shaft current disturbance is fed forward and compensated to the speed loop output, thereby improving the speed loop's anti-disturbance capability; Step 4: Introduce proportional control into the disturbance observation term of the ESO disturbance observer to speed up the dynamic response of the disturbance observer at a lower bandwidth, thereby further improving the dynamic response of the speed loop; Furthermore, the voltage equation of the TPMLSM in the three-phase stationary coordinate system in step 1 is: , In the above formula, , , are the phase voltage, current and resistance of the three-phase winding respectively; is the three-phase winding flux, φ f is the permanent magnet flux, is the electrical angle; is the three-phase winding inductance, satisfying: , in, is the stator mutual inductance, is the stator leakage inductance.

[0005] Furthermore, the dq The TPMLSM voltage equation in the rotating coordinate system is: , In the above formula, u d 、 u q for dq Shaft stator voltage, i d , i q for dq Shaft stator voltage, L d , L q for dq Shaft inductance, R s is the stator resistance, ω e is the electrical angular velocity.

[0006] The electromagnetic thrust equation of the motor is: , in, F e is the electromagnetic thrust of the motor; τ e is the motor pole pitch.

[0007] The mechanical motion equation of the motor is: , in,F f is the disturbance amount when the motor is running, M is the total mass, v e is the motor running speed, satisfying .

[0008] Furthermore, in the speed loop based on conventional integral proportional PI control in step 2, the transfer function between the speed error and the given speed can be expressed as: , in, and They are the proportional parameter and integral parameter of the speed loop PI control respectively, represents the approximate delay function of the current loop, express q Conversion function between shaft current and electromagnetic thrust.

[0009] In order to improve the dynamic response of the speed loop, a feedback + feedforward composite control method is adopted, and the transfer function between the speed error and the given speed is redefined as: , in, is the feedforward control transfer function introduced, s is a complex frequency variable used in Laplace transform; From the above formula, we can see that if ,but , indicating that the system output variable can completely replicate the input variable, and the control system has an ideal time response characteristic. Therefore, It can be defined as: , Ignoring the delay effect of the current controller and combining the electromagnetic thrust equation, the feedforward controller can be simplified as: , From the above formula, we can see that there is a differential term in the feedforward branch, which will amplify high-frequency noise and is not conducive to precise control. It is known that the input of the feedforward controller is the motor reference speed v ref , whose derivative is the reference acceleration a ref Therefore, the feedforward input is changed from reference velocity to reference acceleration, and the ' s ', construct acceleration feedforward control. At this time, the feedforward controller is: , and The difference lies in the input. The input is the reference speed, The input is the reference acceleration.

[0010] From the above derivation, we can see that the denominator of the transfer function of the system is the same before and after the feedforward controller is added, which means that the stability of the system is independent of the feedforward control.

[0011] Furthermore, in step three, the present invention observes the system speed loop disturbance through an extended state observer ESO, and feeds forward compensation into the closed-loop system to suppress the system disturbance and improve the closed-loop control performance of the motor.

[0012] Combining the motor electromagnetic thrust equation and the mechanical motion equation, we can get: , in, for q It should be noted that the TPMLSM studied in this paper is a surface-mounted motor, so it is considered that dq The shaft inductances are equal.

[0013] Based on the above formula, the following linear ESO disturbance observer is constructed: , in, and is the ESO parameter, which is designed by bandwidth configuration method. Therefore, the ESO parameter design is as follows: , Where, is the ESO bandwidth.

[0014] Furthermore, in step 3, the ESO's ability to suppress periodic disturbances of a specific frequency is limited due to bandwidth limitations. Furthermore, the ESO's internal integral link is susceptible to noise accumulation or integral saturation, resulting in incomplete disturbance compensation. Therefore, quasi-resonant control (QRC) is introduced based on the ESO. The QRC equation can be expressed as: , in, is the resonant frequency, is the resonant bandwidth, is the integral gain of the quasi-resonant controller.

[0015] Combining the ESO observer with the QRC expression, the new ESO disturbance observer is constructed as follows: , therefore, can be re-expressed as: , By comparing whether the difference between the actual system and the observed system state quantity is divergent, the stability of the disturbance observer can be analyzed, and the following equation is obtained: , Furthermore, in step 4, a proportional link is introduced, and the disturbance observer is finally defined as: , in, is the proportional gain.

[0016] As another aspect of the present invention, it also relates to a speed feedforward composite control system of a ring-shaped permanent magnet linear synchronous motor taking into account disturbance compensation, comprising: The first control device is used to establish the voltage equation of the ring permanent magnet linear synchronous motor TPMLSM in the three-phase stationary coordinate system with the ring permanent magnet linear synchronous motor TPMLSM as the control object; based on this, the voltage equation of the ring permanent magnet linear synchronous motor TPMLSM is derived. dq Control model in rotating coordinate system; The second control device: determine the speed loop transfer function of the TPMLSM based on conventional integral proportional PI control, introduce a feedforward controller on this basis, establish the feedforward controller transfer function, and design the TPMLSM speed feedforward composite controller; The third control device is used to observe the external disturbance using the quasi-resonant extended state observer ESO, and convert the disturbance observation value into q The shaft current disturbance is fed forward and compensated to the speed loop output, thereby improving the speed loop's anti-disturbance capability; The fourth control device is used to introduce proportional control into the disturbance observation term of the ESO disturbance observer to speed up the dynamic response of the disturbance observer at a lower bandwidth.

[0017] Furthermore, in step 5, a TPMLSM closed-loop vector control model is constructed, wherein the speed loop adopts the speed feedforward composite control strategy considering disturbance compensation proposed by the present invention, and the current loop adopts i d = 0. In addition, the motor trajectory is planned and modeled to ensure that the motor runs according to the set trajectory.

[0018] The beneficial effects and features of the present invention are: (1) This invention proposes a speed feedforward composite control method for a ring-shaped permanent magnet linear synchronous motor with disturbance compensation, which provides a high dynamic response and robust speed control method for a permanent magnet linear synchronous motor. Based on the motor acceleration planning curve, an acceleration feedforward link is introduced into the speed control, and a correction link is directly generated according to the magnitude of the acceleration to ensure the high dynamic response of the motor under acceleration variation conditions.

[0019] (2) The present invention's speed feedforward composite control method for a ring-shaped permanent magnet linear synchronous motor taking disturbance compensation into consideration is designed to combine an extended state observer (ESO) with a quasi-resonant control (QRC) disturbance observer. By designing an extended state quantity, the influence of the unmodeled part of the system and the external disturbance on the control object is tracked. At the same time, a proportional link is added to the disturbance observer to accelerate the dynamic response of the observer at low bandwidth and improve the anti-interference performance of the system. Compared with the prior art, the speed control method of the present invention not only ensures the rapid dynamic response of the system, but also improves the anti-interference ability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flow chart of a preferred embodiment of the present invention; Figure 2 1 is a system structure diagram of a preferred embodiment of the present invention; Figure 3 This is a topological diagram of a ring-shaped permanent magnet linear synchronous motor according to a preferred embodiment of the present invention; Figure 4 This is a closed-loop control block diagram of a ring-shaped permanent magnet linear synchronous motor according to a preferred embodiment of the present invention; Figure 5 This is a block diagram of the speed composite control based on acceleration feedforward in a preferred embodiment of the present invention; Figure 6 It is a control block diagram of a preferred embodiment of the present invention combined with an improved extended state observer; Figure 7 This is a comparison of the speed results of the motor under different speed controls in a preferred embodiment of the present invention; including (a) a speed waveform comparison diagram, (b) an enlarged speed waveform comparison diagram, and (c) a speed error comparison diagram; Figure 8 The speed results of the motor using disturbance compensation in the preferred embodiment of the present invention are as follows: (a) Comparison of the motor speed waveform under load disturbance (no disturbance observation and ESO observation); (b) Comparison of the motor speed under load disturbance (ESO and improved ESO); In all the drawings, the same reference numerals represent the same technical features, specifically: 1-primary winding, 2-secondary winding; DETAILED DESCRIPTION The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] Feedforward control systems use compensation principles based on disturbances or changes in setpoints to control the system. When a disturbance occurs, the system is controlled based on the magnitude of the disturbance to compensate for its impact on the controlled object. System disturbances can cause speed fluctuations during motor operation, leading to system oscillations. However, due to inaccurate speed fluctuation modeling and identification difficulties in real systems, as well as time-varying model parameters, the effectiveness of speed fluctuation compensation is limited. Disturbance observation is needed to indirectly suppress motor system speed fluctuations. The Extended State Observer (ESO) treats internal uncertainties and external disturbances as a "total disturbance" and converts this "total disturbance" into a compensation term at the control input, thereby suppressing non-periodic disturbances in the system. However, the ESO's low bandwidth results in slow dynamic response, resulting in incomplete disturbance compensation. Therefore, improving the dynamic response and disturbance tolerance of motor control systems is crucial for reliable and robust operation of motor systems.

[0022] Please refer to Figure 1 、 Figure 2 The embodiment of the present invention relates to a speed feedforward composite control method of a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation, comprising the following steps: The first step: take the ring permanent magnet linear synchronous motor TPMLSM as the control object and establish the voltage equation of TPMLSM in the three-phase stationary coordinate system; based on this, derive dq Voltage equation in rotating coordinate system; Step 2: Derive the speed loop transfer function of TPMLSM based on PI control, introduce the feedforward controller on this basis, derive the feedforward controller transfer function, and design the TPMLSM speed feedforward composite controller; Step 3: Use the extended state observer ESO to observe the external disturbance and convert the disturbance observation value into q The shaft current disturbance is fed forward and compensated to the speed loop output, thereby suppressing speed fluctuations; Step 4: Based on the ESO disturbance observer, quasi-resonant control (QRC) is introduced to achieve the suppression of specific frequency disturbances by the disturbance observer, thereby improving the anti-disturbance capability of the speed loop. Step 5: Build a TPMLSM closed-loop vector control model and analyze the effectiveness of the control method proposed in this invention through simulation.

[0023] The topology of the transmitting motor in the specific embodiment of the present invention is as follows: Figure 3As shown, a long primary permanent magnet linear synchronous motor with an annular Halbach structure is used. When PMLSM is used as the core structure, due to the limitations of the motor, it will encounter the applicability problem of space constraints. Therefore, the present invention adopts TPMLSM as a linear motor for electromagnetic transmission. Among them, the primary winding of the motor adopts an annular concentrated winding method, and the secondary adopts a Halbach permanent magnet array. PMLSM with this structure can accelerate and brake within a given set acceleration and speed range, without distance restrictions, which can save space and system costs.

[0024] like Figure 4 As shown in the figure, a block diagram of the closed-loop control principle of a ring-shaped permanent magnet linear synchronous motor is provided. The linear motor control principle mainly includes the following aspects: (1) The motor system adopts vector closed-loop drive control. The outer loop adopts speed feedforward composite control considering disturbance compensation, and the inner loop adopts i d = 0 vector control. The output of the outer loop q Shaft current i qref The voltage output of the inner current loop serves as the reference input for the inverter. The motor drive voltage is generated using the space vector modulation (SVPWM) algorithm. The advantages of the SVPWM algorithm include: SVPWM optimizes harmonics to a high degree, eliminating them more effectively than SPWM, is easy to implement, and improves voltage utilization. The SVPWM algorithm improves the DC voltage utilization of the voltage source inverter and the dynamic response speed of the motor, while reducing torque ripple. Furthermore, it is more suitable for digital control systems.

[0025] (2) When TPMLSM is applied to specific launch occasions in confined spaces, such as satellite-borne electromagnetic boosters, vehicle-borne electromagnetic launches, and electromagnetic throws from small and medium-sized ships, it is necessary to analyze the motor operation process and require the motor to operate strictly according to the planned trajectory to achieve directional launch of the motor. Therefore, the motor operation process is divided into four stages: 1) Acceleration is carried out at a specified jerk. j 1 Accelerate from 0 to maximum acceleration a max , time is t1; 2) launch acceleration a max unchanged, the time taken is t 2; 3) with the prescribed deceleration j 3 decelerates to 0, and the speed reaches the maximum value. 4) The acceleration is 0, and the motor maintains the maximum speed. Through the above analysis, the acceleration expression of the motor operation can be obtained as: , Figure 5This is a speed composite control block diagram based on acceleration feedforward. Its input is the motor reference speed v ref , reference acceleration a ref And the actual motor speed is obtained through the rotary transformer and decoding circuit. The error between the motor speed reference value and the actual value is controlled by PI and then added to the reference acceleration to obtain the reference value of the electromagnetic thrust in the closed-loop control channel. The electromagnetic thrust is transformed according to the equation to obtain q The shaft current is obtained by adding the disturbance observer to the feedforward. q The shaft current disturbance is used as the input of the current loop vector control. By adding a feedforward strategy to the outer loop controller, the dynamic response of the control system can be enhanced without changing the system stability.

[0026] Figure 6 This is a block diagram of a disturbance observer control system combining an extended state observer and quasi-resonant control. Due to its infinite gain at zero frequency, the pure integrator in the observer continuously tracks DC or low-frequency disturbances. Therefore, a quasi-resonant control loop is added to the observer to monitor system disturbances at specific frequencies, improving the observer's accuracy. Furthermore, a proportional link is introduced into the ESO to further enhance the observer's dynamic performance and ensure fast response under low-bandwidth conditions.

[0027] Figure 7 The speed simulation results of the motor under PI control and feedforward composite control are compared. In the simulation, the speed loop adopts the speed feedforward composite control strategy considering disturbance compensation proposed by the present invention, and the current loop adopts i d = 0. Furthermore, the motor trajectory is planned and modeled to ensure that the motor runs according to the set trajectory. In the simulation, the motor is set to run at no load, accelerate from zero speed to 1 m / s, and maintain a constant speed of 1 m / s. Figure 7 (a) shows the speed waveform comparison curves under different control methods. In order to more clearly observe the superiority of the feedforward composite control method in the present invention, Figure 7 (b) shows the enlarged comparison of the speed waveform of the motor from acceleration to constant speed. It can be seen from the figure that the feedforward composite control has a faster dynamic response. The tracking error comparison curves of the two control strategies are shown in Figure 2. Figure 7 As shown in (c), it can be seen from the figure that the tracking error of the feedforward composite control method is always small, indicating that this method has excellent tracking performance.

[0028] Figure 8 The speed simulation results of the motor speed loop with disturbance observer added for disturbance compensation are given. In the simulation, the motor is accelerated from zero speed to 1m / s and kept running at a constant speed of 1m / s. t= 1s, the motor is subjected to a step load disturbance with a disturbance force of 20N. Figure 8 Figure (a) shows a comparison of the motor's speed waveforms before and after ESO disturbance compensation is added to the speed loop. The figure shows that after ESO disturbance feedforward compensation is added to the speed loop, the motor's speed curve exhibits less fluctuation when subjected to load disturbances, allowing it to quickly return to equilibrium. Figure 8 (b) shows a comparison of the speed waveforms for the motor using an ESO and the improved ESO of the present invention under this operating condition. As can be seen from the figure, the improved ESO of the present invention, due to the inclusion of a proportional link, reduces the significant fluctuations in the motor speed waveform when subjected to load disturbances, demonstrating the superiority of the improved ESO disturbance observer of the present invention.

[0029] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A speed feedforward composite control method for a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation, characterized in that: The steps include: Step 1: Take the ring permanent magnet linear synchronous motor TPMLSM as the control object and establish the voltage model of TPMLSM in the three-phase stationary coordinate system; based on this, establish dq Control model in rotating coordinate system; Step 2: Determine the speed loop transfer function of TPMLSM based on conventional integral proportional PI control, introduce a feedforward controller on this basis, and design the TPMLSM speed feedforward composite controller through the feedforward controller transfer function; Step 3: Use the quasi-resonant extended state observer ESO to observe the external disturbance and convert the disturbance observation value into q The shaft current disturbance is fed forward and compensated to the speed loop output, thereby improving the speed loop's anti-disturbance capability; Step 4: Introduce proportional control into the disturbance observation term of the ESO disturbance observer to speed up the dynamic response of the disturbance observer at a lower bandwidth.

2. The method for speed feedforward control of a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation according to claim 1, characterized in that: The voltage model of the TPMLSM in the three-phase stationary coordinate system in step 1 is: , In the above formula, , , are the phase voltage, current and resistance of the three-phase winding respectively; is the three-phase winding flux, φ f is the permanent magnet flux, is the electrical angle; is the three-phase winding inductance, satisfying: , in, is the stator mutual inductance, is the stator leakage inductance.

3. The speed feedforward composite control method of a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation according to claim 1 is characterized in that: In step one dq The control model in the rotating coordinate system is: , In the above formula, u d 、 u q for dq Shaft stator voltage, i d , i q for dq Shaft stator voltage, L d , L q for dq Shaft inductance, R s is the stator resistance, ω e is the electrical angular velocity, φ f is the permanent magnet flux; The electromagnetic thrust equation of the motor is: , in, F e is the electromagnetic thrust of the motor; τ e is the motor pole pitch; The mechanical motion equation of the motor is: , in, F f is the disturbance amount when the motor is running, M is the total mass, v e is the motor running speed, satisfying .

4. The method for speed feedforward control of a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation according to claim 1, characterized in that: In step 2, the PMLSM is based on the speed loop transfer function of conventional integral proportional PI control, which is the transfer function between the speed error and the given speed, and is expressed as: , in, v ref is the motor reference speed, v e is the motor running speed, and They are the proportional parameter and integral parameter of the speed loop PI control respectively, represents the approximate delay function of the current loop, Explanation q The conversion function between shaft current and electromagnetic thrust; s is a complex frequency variable used in Laplace transform, M is the total mass; Using the feedback + feedforward speed composite control method, the transfer function between the speed error and the given speed is redefined as: , in, is the feedforward control transfer function introduced; From the above formula, we can see that if ,but , indicating that the system output variable can completely replicate the input variable, and the control system has an ideal time response characteristic; Ignoring the delay effect of the current controller, combined with the electromagnetic thrust equation, the feedforward controller can be simplified to: , From the above formula, we can see that there is a differential term in the feedforward branch, which will amplify high-frequency noise and is not conducive to precise control. It is known that the input of the feedforward controller is the motor reference speed v ref , whose derivative is the reference acceleration a ref Therefore, the feedforward input is changed from reference velocity to reference acceleration, and the ' s ', construct acceleration feedforward control; at this time, the feedforward controller is: , and The difference lies in the input. The input is the reference speed, The input is the reference acceleration.

5. The method for speed feedforward control of a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation according to claim 4, characterized in that: The specific method of step three is: by extending the state observer ESO q The shaft current disturbance is observed and fed forward to the speed loop output channel to suppress system disturbances and improve the closed-loop control performance of the motor: Combining the motor electromagnetic thrust equation and the mechanical motion equation, we can get: , in, for q The disturbance force of the shaft current; TPMLSM is a surface-mounted motor, so it is considered that dq The shaft inductances are equal; Based on the above formula, the following linear ESO disturbance observer is constructed: , in, and are ESO parameters, where the superscript ‘^’ indicates the estimated value of the corresponding variable.

6. The method for speed feedforward composite control of a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation according to claim 5, characterized in that: described and The ESO parameters are designed by bandwidth configuration method as follows: , Where, is the ESO bandwidth.

7. According to the method for speed feedforward composite control of a ring-shaped permanent magnet linear synchronous motor with disturbance compensation as described in claim 5, the ESO has limited ability to suppress periodic disturbances of specific frequencies due to bandwidth limitations; and the internal integral link of the ESO is susceptible to noise accumulation or integral saturation, resulting in incomplete disturbance compensation. Therefore, quasi-resonant control (QRC) is introduced on the basis of the ESO; the QRC equation can be expressed as: , in, is the resonant frequency, is the resonant bandwidth, is the integral gain of the quasi-resonant controller; Combining the ESO observer with the QRC expression, the new ESO disturbance observer is constructed as follows: , therefore, can be re-expressed as: 。 8. The method for speed feedforward control of a ring-shaped permanent magnet linear synchronous motor considering disturbance compensation according to claim 5, characterized in that: In step 4, the method of introducing proportional control is: disturbance observer is defined as: , in, is the proportional gain.

9. A speed feedforward composite control system of a ring permanent magnet linear synchronous motor considering disturbance compensation, characterized in that: include: The first control device is used to establish a voltage equation of the ring permanent magnet linear synchronous motor TPMLSM in a three-phase stationary coordinate system with the ring permanent magnet linear synchronous motor TPMLSM as the control object; Based on this, we deduce dq Control model in rotating coordinate system; The second control device: determine the speed loop transfer function of the TPMLSM based on conventional integral proportional PI control, introduce a feedforward controller on this basis, establish the feedforward controller transfer function, and design the TPMLSM speed feedforward composite controller; The third control device is used to observe the external disturbance using the quasi-resonant extended state observer ESO, and convert the disturbance observation value into q The shaft current disturbance is fed forward and compensated to the speed loop output, thereby improving the speed loop's anti-disturbance capability; The fourth control device is used to introduce proportional control into the disturbance observation term of the ESO disturbance observer to speed up the dynamic response of the disturbance observer at a lower bandwidth.

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