A synovial sensorless compensation control method and system

Abstract

The present invention provides a method and system for controlling sliding film sensorless compensation, the method comprising: constructing a linear anti-disturbance control for the sliding surface of each axis in a stationary coordinate system of a permanent magnet synchronous motor; obtaining operating parameters of the permanent magnet synchronous motor; controlling the linear anti-disturbance control to calculate an output control quantity based on the motor operating parameters; controlling the linear anti-disturbance control to use the output control quantity to equivalently compensate for the jitter of the motor system on the sliding film surface of each axis, so that the motor system approaches the ideal zero position of the sliding film surface of each axis, and calculates a rotor information estimate; inputting the rotor information estimate into the controller of the permanent magnet synchronous motor to form a double closed-loop structure, thereby realizing double closed-loop control of the permanent magnet synchronous motor. This application changes the structure of the traditional sliding film observer by combining a linear anti-disturbance control, equivalently compensating the control switching function to a control continuous function, effectively solving the high-frequency jitter phenomenon when the motor system approaches the sliding surface, and enabling the motor to operate stably at low speed without a position sensor.

Description

Technical Field

[0001] The present application relates to the technical field of position sensorless permanent magnet synchronous motor control systems, and in particular to a sliding film sensorless compensation control method and system. Background Art

[0002] With the rapid development of power electronics, microelectronics, new motor control theories, and rare earth permanent magnet materials, permanent magnet synchronous motors (PMSMs) have seen rapid adoption and application. Acquiring rotor position and speed signals in PMSMs is crucial for ensuring stable operation of the entire drive system. Only by monitoring the permanent magnet rotor's magnetic pole position in real time can precise speed and current control be achieved, ensuring stable closed-loop operation of the PMSM.

[0003] A sensorless permanent magnet synchronous motor is a commonly used permanent magnet synchronous motor in existing technology. This system uses a sliding mode observer to estimate rotor position and speed without installing a position sensor. This sliding mode observer offers advantages such as low computational complexity, good real-time performance, and minimal data acquisition.

[0004] However, the control function used by the traditional sliding mode observer in the first-order sliding mode variable structure control is a switching control function. The discrete and discontinuous switching control function will cause the motor system to vibrate at high frequencies near the sliding membrane surface during high-frequency switching. Especially when running at low speeds, the vibration problem will cause the motor system to have certain errors in estimating the motor rotor information, thereby reducing the control accuracy of the system and affecting the stable operation of the permanent magnet synchronous motor. Summary of the Invention

[0005] The present application provides a sliding film sensorless compensation control method and system to solve the chattering problem caused by the use of a discontinuous switching control function for a first-order sliding film observer.

[0006] The technical solutions adopted in this application are as follows:

[0007] A sliding film sensorless compensation control method is applied to a position sensorless permanent magnet synchronous motor, the method comprising:

[0008] Construct a linear active disturbance rejection controller for the sliding mode surface of each axis in the stationary coordinate system of the permanent magnet synchronous motor;

[0009] Obtaining motor operating parameters when the permanent magnet synchronous motor is operating under the control of the switch control function;

[0010] Controlling the linear active disturbance rejection controller to calculate an output control variable of the linear active disturbance rejection controller according to the motor operating parameters;

[0011] Controlling the linear active disturbance rejection controller to use the output control variable to equivalently compensate for the jitter of the motor system on the sliding membrane surface of each axis, so that the motor system approaches the ideal zero position of the sliding membrane surface of each axis;

[0012] Calculating an estimated value of rotor information when the motor system approaches an ideal zero position of the sliding film surface of each shaft;

[0013] The rotor information estimated value is input into the controller of the permanent magnet synchronous motor to form a double closed-loop structure, thereby realizing double closed-loop control of the permanent magnet synchronous motor.

[0014] Furthermore, the linear active disturbance rejection controller includes a linear extended state observer and a linear controller;

[0015] Obtain estimated and measured stator current values of a permanent magnet synchronous motor when it is operating under the control of each axis switch control function;

[0016] Inputting the stator current estimated value and the stator current measured value into the linear extended state observer;

[0017] Controlling the linear extended state observer to track the actual state of the motor system on the sliding membrane surface of each axis according to the stator current estimated value and the stator current measured value to obtain corresponding state variables;

[0018] Controlling the linear controller to calculate an output control variable according to the state variable;

[0019] Compensating the switch control function of each axis by the output control amount to obtain a continuous control function of each axis;

[0020] The high-order harmonics in the continuous control function of each axis are filtered out by a low-pass filter to obtain an estimated value of the extended back electromotive force of each axis;

[0021] An estimated value of rotor information of the motor is estimated based on the estimated values of the extended back electromotive force of each axis.

[0022] Furthermore, the linear extended state observer on the α-axis is:

[0023]

[0024] Where, e is the tracking error, x1 and x2 are the state variables of the α-axis sliding surface; represents the derivative of x1 and x2; ω o is the observer bandwidth, b is the controller gain, e α is the true value of the α-axis extended reaction potential, Z α is the α-axis switch control function; the difference between the stator current estimate and the stator current measurement is used as the input of the linear extended state observer, expressed as is the estimated value of the stator current of the α axis, i α is the stator current measurement value of the α-axis.

[0025] Furthermore, the linear controller of the α-axis calculates the α-axis output control quantity according to the state variables x1 and x2. The α-axis output control quantity is the observed back electromotive force error compensation value of the α-axis. The linear controller on the α-axis is:

[0026]

[0027] Where U α is the observed back electromotive force error compensation value of the α axis, e α is the true value of the α-axis extended reaction potential, Z α is the α-axis switch control function, k p is the controller gain, and b is the controller gain.

[0028] Furthermore, the switch control function of each axis is compensated by the output control amount to obtain a continuous control function of each axis; and the high-order harmonics in the continuous control function of each axis are filtered out by a low-pass filter to obtain an estimated value of the extended back electromotive force of each axis, including:

[0029] The α-axis switching control function used in the sliding film variable structure control of the α-axis sliding surface is compensated by the observed back electromotive force error compensation value of the α-axis, and the α-axis continuous control function is obtained as follows:

[0030] The high-order harmonics in the α-axis continuous control function are filtered out by a low-pass filter to obtain the estimated value of the α-axis extended back electromotive force:

[0031]

[0032] Where, is the estimated value of the α-axis extended reaction potential, is the continuous control function of the α-axis, and ω is the filter cutoff frequency.

[0033] Furthermore, the linear extended state observer on the β-axis is:

[0034]

[0035] Where, e is the tracking error, x3 and x4 are the state variables of the β axis; represents the derivative of x3 and x4; ω o is the observer bandwidth; b is the controller gain, e β is the true value of the β-axis extended reaction potential, Z βis the β-axis switch control function; the difference between the stator current estimate and the stator current measurement is used as the input of the linear extended state observer, expressed as is the estimated value of the stator current of the β axis, i β is the stator current measurement value of the β axis.

[0036] Furthermore, the linear controller of the β-axis calculates the β-axis output control quantity according to the state variables x3 and x4. The β-axis output control quantity is the observed back electromotive force error compensation value. The linear controller on the β-axis is:

[0037]

[0038] Where U β is the observed back electromotive force error compensation value of the β axis, e β is the true value of the β-axis extended reaction potential, Z β is the β-axis switch control function, k p is the controller gain, and b is the controller gain.

[0039] Furthermore, the switching control function of each axis is compensated by the output control amount to obtain a continuous control function of each axis; high-order harmonics in the continuous control function of each axis are filtered out by a low-pass filter to obtain an estimated value of the extended back electromotive force of each axis, further comprising:

[0040] The β-axis switching control function used in the β-axis sliding surface sliding film variable structure control is compensated by the observed back electromotive force error compensation value of the β-axis, and the β-axis continuous control function is obtained as follows:

[0041] The high-order harmonics in the β-axis continuous control function are filtered out by a low-pass filter to obtain the estimated value of the β-axis extended back electromotive force:

[0042]

[0043] Where, is the estimated value of the β-axis extended reaction potential, is the β-axis continuous control function, and ω represents the cutoff frequency of the filter.

[0044] Furthermore, the rotor information estimated value includes a rotor angle estimated value and a rotor speed estimated value, which are respectively:

[0045]

[0046]

[0047] Where, is the estimated value of the motor rotor angle, for The derivative of is the estimated rotor speed, Estimated values of the extended reaction potential for the α-axis and β-axis;

[0048] The rotor angle estimated value and the rotor speed estimated value are input into a controller of the permanent magnet synchronous motor to form a double closed-loop structure, thereby realizing double closed-loop control of the permanent magnet synchronous motor.

[0049] The present application also provides a sliding film sensorless compensation control system, which is applied to a position sensorless permanent magnet synchronous motor. The system includes:

[0050] A linear active disturbance rejection controller construction unit is used to construct a linear active disturbance rejection controller for the sliding mode surface of each axis in the stationary coordinate system of the permanent magnet synchronous motor;

[0051] A motor operating parameter acquisition unit, used to acquire the motor operating parameters of the permanent magnet synchronous motor when it is running under the control of the switch control function;

[0052] an output control quantity calculation unit, configured to control the linear active disturbance rejection controller to calculate an output control quantity of the linear active disturbance rejection controller according to the motor operating parameters;

[0053] an equivalent compensation unit, configured to control the linear active disturbance rejection controller to use the output control variable to equivalently compensate for the jitter of the motor system on the sliding membrane surface of each axis, so that the motor system approaches the ideal zero position of the sliding membrane surface of each axis;

[0054] a rotor information estimated value calculation unit, configured to calculate a rotor information estimated value when the motor system approaches an ideal zero position of the sliding film surface of each shaft;

[0055] The dual closed-loop control unit is used to input the rotor information estimation value into the controller of the permanent magnet synchronous motor to form a dual closed-loop structure, thereby realizing dual closed-loop control of the permanent magnet synchronous motor.

[0056] The beneficial effects of adopting the technical solution of this application are as follows:

[0057] This application introduces a linear active disturbance rejection controller (i.e., a linear extended state observer and a linear controller) to the sliding surface of both the α and β axes of a permanent magnet synchronous motor. The motor operating parameters caused by the switching of the switching control function are used as input variables of the linear active disturbance rejection controller. The linear active disturbance rejection controller generates an output control variable by calculation, and then uses the output control variable to equivalently compensate for the chattering of the motor system near the sliding surface caused by the switching of the switching control function. This application not only compensates for the error caused by the sliding membrane variable structure control when estimating the extended back electromotive force, but also compensates for the error caused by the change of the motor operating parameters during motor operation by using the motor operating parameters as input values of the linear active disturbance rejection controller.

[0058] Furthermore, the linear anti-disturbance controller of the present application includes a linear extended state observer and a linear controller, which respectively tracks the actual state of the motor system in the sliding surface attachment of each axis through the linear extended state observer, and uses the output control quantity generated in the tracking process to equivalently compensate for the jitter of the motor system near the sliding surface; and then through the anti-disturbance action of the linear controller, the motor system is infinitely approached to the ideal zero position of the sliding surface, and the current estimate of the motor system is adjusted to obtain a stable extended back electromotive force estimate, and then the rotor information estimate in the permanent magnet synchronous motor is accurately obtained, and the permanent magnet synchronous motor is closed-loop controlled according to the rotor information estimate, so that the permanent magnet synchronous motor control system can operate stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0060] Figure 1 This is a flow chart for estimating rotor information when introducing a linear active disturbance rejection controller to compensate for synovial variable structure control provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to enable people in this technical field to better understand the technical solutions in the embodiments of the present application, and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0062] See also Figure 1 , which is a flow chart of estimating rotor information when introducing a linear active disturbance rejection controller to compensate for synovial variable structure control provided in an embodiment of the present application.

[0063] The present application provides a sliding film sensorless compensation control method based on a position sensorless permanent magnet synchronous motor, the method comprising:

[0064] A linear active disturbance rejection controller is established for the sliding mode surface of each axis in the stationary coordinate system of the permanent magnet synchronous motor.

[0065] The motor operating parameters of the permanent magnet synchronous motor when the permanent magnet synchronous motor is running under the control of the switch control function are obtained; the linear active disturbance rejection controller is controlled to calculate the output control quantity of the linear active disturbance rejection controller according to the motor operating parameters.

[0066] The control linear active disturbance rejection controller uses the output control variable to equivalently compensate for the jitter of the motor system on the sliding membrane surface of each axis, so that the motor system approaches the ideal zero position of the sliding membrane surface of each axis. When the motor system approaches the ideal zero position of the sliding membrane surface of each axis, the difference between the estimated value and the measured value during the motor operation process is 0.

[0067] Calculate the estimated rotor information when the motor system approaches the ideal zero position of the sliding film surface of each axis.

[0068] The permanent magnet synchronous motor is controlled by double closed loop according to the estimated value of rotor information.

[0069] In this embodiment, a linear active disturbance rejection controller includes a linear extended state observer (LESO) and a linear controller. The motor operating parameters can be current measurements (or voltage measurements) during motor operation and current observations (or voltage observations) obtained using a sliding membrane variable structure model. Since changes in motor operating parameters during operation are ultimately reflected in current changes (i.e., the difference between the current observations and the current measurements), this embodiment uses current as an example for calculation. First, estimated stator currents of the permanent magnet synchronous motor operating under the control of each axis's switching control function and measured stator currents obtained using the sliding membrane variable structure model are obtained. The estimated stator currents and measured stator currents are then input into the LESO. The LESO is controlled to track the actual state of the motor system on the sliding membrane surface of each axis based on the estimated stator currents and measured stator currents, obtaining corresponding state variables. The linear controller is controlled to calculate output control variables based on the state variables. The switching control functions of each axis are compensated using the output control variables to obtain continuous control functions for each axis. Then, a low-pass filter is used to remove the high-order harmonics in the continuous control function of each axis to obtain the estimated extended back-EMF value of each axis. Finally, the rotor information of the motor is estimated based on the estimated extended back-EMF value of each axis.

[0070] Furthermore, based on the above embodiments, this embodiment provides a sliding film sensorless compensation control method based on a position sensorless permanent magnet synchronous motor, specifically comprising the following steps:

[0071] Step 1: The linear active disturbance rejection controller in this control method is established based on the voltage and current state equations of the permanent magnet synchronous motor. In the two-phase stationary α and β coordinate systems, the voltage state equation of the permanent magnet synchronous motor is established as:

[0072]

[0073] Where i α 、i β is the stator current measurement value of α and β axes, R is the phase resistance, L s is the phase inductance, u α 、u βis the stator voltage measurement value of α and β axes, e α With e β are the true values of the extended reaction potential of the α and β axes, respectively, and are related to the rotor information of the permanent magnet synchronous motor, respectively, and are expressed as Where, e α is the true value of the α-axis extended reaction potential, e β is the true value of the β-axis extended reaction potential, θ is the motor rotor angle, ψ f is the magnetic linkage, ω e is the motor rotor angular velocity.

[0074] Step 2: Obtain the current state equation of the permanent magnet synchronous motor based on the voltage state equation:

[0075]

[0076] Where i α 、i β is the stator current measurement value of α and β axes, R is the phase resistance, L s is the phase inductance, u α 、u β is the stator voltage measurement value of α and β axes, e α With e β are the true values of the extended reaction potential of the α and β axes respectively.

[0077] Step 3: Based on the sliding mode variable structure control theory of the permanent magnet synchronous motor current state equation, the current observer state equation of the surface-mounted permanent magnet synchronous motor is obtained:

[0078]

[0079] Where Z α 、Z β Represent the switch control function in the α and β axis coordinate systems respectively. The switch control function is a discontinuous control function, which is expressed as k is the switching gain, S is the sliding membrane surface, is the estimated value of the stator current of the α and β axes, R is the phase resistance, L s is the phase inductance.

[0080] Step 4: Based on the current state equation and the current observer state equation, establish the mathematical model of the current observer error state equation:

[0081]

[0082] Where, According to the sliding mode variable structure control theory, when S α =0, S β = 0, which is the sliding surface of each axis of the motor system. When the motor system moves on the sliding surface, it satisfies So that the estimated current is consistent with the observed current, the switch control function Z α 、Z β Approximate the true value of the extended back EMF; however, due to the switch control function Z α 、Z β Since it is a discontinuous function, there is still a certain error between the estimated extended back-EMF and the true value of the extended back-EMF. Therefore, in the following steps, a first-order linear active disturbance rejection controller is used to compensate for this error to improve the control accuracy of the motor system.

[0083] Step 5: Obtain estimated stator current and measured stator current of the permanent magnet synchronous motor when the motor is running under the control of the switch control functions of each axis.

[0084] Step 6: Based on the error state equation, establish the first-order linear active disturbance rejection controller of the sliding membrane surface of each axis, that is, the linear extended state observer and the linear controller.

[0085] For the α-axis sliding film surface: The linear extended state observer can track the actual state of the motor system on the α-axis sliding film surface based on the stator current estimate and the stator current measurement value, and obtain the corresponding state variables. The linear extended state observer on the α-axis is:

[0086]

[0087] Where, e is the tracking error, x1 and x2 are the state variables of the α-axis sliding membrane surface, represents the derivative of x1 and x2, ω o is the observer bandwidth, b is the controller gain, e α is the α-axis expansion reaction potential, Z α is the α-axis switch control function. The stator current estimate and the stator current measurement are obtained, and the difference between the stator current estimate and the stator current measurement is used as the input of the linear extended state observer, which is expressed as is the estimated value of the stator current of the α axis, i α is the stator current measurement value of the α-axis.

[0088] The linear controller of the α-axis can calculate the α-axis output control quantity based on the state variables x1 and x2. The α-axis output control quantity is the observed back electromotive force error compensation value of the α-axis. The linear controller on the α-axis is:

[0089]

[0090] Where U α is the observed back electromotive force error compensation value of the α axis, e α is the true value of the α-axis extended reaction potential, Z α is the α-axis switch control function, kp is the controller gain, and b is the controller gain.

[0091] The α-axis switching control function used in the sliding film variable structure control of the α-axis sliding surface is compensated by the observed back electromotive force error compensation value of the α-axis, and the α-axis continuous control function is obtained as follows: The continuous control function is a linear continuous function, and there will be no switching control of the switching function. Therefore, it can ensure that the motor system does not vibrate when moving on the sliding membrane surface, and ensure the stability of the motor system operation.

[0092] Furthermore, the high-order harmonics in the α-axis continuous control function are filtered out by a low-pass filter to obtain the estimated value of the α-axis extended back electromotive force:

[0093]

[0094] Where, is the estimated value of the α-axis extended reaction potential, is the continuous control function of the α-axis, and ω is the filter cutoff frequency.

[0095] For the β-axis sliding film surface: the linear extended state observer is controlled to track the actual state of the motor system on the β-axis sliding film surface according to the stator current estimation value and the stator current measurement value, and the corresponding state variables are obtained; the linear extended state observer on the β-axis is:

[0096]

[0097] Where, e is the tracking error, x3 and x4 are the state variables of the β axis, represents the derivative of x3 and x4, ω o is the observer bandwidth, b is the controller gain, e β is the true value of the β-axis extended reaction potential, Z β is the β-axis switch control function; the difference between the stator current estimate and the stator current measurement is used as the input of the linear extended state observer, which is expressed as is the estimated value of the stator current of the β axis, i β is the stator current measurement value of the β axis.

[0098] The linear controller of the β-axis calculates the β-axis output control quantity based on the state variables x3 and x4. The β-axis output control quantity is the observed back electromotive force error compensation value. The linear controller on the β-axis is:

[0099]

[0100] Where U β is the observed back electromotive force error compensation value of the β axis, e β is the true value of the β-axis extended reaction potential, Zβ is the β-axis switch control function, k p is the controller gain, and b is the controller gain.

[0101] The β-axis switching control function used in the β-axis sliding surface sliding film variable structure control is compensated by the observed back electromotive force error compensation value of the β-axis, and the β-axis continuous control function is obtained as follows:

[0102] The high-order harmonics in the β-axis continuous control function are filtered out by a low-pass filter to obtain the estimated value of the β-axis extended back electromotive force:

[0103]

[0104] Where, is the estimated value of the β-axis extended reaction potential, is the β-axis continuous control function, and ω represents the filter cutoff frequency.

[0105] The above steps indicate that the linear extended state observer of this application tracks the actual states of the two sliding surfaces respectively, uses the corresponding control variables generated during the tracking process to equivalently compensate for the jitter of the sliding surface caused by the switching function, and then uses the anti-disturbance effect of the linear controller to control the sliding surface at the ideal zero position, thereby adjusting the system current estimate and obtaining an accurate extended back EMF estimate. The rotor position is estimated based on the accurate α-axis and β-axis extended back EMF estimates obtained above.

[0106] Step 7: The rotor position estimated value includes the rotor angle estimated value and the rotor speed estimated value, which are:

[0107]

[0108]

[0109] Where, is the estimated rotor angle, for derivatives, is the estimated rotor speed, Estimated values of the extended reaction potential along the α-axis and β-axis.

[0110] Step 8: Input the estimated rotor angle and speed into the motor system's coordinate transformation and speed controller, respectively, to form a dual closed-loop structure and perform dual closed-loop control. Based on the precise estimated rotor information in the permanent magnet synchronous motor, the permanent magnet synchronous motor can be placed in a closed-loop control state and achieve stable operation.

[0111] The present application also provides a sliding film sensorless compensation control system, which is applied to a position sensorless permanent magnet synchronous motor. The system includes:

[0112] The linear active disturbance rejection controller construction unit is used to construct a linear active disturbance rejection controller for the sliding mode surface of each axis in the stationary coordinate system of the permanent magnet synchronous motor.

[0113] The motor operating parameter acquisition unit is used to obtain the motor operating parameters of the permanent magnet synchronous motor when it is running under the control of the switch control function. The motor operating parameters can be the current measurement value (or voltage measurement value) during the motor operation process and the current observation value (or voltage observation value) obtained through the sliding membrane variable structure model.

[0114] The output control quantity calculation unit is used to control the linear active disturbance rejection controller to calculate the output control quantity of the linear active disturbance rejection controller according to the motor operating parameters.

[0115] The equivalent compensation unit is used to control the linear active disturbance rejection controller to use the output control quantity to equivalently compensate for the jitter of the motor system on the sliding membrane surface of each axis, so that the motor system approaches the ideal zero position of the sliding membrane surface of each axis. When the motor system approaches the ideal zero position of the sliding membrane surface of each axis, the difference between the estimated value and the measured value during the motor operation process is 0.

[0116] The rotor information estimated value calculation unit is used to calculate the rotor information estimated value when the motor system approaches the ideal zero position of the sliding film surface of each axis.

[0117] The dual closed-loop control unit is used to input the estimated rotor information into the controller of the permanent magnet synchronous motor to form a dual closed-loop structure, thereby realizing dual closed-loop control of the permanent magnet synchronous motor.

[0118] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without expending creative work shall fall within the scope of protection of this application.

Claims

1. A sliding film sensorless compensation control method, applied to a position sensorless permanent magnet synchronous motor, characterized in that: The method comprises: Construct a linear active disturbance rejection controller for the sliding mode surface of each axis in the stationary coordinate system of the permanent magnet synchronous motor; Obtaining motor operating parameters when the permanent magnet synchronous motor is operating under the control of the switch control function; Controlling the linear active disturbance rejection controller to calculate an output control variable of the linear active disturbance rejection controller according to the motor operating parameters; Controlling the linear active disturbance rejection controller to use the output control variable to equivalently compensate for the jitter of the motor system on the sliding membrane surface of each axis, so that the motor system approaches the ideal zero position of the sliding membrane surface of each axis; Calculating an estimated value of rotor information when the motor system approaches an ideal zero position of the sliding film surface of each shaft; Inputting the estimated value of the rotor information into a controller of the permanent magnet synchronous motor to form a double closed-loop structure, thereby realizing double closed-loop control of the permanent magnet synchronous motor; The linear active disturbance rejection controller includes a linear extended state observer and a linear controller; Obtain estimated and measured stator current values of a permanent magnet synchronous motor when it is operating under the control of each axis switch control function; Inputting the stator current estimated value and the stator current measured value into the linear extended state observer; Controlling the linear extended state observer to track the actual state of the motor system on the sliding membrane surface of each axis according to the stator current estimated value and the stator current measured value to obtain corresponding state variables; Controlling the linear controller to calculate an output control variable according to the state variable; Compensating the switch control function of each axis by the output control amount to obtain a continuous control function of each axis; The high-order harmonics in the continuous control function of each axis are filtered out by a low-pass filter to obtain an estimated value of the extended back electromotive force of each axis; An estimated value of rotor information of the motor is estimated based on the estimated values of the extended back electromotive force of each axis.

2. The sliding film non-sensing compensation control method according to claim 1, characterized in that: The linear extended state observer on the α-axis is: Where, e is the tracking error, x1 and x2 are the state variables of the α-axis sliding surface; represents the derivative of x1 and x2; ω o is the observer bandwidth, b is the controller gain, e α is the true value of the α-axis extended reaction potential, Z α is the α-axis switch control function; the difference between the stator current estimate and the stator current measurement is used as the input of the linear extended state observer, expressed as is the estimated value of the stator current of the α axis, i α is the stator current measurement value of the α-axis.

3. The sliding film non-sensing compensation control method according to claim 2, characterized in that: The linear controller of the α-axis calculates the α-axis output control quantity according to the state variables x1 and x2. The α-axis output control quantity is the observed back electromotive force error compensation value of the α-axis. The linear controller on the α-axis is: Where U α is the observed back electromotive force error compensation value of the α axis, e α is the true value of the α-axis extended reaction potential, Z α is the α-axis switch control function, k p is the controller gain, and b is the controller gain.

4. The sliding film non-sensing compensation control method according to claim 3, characterized in that: Compensating the switch control function of each axis by the output control amount to obtain a continuous control function of each axis; The high-order harmonics in the continuous control function of each axis are filtered out by a low-pass filter to obtain an estimated value of the extended back electromotive force of each axis, including: The α-axis switching control function used in the sliding film variable structure control of the α-axis sliding surface is compensated by the observed back electromotive force error compensation value of the α-axis, and the α-axis continuous control function is obtained as follows: The high-order harmonics in the α-axis continuous control function are filtered out by a low-pass filter to obtain the estimated value of the α-axis extended back electromotive force: Where, is the estimated value of the α-axis extended reaction potential, is the continuous control function of the α-axis, and ω is the filter cutoff frequency.

5. The sliding film non-sensing compensation control method according to claim 1, characterized in that: The linear extended state observer on the β axis is: Where, e is the tracking error, x3 and x4 are the state variables of the β axis; represents the derivative of x3 and x4; ω o is the observer bandwidth; b is the controller gain, e β is the true value of the β-axis extended reaction potential, Z β is the β-axis switch control function; the difference between the stator current estimate and the stator current measurement is used as the input of the linear extended state observer, expressed as is the estimated value of the stator current of the β axis, i β is the stator current measurement value of the β axis.

6. The sliding film non-sensing compensation control method according to claim 5, characterized in that: The linear controller of the β-axis calculates the β-axis output control quantity based on the state variables x3 and x4. The β-axis output control quantity is the observed back electromotive force error compensation value. The linear controller on the β-axis is: Where U β is the observed back electromotive force error compensation value of the β axis, e β is the true value of the β-axis extended reaction potential, Z β is the β-axis switch control function, k p is the controller gain, and b is the controller gain.

7. The sliding film non-sensing compensation control method according to claim 6, characterized in that: The switch control function of each axis is compensated by the output control amount to obtain a continuous control function of each axis; high-order harmonics in the continuous control function of each axis are filtered out by a low-pass filter to obtain an estimated value of the extended back electromotive force of each axis, further comprising: The β-axis switching control function used in the β-axis sliding surface sliding film variable structure control is compensated by the observed back electromotive force error compensation value of the β-axis, and the β-axis continuous control function is obtained as follows: The high-order harmonics in the β-axis continuous control function are filtered out by a low-pass filter to obtain the estimated value of the β-axis extended back electromotive force: Where, is the estimated value of the β-axis extended reaction potential, is the β-axis continuous control function, and ω represents the cutoff frequency of the filter.

8. The sliding film non-sensing compensation control method according to claim 4 or 7, characterized in that: The rotor information estimated value includes the rotor angle estimated value and the rotor speed estimated value, which are respectively: Where, is the estimated value of the motor rotor angle, for The derivative of is the estimated rotor speed, Estimated values of the extended reaction potential for the α-axis and β-axis; The rotor angle estimated value and the rotor speed estimated value are input into a controller of the permanent magnet synchronous motor to form a double closed-loop structure, thereby realizing double closed-loop control of the permanent magnet synchronous motor.

9. A sliding film sensorless compensation control system, applied to a position sensorless permanent magnet synchronous motor, characterized in that: The system comprises: A linear active disturbance rejection controller construction unit is used to construct a linear active disturbance rejection controller for the sliding mode surface of each axis in the stationary coordinate system of the permanent magnet synchronous motor; A motor operating parameter acquisition unit, used to acquire the motor operating parameters of the permanent magnet synchronous motor when it is running under the control of the switch control function; an output control quantity calculation unit, configured to control the linear active disturbance rejection controller to calculate an output control quantity of the linear active disturbance rejection controller according to the motor operating parameters; an equivalent compensation unit, configured to control the linear active disturbance rejection controller to use the output control variable to equivalently compensate for the jitter of the motor system on the sliding membrane surface of each axis, so that the motor system approaches the ideal zero position of the sliding membrane surface of each axis; The linear active disturbance rejection controller includes a linear extended state observer and a linear controller; Obtain estimated and measured stator current values of a permanent magnet synchronous motor when it is operating under the control of each axis switch control function; Inputting the stator current estimated value and the stator current measured value into the linear extended state observer; Controlling the linear extended state observer to track the actual state of the motor system on the sliding membrane surface of each axis according to the stator current estimated value and the stator current measured value to obtain corresponding state variables; Controlling the linear controller to calculate an output control variable according to the state variable; Compensating the switch control function of each axis by the output control amount to obtain a continuous control function of each axis; The high-order harmonics in the continuous control function of each axis are filtered out by a low-pass filter to obtain an estimated value of the extended back electromotive force of each axis; estimating a rotor information estimate value of the motor based on the estimated value value of the extended back electromotive force of each axis; a rotor information estimated value calculation unit, configured to calculate a rotor information estimated value when the motor system approaches an ideal zero position of the sliding film surface of each shaft; The dual closed-loop control unit is used to input the rotor information estimation value into the controller of the permanent magnet synchronous motor to form a dual closed-loop structure, thereby realizing dual closed-loop control of the permanent magnet synchronous motor.

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