A Sensorless Speed ​​Control Method and System for Ultra-High-Speed ​​Permanent Magnet Synchronous Motors Based on Self-Disturbance Rejection

Abstract

This invention discloses a sensorless speed control method for a high-speed permanent magnet synchronous motor based on active disturbance rejection (ADRP), comprising the following steps: inputting the stator voltage and current in a two-phase stationary coordinate system into a state observer based on an extended back EMF observation algorithm; inputting the rotor position signal accompanied by noise signals into the extended state observer; inputting the real-time motor speed and the target speed processed by a tracking differentiator into a linear feedback controller; outputting the sum of the real-time disturbances of the electromagnetic torque and the load torque, and performing torque analysis to obtain the current command required for current closed-loop control. This invention also discloses a sensorless speed control system for a high-speed permanent magnet synchronous motor based on ADRP. This invention not only obtains accurate rotor position observations but also accurately tracks rapidly changing motor speeds, while simultaneously considering both steady-state and transient performance of the system.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to a sensorless speed control method and system for a permanent magnet synchronous motor based on self-disturbance rejection. Background Technology

[0002] Ultra-high-speed (100,000 RPM and above) permanent magnet synchronous motors (PMSMs) offer advantages such as small size, high efficiency, and high power density, and are widely used in applications such as driving gas turbines, drilling spindles, and fuel cell air compressors in automobiles. While in-depth research into challenges such as rotor dynamics, thermodynamics, oil-free bearings, and efficient cooling systems has made the high-speed requirements of ultra-high-speed PMSMs technically feasible at the hardware level, their small moment of inertia places high demands on dynamic response capabilities, requiring in-depth research at the motor software control algorithm level. Because conventional mechanical rotor position sensors suffer from decreased accuracy and reliability under high-speed conditions, and are limited by installation space, ultra-high-speed PMSM control systems typically employ sensorless control technology. Common rotor position estimation algorithms used in ultra-high-speed permanent magnet synchronous motor control systems are mostly based on the motor's mathematical model, including sliding mode estimation, model reference adaptive method, and extended Kalman filter method. While these algorithms can estimate the rotor position relatively accurately, they rarely consider speed control during the design process. This results in insufficient dynamic response capability of the motor under load torque disturbances or large-range speed regulation, easily leading to failure to track the target speed, or large fluctuations in actual speed causing high-frequency noise that affects the overall vehicle comfort. In addition, the speed command curve needs to be designed specifically for this purpose. The commonly used speed command curve that maintains constant acceleration presents a contradiction between the system's fast dynamic response speed and control stability. Summary of the Invention

[0003] The purpose of this invention is to provide a sensorless speed control method and system for a permanent magnet synchronous motor based on self-disturbance rejection, which can improve the transient response capability of rotor position accuracy and speed observation.

[0004] To address the aforementioned technical problems, this invention provides a sensorless speed control method for ultra-high-speed permanent magnet synchronous motors based on self-disturbance rejection, comprising the following steps:

[0005] Obtain the phase current i output by the inverter a and i b Perform a Clark transformation to convert it into stator current i in a two-phase stationary coordinate system. α and i β ;

[0006] Based on the stator current i in the two-phase stationary coordinate system α and i βand stator voltage command in two-phase stationary coordinate system and The estimated value of the extended back electromotive force in the two-phase stationary coordinate system was calculated. and

[0007] Estimated value of extended back electromotive force in the two-phase stationary coordinate system and Perform arctangent calculation to obtain the rotor position angle.

[0008] Regarding the rotor position angle Expansion state observations were performed to obtain rotor position observations. Motor speed observation value Differential observation of motor speed Load disturbance observations

[0009] Using rotor position observations For the stator current i in the two-phase stationary coordinate system α and i β Perform the Park transformation to obtain the stator current in the two-phase rotating coordinate system;

[0010] Obtain the target rotational speed ω cmd The reference speed v1 and the derivative of the reference speed v2 are obtained by performing a transition process on it.

[0011] The observed value of the motor speed Differential observation of motor speed The reference speed v1 and its derivative v2 are used for linear feedback calculation to obtain the initial value T of the reference electromagnetic torque command. e0 ;

[0012] For the initial value T of the reference electromagnetic torque command e0 and load disturbance observations Perform feedforward compensation calculations to obtain the motor electromagnetic torque command T. e ;

[0013] Electromagnetic torque command T for the motor e Torque analysis is performed to obtain current commands, and the operation of the ultra-high-speed permanent magnet synchronous motor is controlled according to the current commands.

[0014] Preferably, the electromagnetic torque command T of the motor is... e Torque analysis is performed to obtain current commands, and the operation of the ultra-high-speed permanent magnet synchronous motor is controlled according to the current commands. The specific steps include:

[0015] The current command includes the stator current command in a two-phase rotating coordinate system. and

[0016] For the stator current i in the two-phase rotating coordinate system d and i q and stator current command in two-phase rotating coordinate system and PI control is performed to calculate the stator voltage command in a two-phase rotating coordinate system. and

[0017] Using rotor position observations Stator voltage command in the two-phase rotating coordinate system and Performing the inverse Park transformation yields the stator voltage command in the two-phase stationary coordinate system. and

[0018] Stator voltage command in two-phase stationary coordinate system and The signal is sent to the space vector pulse width modulation module to obtain six PWM signal outputs. The PWM signals control the inverter, and the three-phase output voltage obtained from the inverter drives the operation of the ultra-high speed permanent magnet synchronous motor.

[0019] Preferably, the extended back electromotive force estimate in the two-phase stationary coordinate system is... and Perform arctangent calculation to obtain the rotor position angle.

[0020] The preliminary estimated rotor position angle was obtained through calculation. The formula is as follows:

[0021]

[0022] Preferably, the rotor position angle Expansion state observations were performed to obtain rotor position observations. Motor speed observation value Differential observation of motor speed Load disturbance observations Specifically, the following steps are included:

[0023] Based on the motor's equation of motion, and treating the motor's load torque as a disturbance, a linear extended state observer is designed, as shown in the following formula:

[0024]

[0025] Where: β1, β2, and β3 are linear feedback gains, and T e It is electromagnetic torque, n pJ is the number of pole pairs of the motor, and J is the moment of inertia of the motor. It is the rotor position observation error;

[0026] Preferably, to ensure the convergence of the linearly extended observer, β1, β2, and β3 need to satisfy the characteristic polynomial f(λ) = λ of the state gain matrix of the observation error. 3 +β1λ 2 The eigenvalues ​​of +β2λ+β3 all have negative real parts, so the linear feedback gain is configured as follows:

[0027]

[0028] Where ω0 is the system bandwidth; λ represents the eigenvalues ​​of the characteristic polynomial.

[0029] Preferably, the target rotational speed ω is obtained. cmd Then, a transition process is performed on it to obtain the reference speed v1 and the derivative of the reference speed v2. Specifically, the following steps are included:

[0030] Receive target rotational speed ω cmd The nonlinear tracking differentiator performs transition processing to obtain the reference rotational speed v1 and its derivative v2, as shown in the following formula:

[0031]

[0032] Where: the reference speed v1 is the target speed ω cmd The tracking signal, v2 is the derivative of the reference rotational speed v1, r0 is the tracking speed factor, h0 is the filter factor, fhan(v1-ω) cmd (v1, v2, r0, h0) is the fastest synthesis function of the active disturbance rejection control system, used to enable v1 to track ω upwards without oscillations in a suitable and short response time. cmd Its specific expression is as follows:

[0033]

[0034] Where sgn is the symbolic function, and the other undefined variables are intermediate variables that are parameters adjusted by the system and have no explicit meaning.

[0035] Preferably, the observed motor speed value Differential observation of motor speed The reference speed v1 and its derivative v2 are used for linear feedback calculation to obtain the initial value T of the reference electromagnetic torque command. e0 Specifically, it includes the following steps:

[0036] The initial value T of the reference electromagnetic torque command is calculated. e0 The formula is as follows:

[0037]

[0038] Where c1 and c2 are linear positive feedback gains;

[0039] Preferably, for the stator current i in a two-phase rotating coordinate system d and i q and stator current command in two-phase rotating coordinate system and PI control is performed to calculate the stator voltage command in a two-phase rotating coordinate system. and Specifically, the following steps are included:

[0040] Calculate the stator current i in a two-phase rotating coordinate system d and i q and stator current command in two-phase rotating coordinate system and The difference;

[0041] The difference is calculated using proportional and integral operations to obtain the stator voltage command in the two-phase rotating coordinate system. and

[0042] The present invention also provides a system for implementing the above-mentioned sensorless ultra-high-speed permanent magnet synchronous motor speed control method based on active disturbance rejection, comprising:

[0043] A current sensor is used to sample the phase current i output by the inverter. a and i b ;

[0044] Clark transform module, used for phase current i a and i b The stator current i in the two-phase stationary coordinate system is obtained by performing Clark transformation. α and i β ;

[0045] A state observer is used to monitor the stator current i in a two-phase stationary coordinate system. α and i β Stator voltage command in two-phase stationary coordinate system and Based on the extended back EMF observation algorithm, the estimated value of the extended back EMF in the two-phase stationary coordinate system is obtained. and

[0046] The position calculation module is used to estimate the extended back electromotive force in a two-phase stationary coordinate system. and Arctangent operation is used to calculate the rotor position angle.

[0047] Extended state observer, used to determine the rotor position angle The rotor position observation values ​​were calculated. Motor speed observation value Differential observation of motor speed Load disturbance observations

[0048] The Park transformation module utilizes rotor position observations. For the stator current i in a two-phase stationary coordinate system α and i β Perform the Park transformation to obtain the stator current i in the two-phase rotating coordinate system. d and i q ;

[0049] A nonlinear tracking differentiator is used to determine the target rotational speed ω. cmd The reference rotational speed v1 and the derivative of the reference rotational speed v2 are obtained by performing transition processing;

[0050] Linear feedback controller, used to adjust the motor speed based on observed values. Differential observation of motor speed The initial value T of the reference electromagnetic torque command is calculated from the reference rotational speed v1 and its derivative v2. e0 ;

[0051] The feedforward compensation module initializes the reference electromagnetic torque command value T. e0 and load disturbance observations The electromagnetic torque command T of the motor is obtained by performing feedforward compensation calculation. e ;

[0052] The torque value calculation module is used to calculate the value based on the motor electromagnetic torque command T. e The stator current command required for current loop control in the two-phase rotating coordinate system is calculated. and

[0053] The current control module is used to control the stator current i in a two-phase rotating coordinate system. d and i q and stator current command in two-phase rotating coordinate system and The stator voltage command in the two-phase rotating coordinate system is calculated. and

[0054] The Park inverse transform module utilizes rotor position observations. Stator voltage command in a two-phase rotating coordinate system and Performing the inverse Park transformation yields the stator voltage command in the two-phase stationary coordinate system. and

[0055] The space vector pulse width modulation module is used to control the stator voltage command in a two-phase stationary coordinate system. and Six PWM signals are calculated and used to control the inverter. The three-phase output voltage obtained from the inverter drives the operation of the ultra-high-speed permanent magnet synchronous motor.

[0056] Preferably, the current control module includes a subtractor and a proportional-integral (PI) regulator;

[0057] A subtractor is used to calculate the stator current i in a two-phase rotating coordinate system. d and i q and stator current command in two-phase rotating coordinate system and The difference;

[0058] A proportional-integral (PI) regulator is used to perform proportional and integral calculations on the difference to obtain the stator voltage command in a two-phase rotating coordinate system. and

[0059] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0060] First, the extended state observer proposed in this invention performs post-processing on the rotor position information with large noise from the extended back EMF observation, eliminating the estimated rotor position phase delay phenomenon caused by the phase-locked loop position observer and the low-pass filter post-processing method. It can not only obtain accurate motor rotor position observation values, but also accurately track rapidly changing motor speeds, while taking into account both the steady-state performance and transient performance of the system.

[0061] Second, the load torque disturbance estimated by the present invention is superimposed on the electromagnetic torque output of the linear feedback controller, which can eliminate the traditional speed PI controller and enhance the system's ability to resist disturbances when subjected to changes in internal parameters and sudden changes in external load torque.

[0062] Third, the speed command curve design based on the tracking differentiator in this invention solves the contradiction between overshoot and system response speed in speed control in traditional design methods. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of the principle of the sensorless speed control method for ultra-high-speed permanent magnet synchronous motor based on self-disturbance rejection according to the present invention.

[0064] Figure 2 This is a block diagram of the extended state observer in this invention;

[0065] Figure 3 yes Figure 1 Block diagram of the Active Disturbance Rejection Controller (ADRC). Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] The following is in conjunction with the appendix Figure 1-3 The present invention will be described in further detail as follows:

[0068] This invention relates to a sensorless speed control method for ultra-high-speed permanent magnet synchronous motors based on self-disturbance rejection, which largely employs a vector control framework and includes the following steps:

[0069] The stator voltage and current in the two-phase stationary coordinate system are input together into the state observer based on the extended back EMF observation algorithm to obtain the rotor position signal accompanied by noise signal;

[0070] Wherein: the stator voltage and current in the two-phase stationary coordinate system include the stator current i in the two-phase stationary coordinate system. α and i β and stator voltage command in two-phase stationary coordinate system and The rotor position signal is estimated by the extended back electromotive force in a two-phase stationary coordinate system. and Obtained through arctangent calculation;

[0071] The rotor position signal accompanied by noise is input into the extended state observer to estimate the precise rotor position, real-time motor speed, and real-time load torque disturbance. The precise rotor position is used for Park transform and inverse Park transform calculations.

[0072] Where: precise rotor position includes rotor position observations Real-time motor speed includes observed motor speed values. Differential observations of motor speed Real-time load torque disturbance includes load disturbance observations.

[0073] The real-time motor speed and the target speed processed by the tracking differentiator are input together into the linear feedback controller to obtain the electromagnetic torque;

[0074] Wherein: electromagnetic torque includes the initial value T of the reference electromagnetic torque command. e0 ;

[0075] The sum of the electromagnetic torque and the real-time disturbance of the load torque is used to perform torque analysis to obtain the current command required for current closed-loop control, which drives the ultra-high-speed permanent magnet synchronous motor.

[0076] Among them: the current command includes the stator current command in the two-phase rotating coordinate system. and

[0077] In this embodiment, the invention also employs rotor position estimation based on the mathematical model of the ultra-high-speed permanent magnet synchronous motor to achieve speed control. However, the difference lies in that the rotor position estimation method based on extended back electromotive force (EMF) incorporates active disturbance rejection control (ADRC) theory. This algorithm uses the noisy rotor position signal obtained from the extended EMF observation algorithm as the main variable of the extended state observer of the ADRC, replacing the phase-locked loop position observer and low-pass filter. Electromagnetic torque is used as the overall system disturbance to calculate the accurate rotor position signal, estimated speed, and estimated load torque. The linear feedback controller is designed to compensate for the estimated load disturbance in a feedforward manner, solving the problem of insufficient dynamic speed response capability of the ultra-high-speed permanent magnet synchronous motor when experiencing load torque disturbances or wide-range speed regulation. The nonlinear tracking differentiator in the ADRC is used for transition processing of the target speed, resulting in a speed command curve that allows the ultra-high-speed permanent magnet synchronous motor to reduce speed response time while ensuring control system stability across the entire speed range.

[0078] This invention achieves improved rotor position accuracy and transient response capability for speed observation through the sensorless control method designed based on the above-mentioned active disturbance rejection control theory.

[0079] In this embodiment, such as Figure 1-3 As shown, the specific steps include:

[0080] A: The phase current i output by the inverter is sampled using a current sensor. a and i b The Clark transformation is performed using the Clark transformation module to convert it into stator current i in a two-phase stationary coordinate system. α and i β ;

[0081] B: The stator current i in the two-phase stationary coordinate system α and i β and stator voltage command in two-phase stationary coordinate system and Simultaneously, the data is sent to a state observer based on the extended back EMF observation algorithm to calculate the extended back EMF estimate in the two-phase stationary coordinate system. and

[0082] C: The extended back electromotive force estimate in the two-phase stationary coordinate system and The value is sent to the position calculation module atan, where the arctangent operation is used to obtain a preliminary estimate of the rotor position angle. The formula is as follows:

[0083]

[0084] D: Rotor position angle The data is input into the extended state observer, which is then used to obtain precise rotor position observations of the motor. Motor speed observation value Differential observation of motor speed Load disturbance observations like Figure 2 As shown, the specific implementation method is as follows:

[0085] D1: Based on the motor's motion equations, and treating the motor's load torque as a disturbance, a linear extended state observer is designed, as shown in the following formula:

[0086]

[0087] Where: β1, β2, and β3 are linear feedback gains, and T e It is electromagnetic torque, n p J is the number of pole pairs of the motor, and J is the moment of inertia of the motor. It is the rotor position observation error;

[0088] D2: To ensure the convergence of the linearly extended observer, β1, β2, and β3 need to satisfy the characteristic polynomial f(λ) = λ of the state gain matrix of the observation error. 3 +β1λ 2 The eigenvalues ​​of +β2λ+β3 all have negative real parts, so the linear feedback gain is configured as follows:

[0089]

[0090] Where ω0 is the bandwidth of the system; λ represents the eigenvalues ​​of the characteristic polynomial;

[0091] E: Using rotor position observations For the stator current i in the two-phase stationary coordinate system α and i β Perform the Park transformation to obtain the stator current in the two-phase rotating coordinate system;

[0092] F: Target rotational speed ω cmd The nonlinear tracking differentiator performs transition processing to obtain the reference rotational speed v1 and its derivative v2, as shown in the following formula:

[0093]

[0094] Where: the reference speed v1 is the target speed ω cmd The tracking signal, v2 is the derivative of the reference rotational speed v1, r0 is the tracking speed factor, h0 is the filter factor, fhan(v1-ω) cmd (v1, v2, r0, h0) is the fastest synthesis function of the active disturbance rejection control system, used to enable v1 to track ω upwards without oscillations in a suitable and short response time. cmd Its specific expression is as follows:

[0095]

[0096] Where sgn is the sign function, and the other undefined variables are intermediate variables that are parameters adjusted by the system and have no explicit meaning;

[0097] G: Observation value of motor speed Differential observation of motor speed The reference speed v1 and its derivative v2 are simultaneously sent to the linear feedback controller to calculate the initial value T of the reference electromagnetic torque command. e0 The formula is as follows:

[0098]

[0099] Where: c1 and c2 are linear positive feedback gains, and ε1 and ε2 are the speed difference and the speed differential difference;

[0100] H: Refer to the initial value T of the electromagnetic torque command. e0 and load disturbance observations Simultaneously, it is sent to the feedforward compensation module, through which the motor electromagnetic torque command T is obtained. e The formula is as follows:

[0101]

[0102] I: Transfer the motor electromagnetic torque command T e The input is fed into the torque value calculation module for torque analysis to obtain the stator current command in the two-phase rotating coordinate system required for current loop control. and

[0103] J: Stator current i in a two-phase rotating coordinate system d and iq and stator current command in two-phase rotating coordinate system and The commands are sent together to the current control module to calculate the stator voltage command in the two-phase rotating coordinate system. and

[0104] The current control module includes a subtractor and a proportional-integral (PI) regulator;

[0105] A subtractor is used to calculate the stator current i in a two-phase rotating coordinate system. d and i q and stator current command in two-phase rotating coordinate system and The difference;

[0106] A proportional-integral (PI) regulator is used to perform proportional and integral calculations on the difference to obtain the stator voltage command in a two-phase rotating coordinate system. and

[0107] K: Stator voltage command in a two-phase rotating coordinate system and and rotor position observations The data are sent together to the Park inverse transform module, utilizing the rotor position observations. Stator voltage command in the two-phase rotating coordinate system and Performing the inverse Park transformation yields the stator voltage command in the two-phase stationary coordinate system. and

[0108] L: Stator voltage command in two-phase stationary coordinate system and The signal is sent to the space vector pulse width modulation module to obtain six PWM signal outputs. The PWM signals control the inverter, and the three-phase output voltage obtained from the inverter drives the operation of the ultra-high speed permanent magnet synchronous motor.

[0109] The present invention also provides a system for implementing the above-mentioned sensorless ultra-high-speed permanent magnet synchronous motor speed control method based on self-disturbance rejection, comprising:

[0110] A current sensor is used to sample the phase current i output by the inverter. a and i b ;

[0111] Clark transform module, used for phase current i a and i b The stator current i in the two-phase stationary coordinate system is obtained by performing Clark transformation. α and iβ ;

[0112] A state observer is used to monitor the stator current i in a two-phase stationary coordinate system. α and i β Stator voltage command in two-phase stationary coordinate system and Based on the extended back EMF observation algorithm, the estimated value of the extended back EMF in the two-phase stationary coordinate system is obtained. and

[0113] The position calculation module is used to estimate the extended back electromotive force in a two-phase stationary coordinate system. and Perform arctangent calculation to obtain the rotor position angle.

[0114] Extended state observer, used to determine the rotor position angle The rotor position observation values ​​were calculated. Motor speed observation value Differential observation of motor speed Load disturbance observations

[0115] The Park transformation module utilizes rotor position observations. For the stator current i in a two-phase stationary coordinate system α and i β Perform the Park transformation to obtain the stator current i in the two-phase rotating coordinate system. d and i q ;

[0116] A nonlinear tracking differentiator is used to determine the target rotational speed ω. cmd The reference rotational speed v1 and the derivative of the reference rotational speed v2 are obtained by performing transition processing;

[0117] Linear feedback controller, used to adjust the motor speed based on observed values. Differential observation of motor speed The initial value T of the reference electromagnetic torque command is calculated from the reference rotational speed v1 and its derivative v2. e0 ;

[0118] The feedforward compensation module initializes the reference electromagnetic torque command value T. e0 and load disturbance observations The electromagnetic torque command T of the motor is obtained by performing feedforward compensation calculation. e ;

[0119] The torque value calculation module is used to calculate the value based on the motor electromagnetic torque command T. eThe stator current command required for current loop control in the two-phase rotating coordinate system is calculated. and

[0120] The current control module is used to control the stator current i in a two-phase rotating coordinate system. d and i q and stator current command in two-phase rotating coordinate system and The stator voltage command in the two-phase rotating coordinate system is calculated. and

[0121] The Park inverse transform module is used to utilize rotor position observations. Stator voltage command in the two-phase rotating coordinate system and Performing the inverse Park transformation yields the stator voltage command in the two-phase stationary coordinate system. and

[0122] The space vector pulse width modulation module is used to control the stator voltage command in a two-phase stationary coordinate system. and Six PWM signals are calculated and used to control the inverter. The three-phase output voltage obtained from the inverter drives the operation of the ultra-high-speed permanent magnet synchronous motor.

[0123] An extended state observer, a linear feedback controller, and a nonlinear tracking differentiator together constitute an active disturbance rejection controller (ADRC).

[0124] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A position sensorless ultra-high speed permanent magnet synchronous motor speed control method based on active disturbance rejection, characterized in that, Comprising the following steps: Obtaining the phase currents i of the inverter output a and i b Performing a Clark transformation to convert them into stator currents i in a two-phase stationary coordinate system α and i β ; According to the stator current i α and i β and the stator voltage command and The extended back EMF estimate in the two-phase stationary coordinate system is calculated and to the extended back emf estimate in the two-phase stationary coordinate system and performing an inverse tangent operation to obtain a rotor position angle the rotor position angle an extended state observation is performed to obtain an observation value of the rotor position an observation value of the motor speed an observation value of the differential of the motor speed an observation value of the load disturbance Utilizing rotor position observation values The stator currents i α and i β are subjected to Park transformation to obtain the stator currents i d and i q in the two-phase rotating coordinate system; Acquiring a target rotating speed ω cmd Transition processing is performed thereon to obtain a reference rotating speed v1 and a derivative of the reference rotating speed v2. The motor speed observation value The motor speed differential observation value The reference speed v1, the derivative of the reference speed v2 are subjected to linear feedback calculation to obtain the reference electromagnetic torque command initial value T e0 ; The reference electromagnetic torque command initial value T e0 and the load disturbance observation value The feedforward compensation calculation is performed to obtain the motor electromagnetic torque command T e ; The motor electromagnetic torque command T e Torque analysis is performed to obtain a current command, and the operation of the super-high-speed permanent magnet synchronous motor is controlled according to the current command.

2. The self-disturbance-based position-sensorless high-speed permanent magnet synchronous motor speed control method according to claim 1, characterized in that, The motor electromagnetic torque command T e The torque is analyzed to obtain a current command, and the operation of the super-high-speed permanent magnet synchronous motor is controlled according to the current command, specifically including the following steps: The current command includes a stator current command in a two-phase rotating coordinate system and The stator currents i d and i q in the two-phase rotating coordinate system and are subjected to PI regulation, and the stator voltage commands and Using rotor position observation values Performing Park inverse transformation on the stator voltage command in the two-phase rotating coordinate system Performing Park inverse transformation on the stator voltage command in the two-phase rotating coordinate system ​​ The stator voltage commands in two-phase stationary coordinate system and are sent to a space vector pulse width modulation module to obtain six PWM signal outputs, and the super-high-speed permanent magnet synchronous motor is driven to run by an inverter controlled by the PWM signals and three-phase output voltages obtained by the inverter.

3. The self-disturbance rejection based sensorless ultra-high speed permanent magnet synchronous motor speed control method according to claim 1, performing an inverse tangent operation on the extended back electromotive force estimation value in the two-phase stationary coordinate system to obtain a rotor position angle and characterized in that​ The preliminary estimated rotor position angle is calculated The formula is as follows:

4. The self-disturbance-based position-sensorless ultra-high-speed permanent magnet synchronous motor speed control method according to claim 1, characterized in that, the rotor position angle an extended state observation is performed to obtain an observation value of the rotor position an observation value of the motor speed an observation value of the differential of the motor speed an observation value of the load disturbance comprising the following steps: Based on the motor motion equation, the load torque of the motor is taken as the disturbance to design a linear extended state observer, which is as follows: where: β1, β2, and β3 are linear feedback gains, T e is the motor electromagnetic torque command, n p is the number of pole pairs of the motor, J is the moment of inertia of the motor, is the rotor position observation error.

5. The self-disturbance control method for the position sensorless super-high-speed permanent magnet synchronous motor speed of claim 4, characterized in that: To ensure the convergence of the linear extended state observer, β1, β2 and β3 need to satisfy that the eigenvalues of the characteristic polynomial f(λ) = λ 3 + β1λ 2 + β2λ + β3 of the state gain matrix of the observation error all have negative real parts, so the linear feedback gain is configured in the following manner: Where ω0 is the bandwidth of the system, λ represents the eigenvalue of the characteristic polynomial.

6. The self-disturbance-based position-sensor-less control method for high-speed permanent magnet synchronous motor according to claim 1, characterized in that, Obtaining a target rotational speed ω cmd And transition processing is performed to obtain a reference rotational speed v1 and a derivative of the reference rotational speed v2, and specifically includes the following steps: Receiving target rotation speed ω cmd The nonlinear tracking differentiator processes the transition to get the reference rotation speed v1 and the derivative of the reference rotation speed v2, and the formulas are as follows: wherein: the reference rotational speed v1 is the target rotational speed ω cmd , v2 is the derivative of the reference rotational speed v1, r0 is a tracking speed factor, h0 is a filter factor, fhan(v1-ω cmd , v2, r0, h0) is a fastest synthesis function of the active disturbance rejection control system, which is used to make v1 track ω cmd with a suitable, short response time and without oscillation, and its specific expression is as follows: Where sgn is the sign function, and the remaining variables not defined are intermediate variables. The parameters are adjusted according to the system, and have no specific meaning.

7. The self-disturbance-based position-sensor-less control method for high-speed permanent magnet synchronous motor according to claim 1, characterized in that, a motor speed observation value a motor speed differential observation value a linear feedback calculation is performed with reference to the reference speed v1 and the derivative of the reference speed v2 to obtain a reference electromagnetic torque command initial value T e0 , and specifically includes the following steps: The reference electromagnetic torque command initial value T is calculated e0 The formula is as follows: Where: c1 and c2 are linear positive feedback gains, and ε1 and ε2 are speed difference and speed differential values.

8. The self-disturbance-based position-sensor-less control method for the ultra-high-speed permanent magnet synchronous motor rotor speed according to claim 2, characterized in that, The stator currents i d and i q The stator current commands i and The stator voltage commands u and Specifically comprising the following steps: The stator currents i in the two-phase rotating coordinate system are calculated d and i q The difference between the stator current commands in the two-phase rotating coordinate system and is calculated. The difference value is calculated by proportion and integration to obtain a stator voltage instruction in a two-phase rotating coordinate system and 9. A system implementing the self-disturbance-based position-sensorless high-speed permanent-magnet synchronous motor speed control method according to any one of claims 1-8, characterized in that, Comprising: a current sensor for sampling the phase current i of the inverter output a and i b ; a Clark transformation module for performing a Clark transformation on the phase currents i a and i b to obtain stator currents i α and i β in a two-phase stationary coordinate system; a state observer for observing the stator currents i α and i β a stator voltage command in two-phase stationary coordinate system and an extended back-EMF estimate in two-phase stationary coordinate system is calculated based on an extended back-EMF observation algorithm and a position calculation module for calculating a rotor position angle from the extended back-emf estimate in a two-phase stationary coordinate system and an arctangent operation for calculating a rotor position angle from the extended back-emf estimate in a two-phase stationary coordinate system Linear extended state observer for estimating rotor position angle from motor current Computing a rotor position estimate Motor speed estimate Motor speed differential estimate Load disturbance estimate Park transformation module, using rotor position observation values the stator currents i α and i β are subjected to a Park transformation to obtain the stator currents i d and i q in a two-phase rotating coordinate system; Nonlinear tracking differentiator for target speed ω cmd reference speed v1, derivative of reference speed v2 linear feedback controller for calculating a reference electromagnetic torque command T based on a motor speed observation value a motor speed differential observation value a reference speed v1, a derivative of the reference speed v2, and a reference electromagnetic torque command initial value T e0 ; A feedforward compensation module is provided to compensate for the initial value of the reference electromagnetic torque command T e0 and the load disturbance observation value The feedforward compensation calculation is performed to obtain the motor electromagnetic torque command T e ; The torque value calculation module is configured to calculate the stator current command in the two-phase rotating coordinate system required for current loop control according to the motor electromagnetic torque instruction T e and ​ a current control module for calculating stator current commands i d and i q in a two-phase rotating coordinate system based on the stator current i and in a two-phase rotating coordinate system based on the stator voltage u and Park inverse transformation module, using rotor position observation value a stator voltage command in a two-phase stationary coordinate system and performing Park inverse transformation to obtain a stator voltage command in a two-phase stationary coordinate system and A space vector pulse width modulation module is configured to generate six PWM signals according to stator voltage commands in a two-phase stationary reference frame and The six PWM signals are used to control an inverter, and a three-phase output voltage obtained through the inverter is used to drive the operation of the super-high-speed permanent magnet synchronous motor.

10. The system of claim 9, wherein: The current control module comprises a subtractor and a proportional integral (PI) regulator. a subtracter for calculating the difference between the stator current i d and i q and the stator current command in the two-phase rotating coordinate system and in the two-phase rotating coordinate system A proportional-integral (PI) regulator is used to proportionally and integrally calculate the difference value to obtain a stator voltage command in a two-phase rotating coordinate system and

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