A control method for permanent magnet motor using mixed differential and lag integral

Abstract

The application provides a permanent magnet motor control method adopting mixed differential and lagging integral, which forms a rotating speed error by measuring the rotating speed of the motor, then solves a rotating speed error differential signal through a sine-cosine mixed differentiator, and provides an error integral signal by using a large lagging integrator while performing output first derivative solution to obtain an error primary differential signal, directly reverses a d-axis current and performs sine-cosine mixed integral and linear integral, and obtains a q-axis stator voltage control signal by using a lagging differential to form a damping signal; then, the rotating speed error signal, the output signal of the large lagging integrator and the angular speed mixed differential signal are superposed to obtain a q-axis current expected signal and a q-axis current error signal, and then the current error large lagging integrator is used to solve an integral signal while solving a current error primary differential signal and a current error mixed differential signal to provide system damping, so that a d-axis stator voltage control signal is finally obtained to realize rotating speed control of the motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of adaptive control of permanent magnet motor, in particular, relates to a kind of permanent magnet motor control method using hybrid differential and hysteresis integration. BACKGROUND

[0002] Permanent magnet motor has the advantages of stability, small size and low loss, and has achieved wide application and development in various fields of civil use in recent years. The problem of motor operation stability, especially under the influence of load change or external current voltage jitter, not only involves the service life of the motor, but also affects the quality of the products produced in some high-precision industrial lathes. Therefore, it is very valuable to study the damping increasing method of the motor with high stability requirement in use place. The most effective and difficult way of damping increase is to measure the rotational angular acceleration and introduce control. However, the accuracy, real-time performance and delay of angular acceleration measurement are difficult to solve. Based on the above background reasons, the present application proposes a method of using sine-cosine hybrid differentiator to solve the rotational angular acceleration, and superimposing the damping provided by current hysteresis differential and large hysteresis integrator to realize high stability control of motor. It has good theoretical value, and the experimental results also show that it has high industrial application value.

[0003] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those skilled in the art. SUMMARY

[0004] The present application aims to provide a kind of permanent magnet motor control method using hybrid differential and hysteresis integration, to overcome the problem of insufficient motor operation stability caused by the limitations and defects of related technology.

[0005] According to one aspect of the present application, a kind of permanent magnet motor control method using hybrid differential and hysteresis integration is provided, comprising the following steps:

[0006] Step S10, the position, speed and two-phase current of the rotor of permanent magnet synchronous motor are measured, and the two-phase current is coordinate transformed.

[0007] Step S20, the speed detection sensor unit is used to measure the permanent magnet synchronous motor rotor speed signal, the expected speed signal is set according to the motor task, then the rotor speed signal is compared with the expected speed signal to obtain the speed error signal;The first state initial value of the sine-cosine hybrid differentiator is set to 0, and the state deviation signal is obtained by comparing the speed error signal;According to the state deviation signal, the half-cycle amplitude limiting transformation is carried out to obtain the state deviation amplitude limiting signal;The state deviation amplitude limiting signal is subjected to sine-cosine hybrid transformation to obtain the state deviation sine-cosine hybrid signal;The second state initial value of the sine-cosine hybrid differentiator is set to 0, and the second state is subjected to half-cycle amplitude limiting transformation to obtain the second state amplitude limiting signal;The second state is subjected to sine-cosine hybrid transformation to obtain the second state sine-cosine hybrid signal;Then the state deviation signal is superimposed with the second state signal and the state deviation sine-cosine hybrid signal to obtain the input of the sine-cosine hybrid differentiator.

[0008] Step S30, the first state derivative signal of the sine-cosine hybrid differentiator is obtained by solving the input signal of the sine-cosine hybrid differentiator;Then the nonlinear integral is carried out to obtain the first state signal of the sine-cosine hybrid differentiator;Finally, the second state derivative signal of the sine-cosine hybrid differentiator is obtained by solving the state deviation signal superimposed with the second state signal and the second state sine-cosine hybrid signal, and then the nonlinear integral is carried out to obtain the second state signal of the sine-cosine hybrid differentiator.

[0009] Step S40, according to the speed error signal, the output signal initial value of the large lag integrator is set to the initial value of the speed error signal;Then compared with the speed error signal, the speed lag deviation signal is obtained;According to the speed lag deviation signal, the half-cycle amplitude limiting transformation is carried out to obtain the speed lag deviation amplitude limiting signal;The speed lag deviation amplitude limiting signal is subjected to sine-cosine hybrid transformation to obtain the speed lag deviation sine-cosine hybrid signal;The second derivative signal of the output signal of the large lag integrator is obtained according to the speed lag deviation sine-cosine hybrid signal and the output signal of the large lag integrator, and then the nonlinear integral is carried out to obtain the first derivative signal of the output signal of the large lag integrator;Then the nonlinear integral is carried out to obtain the output signal of the large lag integrator.

[0010] Step S50, according to the described speed hysteresis deviation signal and the output signal of the large hysteresis integrator, the angular velocity primary derivative signal is calculated; Then superimposed the input signal of the sine-cosine hybrid differentiator to obtain the angular velocity hybrid differential signal; The d-axis stator current signal in the two-phase rotating coordinate system obtained after Prak transformation is inverse transformed to obtain the d-axis current error signal; According to the d-axis current error signal, the half-cycle amplitude limiting transformation is carried out to obtain the d-axis current error amplitude limiting signal; The d-axis current error amplitude limiting signal is subjected to sine-cosine hybrid transformation to obtain the d-axis current error amplitude limiting sine-cosine hybrid signal; Then the d-axis current error signal is linearly integrated to obtain the d-axis current error linear integral signal; The d-axis current error amplitude limiting sine-cosine hybrid signal is integrated to obtain the d-axis current error sine-cosine hybrid integral signal; The d-axis current error signal is subjected to hysteresis differential operation to obtain the d-axis current error hysteresis differential signal; Then superimposed the d-axis current error hybrid differential signal; Finally, the d-axis current error signal, the d-axis current error amplitude limiting sine-cosine hybrid signal, the d-axis current error linear integral signal, and the d-axis current error sine-cosine hybrid integral signal are superimposed to form the q-axis stator voltage control signal.

[0011] Step S60, according to the described speed error signal, the output signal of the large hysteresis integrator, and the angular velocity hybrid differential signal, the q-axis current expected signal is obtained; Then compared with the q-axis stator current signal in the two-phase rotating coordinate system obtained after Prak transformation to obtain the q-axis current error signal; According to the q-axis current error signal, the half-cycle amplitude limiting transformation is carried out to obtain the q-axis current error amplitude limiting signal; The q-axis current error amplitude limiting signal is subjected to sine-cosine hybrid transformation to obtain the q-axis current error amplitude limiting sine-cosine hybrid signal; Then the q-axis current error signal is linearly integrated to obtain the q-axis current error linear integral signal; The q-axis current error amplitude limiting sine-cosine hybrid signal is integrated to obtain the q-axis current error sine-cosine hybrid integral signal.

[0012] Step S70, the initial value of the output signal of the current error large hysteresis integrator is set as the initial value of the q-axis current error; Then compared with the q-axis current error signal to obtain the current hysteresis deviation signal; According to the current hysteresis deviation signal, the half-cycle amplitude limiting transformation is carried out to obtain the current hysteresis deviation amplitude limiting signal; The current hysteresis deviation amplitude limiting signal is subjected to sine-cosine hybrid transformation to obtain the current hysteresis deviation sine-cosine hybrid signal; According to the current hysteresis deviation sine-cosine hybrid signal and the output signal of the current error large hysteresis integrator, the output second derivative signal of the current error large hysteresis integrator is calculated, and then nonlinear integration is carried out to obtain the output first derivative signal of the current error large hysteresis integrator; Then nonlinear integration is carried out to obtain the output signal of the current error large hysteresis integrator.

[0013] Step S80, according to the current hysteresis deviation signal and the output first derivative signal of the current error large hysteresis integrator, a q-axis current error preliminary differential signal is calculated; a q-axis current error mixed differential signal is obtained by superimposing the angular velocity mixed differential signal; a final d-axis stator voltage control signal is obtained by superimposing the q-axis current error signal, the q-axis current error amplitude limiting sine-cosine mixed signal, the q-axis current error linear integral signal, and the q-axis current error sine-cosine mixed integral signal; and the q-axis stator voltage control signal and the d-axis stator voltage control signal are subjected to Park inverse transformation to obtain the stator control voltage in the two-phase static coordinate system, which is output to the synchronous motor to realize speed control of the synchronous motor.

[0014] In an example embodiment of the present application, the position and speed of the rotor of the permanent magnet synchronous motor are measured, two-phase currents among three-phase currents are measured, and coordinate transformation is performed on the two-phase currents, comprising:

[0015]

[0016]

[0017] θ e =p n θ m ;

[0018] wherein i a , i b are three-phase current signals of the permanent magnet synchronous motor detected by a Hall current sensor. i α , i β are stator currents in a two-phase static coordinate system obtained by Clarke transformation on i a , i b ; i q and i d are d-axis and q-axis stator current signals in a two-phase rotating coordinate system obtained by Park transformation on i α , i β ; θ e is obtained by transformation on the measured value θ m of the rotor position; wherein p n is the number of motor pole pairs. θ m is a position signal of the rotor of the permanent magnet synchronous motor measured by a position detection sensor unit.

[0019] In an example embodiment of the application, the first state initial value of the sine-cosine hybrid differentiator is set to 0 and compared with the speed error signal to obtain a state deviation signal; the state deviation signal is subjected to half-cycle amplitude limiting conversion to obtain a state deviation amplitude limiting signal; the state deviation amplitude limiting signal is subjected to sine-cosine hybrid conversion to obtain a state deviation sine-cosine hybrid signal; the second state initial value of the sine-cosine hybrid differentiator is set to 0, and the second state is subjected to half-cycle amplitude limiting conversion to obtain a second state amplitude limiting signal; the second state is subjected to sine-cosine hybrid conversion to obtain a second state sine-cosine hybrid signal; and the state deviation signal is superimposed with the second state signal and the state deviation sine-cosine hybrid signal to obtain the input of the sine-cosine hybrid differentiator.

[0020] e ω = ω m - ω mc ;

[0021] σ = z0 - e ω ;

[0022]

[0023]

[0024]

[0025]

[0026] u = -c0σ + c3z1 - c2w1

[0027] wherein ω m is a speed detection sensor unit measured speed signal of a rotor of a permanent magnet synchronous motor; ω mc is a desired speed signal set according to a motor task; e ω is a speed error signal; z0 is the first state signal of the sine-cosine hybrid differentiator, and the initial value thereof is set to 0; σ is the state deviation signal; a1 is a constant parameter of half-cycle amplitude limiting conversion; σ1 is the state deviation amplitude limiting signal; w1 is the state deviation sine-cosine hybrid signal; z1 is the second state signal of the sine-cosine hybrid differentiator, and the initial value thereof is set to 0; z 1a is the second state amplitude limiting signal; w2 is the second state sine-cosine hybrid signal; c0, c3, and c2 are constant parameters; and u is the input signal of the sine-cosine hybrid differentiator.

[0028] In an example embodiment of the present application, a first state derivative signal of the sine-cosine hybrid differentiator is calculated according to an input signal of the sine-cosine hybrid differentiator; then a first state signal of the sine-cosine hybrid differentiator is calculated by nonlinear integration; finally, a second state derivative signal of the sine-cosine hybrid differentiator is calculated by superimposing a state deviation signal on a second state signal and a second state sine-cosine hybrid signal, and then a second state signal of the sine-cosine hybrid differentiator is calculated by nonlinear integration.

[0029]

[0030]

[0031] z d1 = -T a2 σ - z1 + c4w2;

[0032]

[0033] wherein T a1 is a constant parameter signal, z d0 is the first state derivative signal of the sine-cosine hybrid differentiator; T is a constant integration parameter, z0 is the first state signal of the sine-cosine hybrid differentiator; c4 and T a2 are constant parameters, z d1 is the second state derivative signal of the sine-cosine hybrid differentiator, and z1 is the second state signal of the sine-cosine hybrid differentiator.

[0034] In an example embodiment of the present application, an output signal initial value of the large-lag integrator is set as an initial value of the speed error signal according to the speed error signal; then the speed error signal is compared to obtain a speed lag deviation signal; the speed lag deviation signal is subjected to half-cycle amplitude limiting conversion to obtain a speed lag deviation amplitude limiting signal; the speed lag deviation amplitude limiting signal is subjected to sine-cosine hybrid conversion to obtain a speed lag deviation sine-cosine hybrid signal; and the output second derivative signal of the large-lag integrator is calculated according to the speed lag deviation sine-cosine hybrid signal and the output signal of the large-lag integrator, and then the output first derivative signal of the large-lag integrator is calculated by nonlinear integration, and then the output signal of the large-lag integrator is calculated by further nonlinear integration.

[0035] y = e ω - e ω10 ;

[0036]

[0037]

[0038]

[0039]

[0040]

[0041] wherein e ω10 is the output signal of the large-lag integrator, and is set to the initial value of the speed error signal; y is the speed lag bias signal; y1 is the speed lag bias amplitude limiting signal; w3 is the speed lag bias positive and cosine hybrid signal; T1, c6, T2 are constant parameters, s d2ω is the output second-order derivative signal of the large-lag integrator, s d1ω is the output first-order derivative signal of the large-lag integrator;

[0042] In an example embodiment of the present application, the angular velocity primary differential signal is calculated according to the speed lag bias signal and the output first-order derivative signal of the large-lag integrator; then the input signal of the positive and cosine hybrid differentiator is superimposed to obtain the angular velocity hybrid differential signal; the d-axis stator current signal in the two-phase rotating coordinate system obtained after Prak transformation is inverse-transformed to obtain the d-axis current error signal; the d-axis current error signal is subjected to half-cycle amplitude limiting transformation to obtain the d-axis current error amplitude limiting signal; the d-axis current error amplitude limiting signal is subjected to positive and cosine hybrid transformation to obtain the d-axis current error amplitude limiting positive and cosine hybrid signal; the d-axis current error signal is subjected to linear integration to obtain the d-axis current error linear integration signal; the d-axis current error amplitude limiting positive and cosine hybrid signal is integrated to obtain the d-axis current error positive and cosine hybrid integration signal; the d-axis current error signal is subjected to lag differential operation to obtain the d-axis current error lag differential signal; the angular velocity hybrid differential signal is superimposed to obtain the d-axis current error hybrid differential signal; finally, the d-axis current error signal, the d-axis current error amplitude limiting positive and cosine hybrid signal, the d-axis current error linear integration signal, and the d-axis current error positive and cosine hybrid integration signal are superimposed to form the q-axis stator voltage control signal, comprising:

[0043]

[0044]

[0045] e d = -i d ;

[0046]

[0047]

[0048] s1 = ∫e d dt;

[0049] s2 = ∫w4dt;

[0050]

[0051] u p1 =u p +k6u p0 ;

[0052] u q =k1e d +k2w4+k3s1+k4s2+k5u p1 ;

[0053] wherein u2 is an angular velocity primary differential signal; u p is an angular velocity mixed differential signal; e d is a d-axis current error signal, y2 is a d-axis current error limit signal; w4 is a d-axis current error limit positive and sine mixed signal; s1 is a d-axis current error linear integral signal; s2 is a d-axis current error positive and sine mixed integral signal; s is a differential operator of a lagging differential operation transfer function, u p0 is a d-axis current error lagging differential signal; k6 is a constant parameter signal, u p1 is a d-axis current error mixed differential signal; k1, k2, k3, k4, k5, are constant control parameters, u q is a q-axis stator voltage control signal.

[0054] In an example embodiment of the present application, the q-axis current expected signal is obtained by superimposing the described rotational speed error signal, the output signal of the large lagging integrator, and the angular velocity mixed differential signal; then compared with the two-phase rotating coordinate system q-axis stator current signal obtained after Prak transformation to obtain the q-axis current error signal; then the q-axis current error signal is subjected to half-cycle limit transformation to obtain the q-axis current error limit signal; then the q-axis current error limit signal is subjected to positive and sine mixed transformation to obtain the q-axis current error limit positive and sine mixed signal; then the q-axis current error signal is subjected to linear integration to obtain the q-axis current error linear integral signal; and the q-axis current error limit positive and sine mixed signal is subjected to integration to obtain the q-axis current error positive and sine mixed integral signal, including:

[0055] i qx =d1e ω +d2e ω10 +d3u p ;

[0056] e q =i q -i qx ;

[0057]

[0058]

[0059] s3=∫e q dt;

[0060] s4=∫w5dt;

[0061] Where d1, d2, and d3 are constant parameters, i qx e is the desired q-axis current signal; q y3 is the q-axis current error signal; y4 is the q-axis current error limiting signal; w5 is the q-axis current error limiting sine and cosine mixed signal; s3 is the q-axis current error linear integral signal; s4 is the q-axis current error sine and cosine mixed integral signal.

[0062] In one exemplary embodiment of the present invention, a half-cycle limiting transformation is performed on the current hysteresis deviation signal to obtain a current hysteresis deviation limiting signal; then, a sine-cosine hybrid transformation is performed on the current hysteresis deviation limiting signal to obtain a current hysteresis deviation sine-cosine hybrid signal; then, the output second derivative signal of the current error large hysteresis integrator is calculated based on the current hysteresis deviation sine-cosine hybrid signal and the output signal of the current error large hysteresis integrator, and then nonlinear integration is performed to obtain the output first derivative signal of the current error large hysteresis integrator; finally, nonlinear integration is performed again to obtain the output signal of the current error large hysteresis integrator, including:

[0063] m = e q -s q0

[0064]

[0065]

[0066]

[0067]

[0068]

[0069] Where s q0 The output signal of the large hysteresis integrator for current error is set to the initial value of the q-axis current error; m is the current hysteresis deviation signal; y4 is the current hysteresis deviation limiting signal; w6 is the current hysteresis deviation sine and cosine mixed signal; e q2 The output second derivative signal of the integrator with large current error lag is s. q1 The large current error causes a delay in the output first derivative signal of the integrator.

[0070] In an example embodiment of the application, the q-axis current error preliminary differential signal is calculated according to the current hysteresis deviation signal and the first derivative signal of the output of the current error large hysteresis integrator; the q-axis current error mixed differential signal is obtained by superimposing the angular velocity mixed differential signal; the final d-axis stator voltage control signal is obtained by superimposing the q-axis current error signal, the q-axis current error amplitude-corrected sine mixed signal, the q-axis current error linear integral signal and the q-axis current error amplitude-corrected sine mixed integral signal; the stator control voltage in the two-phase static coordinate system is obtained by performing the Park inverse transformation according to the q-axis stator voltage control signal and the d-axis stator voltage control signal, and is output to the synchronous motor to realize the speed control of the synchronous motor, including:

[0071]

[0072] u p4 =u p +k7u p3 ;

[0073] u d =j1e q +j2w5+j3s3+j4s4+j5u p4 ;

[0074]

[0075] wherein u p3 is the q-axis current error preliminary differential signal; u p4 is the q-axis current error mixed differential signal; j1, j2, j3, j4 and j5 are constant parameter signals; u d is the final d-axis stator voltage control signal; u α and u β are the α-axis and β-axis stator control voltages in the two-phase static coordinate system.

[0076] Advantages

[0077] The permanent magnet motor control method using mixed differential and hysteresis integration has the following two main innovations: first, the large hysteresis integrator is used to solve the integral signals of the system speed error and the current error; the hysteresis integrator itself is also used to solve the primary differential signal of the error; second, the amplitude-corrected sine mixed differentiator with the speed error signal as the input is designed, the mixed differential signal of the speed error is solved by superimposing the primary differential signal, and the mixed differential signal can also be used as the differential signal of the circuit error control layer, and forms a damping combination with the hysteresis differential of the circuit error, thereby providing damping for the system, greatly increasing the stability of the motor rotation process, improving the motor control quality and prolonging the service life of the motor.

[0078] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0079] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application. It is readily apparent to one skilled in the art that the following figures are merely illustrative of some embodiments of the application and that other figures can be obtained from these figures without paying creative labor.

[0080] Figure 1 is a flow chart of a permanent magnet motor control method provided by the application using mixed differential and lag integral;

[0081] Figure 2 is a motor speed signal curve (unit: rad / s) of the method provided by the embodiment of the application;

[0082] Figure 3 is a motor speed error signal curve (unit: rad / s) of the method provided by the embodiment of the application;

[0083] Figure 4 is an input signal curve (unit: none) of the positive and negative sine mixed differentiator of the method provided by the embodiment of the application;

[0084] Figure 5 is a first order derivative signal curve (unit: none) of the output of the large lag integrator of the method provided by the embodiment of the application;

[0085] Figure 6 is a q-axis stator voltage control signal curve (unit: none) of the method provided by the embodiment of the application;

[0086] Figure 7 is an output signal curve (unit: none) of the current error large lag integrator of the method provided by the embodiment of the application;

[0087] Figure 8 is a q-axis current error mixed differential signal curve (unit: none) of the method provided by the embodiment of the application;

[0088] Figure 9 is a d-axis stator voltage control signal curve (unit: none) of the method provided by the embodiment of the application. DETAILED DESCRIPTION

[0089] Example implementations are now described with reference to the drawings. Example implementations can, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the example implementations to those skilled in the art. The features, structures, or characteristics described can be combined in one or more implementations. In the following description, numerous specific details are provided, such as examples of programming, software modules, user selections, network transactions, database queries, database structures, hardware modules, hardware components, hardware blocks, component combinations, or the like to provide a thorough understanding of the example implementations. One skilled in the relevant art will recognize, however, that the example implementations can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. Other implementations can be constructed and practiced differently from the specifics here presented.

[0090] The application provides a permanent magnet motor control method using mixed differential and hysteresis integral, which forms a speed error by measuring the motor speed, then solves the speed error differential signal through a sine-cosine mixed differentiator, and provides an error integral signal by using a large hysteresis integrator while outputting a first-order derivative solution to obtain an error primary differential signal, directly inverts the d-axis current and performs sine-cosine mixed integration and linear integration, and obtains a q-axis stator voltage control signal by using hysteresis differentiation to form a damping signal; then, the speed error signal, the output signal of the large hysteresis integrator, and the angular velocity mixed differential signal are superimposed to obtain a q-axis current expected signal and a q-axis current error signal, and the current error large hysteresis integrator is used to solve the integral signal while solving the current error primary differential signal and the current error mixed differential signal to provide system damping, and finally the d-axis stator voltage control signal is obtained to realize the speed control of the motor.

[0091] Below, an application of a permanent magnet motor control method using mixed differential and hysteresis integral will be further explained and described in combination with the drawings. Referring to Figure 1 The application of a permanent magnet motor control method using mixed differential and hysteresis integral can include the following steps:

[0092] Step S10, the position, speed and two-phase current of the rotor of the permanent magnet synchronous motor are measured, and the two-phase current is coordinate-transformed as follows:

[0093]

[0094]

[0095] θ e =p n θ m ;

[0096] where ia , i b is the three-phase current signal of permanent magnet synchronous motor detected by Hall current sensor.i α , i β is the stator current in two-phase static coordinate system after Clarke transformation of i a , i b is the stator current in two-phase static coordinate system after Clarke transformation of i q , i d is the stator current in two-phase rotating coordinate system d, q axis after Prak transformation of i α , i β is the stator current in two-phase rotating coordinate system d, q axis after Prak transformation of i e is obtained by transformation of the measured value θ m of rotor position; wherein p n is the number of motor pole pairs. θ m is the position signal of permanent magnet synchronous motor rotor measured by position detection sensor unit.

[0097] Step S20, the speed detection sensor unit is used to measure the speed signal of the rotor of the permanent magnet synchronous motor, and the expected speed signal is set according to the motor task, and then the speed error signal is obtained by comparing the rotor speed signal with the expected speed signal; the first state initial value of the sine-cosine hybrid differentiator is set to 0, and the state deviation signal is obtained by comparing the speed error signal; the state deviation limit signal is obtained by half-cycle limiting transformation according to the state deviation signal; the state deviation sine-cosine hybrid signal is obtained by performing sine-cosine hybrid transformation on the state deviation limit signal; the second state initial value of the sine-cosine hybrid differentiator is set to 0, and the second state limit signal is obtained by performing half-cycle limiting transformation on the second state; the second state sine-cosine hybrid signal is obtained by performing sine-cosine hybrid transformation on the second state; and then the input signal of the sine-cosine hybrid differentiator is obtained by superimposing the state deviation signal, the second state signal and the state deviation sine-cosine hybrid signal.

[0098] Specifically, it can be decomposed into the following seven small steps. First, the speed detection sensor unit is used to measure the speed signal of the rotor of the permanent magnet synchronous motor, and the expected speed signal is set according to the motor task, and then the speed error signal is obtained by comparing the rotor speed signal with the expected speed signal as follows:

[0099] e ω = ω m - ω mc ;

[0100] Wherein ω m is the speed signal of the rotor of the permanent magnet synchronous motor measured by the speed detection sensor unit; ω mc is the expected speed signal set according to the motor task, and e ω is the speed error signal.

[0101] Second step, set the first state initial value of the sine-cosine hybrid differentiator to 0, and compare it with the speed error signal to obtain the state deviation signal as follows:

[0102] σ = z0 - e ω ;

[0103] Where z0 is the first state signal of the sine-cosine hybrid differentiator, and its initial value is set to 0. σ is the state deviation signal.

[0104] Third step, according to the state deviation signal, perform half-cycle amplitude limiting transformation to obtain the state deviation amplitude limiting signal as follows:

[0105]

[0106] Where a1 is the constant parameter of half-cycle amplitude limiting transformation, and σ1 is the state deviation amplitude limiting signal.

[0107] Fourth step, perform sine-cosine hybrid transformation on the state deviation amplitude limiting signal to obtain the state deviation sine-cosine hybrid signal as follows:

[0108]

[0109] Where w1 is the state deviation sine-cosine hybrid signal.

[0110] Fifth step, set the second state initial value of the sine-cosine hybrid differentiator to 0 again, and perform half-cycle amplitude limiting transformation on the second state to obtain the second state amplitude limiting signal as follows:

[0111]

[0112] Where z1 is the second state signal of the sine-cosine hybrid differentiator, and its initial value is set to 0. z 1a is the second state amplitude limiting signal.

[0113] Sixth step, perform sine-cosine hybrid transformation on the second state to obtain the second state sine-cosine hybrid signal as follows:

[0114]

[0115] Where w2 is the second state sine-cosine hybrid signal.

[0116] Seventh step, then use the state deviation signal to superimpose the second state signal and the state deviation sine-cosine hybrid signal to obtain the input signal of the sine-cosine hybrid differentiator as follows:

[0117] u = -c0σ + c3z1 - c2w1;

[0118] Where c0, c3, and c2 are constant parameters, and u is the input signal of the sine-cosine hybrid differentiator.

[0119] Step S30, the first state derivative signal of the sine-cosine hybrid differentiator is calculated according to the input signal of the sine-cosine hybrid differentiator, then the first state signal of the sine-cosine hybrid differentiator is obtained by nonlinear integration, and finally the second state derivative signal of the sine-cosine hybrid differentiator is calculated by superimposing the state deviation signal on the second state signal and the second state sine-cosine hybrid signal, and then the second state signal of the sine-cosine hybrid differentiator is obtained by nonlinear integration.

[0120] Specifically, first, the first state derivative signal of the sine-cosine hybrid differentiator is calculated according to the input signal of the sine-cosine hybrid differentiator as follows:

[0121]

[0122] wherein T a1 is a constant parameter signal, z d0 is the first state derivative signal of the sine-cosine hybrid differentiator.

[0123] Secondly, the first state signal of the sine-cosine hybrid differentiator is obtained by nonlinear integration of the first state derivative signal of the sine-cosine hybrid differentiator as follows:

[0124]

[0125] wherein T is a constant integration parameter, and z0 is the first state signal of the sine-cosine hybrid differentiator.

[0126] Then, the second state derivative signal of the sine-cosine hybrid differentiator is calculated by superimposing the state deviation signal on the second state signal and the second state sine-cosine hybrid signal as follows:

[0127] z d1 = -T a2 σ - z1 + c4w2;

[0128] wherein c4 and T a2 are constant parameters, and z d1 is the second state derivative signal of the sine-cosine hybrid differentiator.

[0129] Finally, the second state signal of the sine-cosine hybrid differentiator is obtained by nonlinear integration of the second state derivative signal of the sine-cosine hybrid differentiator as follows:

[0130]

[0131] wherein z1 is the second state signal of the sine-cosine hybrid differentiator.

[0132] Step S40, according to the speed error signal, set the output signal initial value of the large hysteresis integrator to the initial value of the speed error signal; then compared with the speed error signal, get the speed hysteresis deviation signal; according to the speed hysteresis deviation signal, the half cycle amplitude limiting transformation is carried out, the speed hysteresis deviation amplitude limiting signal is obtained; then the speed hysteresis deviation amplitude limiting signal is carried out the sine-cosine mixed transformation, the speed hysteresis deviation sine-cosine mixed signal is obtained; then according to the speed hysteresis deviation sine-cosine mixed signal and the output signal of the large hysteresis integrator, the output second derivative signal of the large hysteresis integrator is calculated, then the nonlinear integral is carried out, the output first derivative signal of the large hysteresis integrator is obtained; then the nonlinear integral is carried out again, the output signal of the large hysteresis integrator is obtained.

[0133] Specifically, it can be divided into the following six small steps. First, according to the speed error signal, set the output signal initial value of the large hysteresis integrator to the initial value of the speed error signal; then compared with the speed error signal, get the speed hysteresis deviation signal as follows:

[0134] y = e ω -e ω10 ;

[0135] Where e ω10 is the output signal of the large hysteresis integrator, y is the speed hysteresis deviation signal.

[0136] Second, according to the speed hysteresis deviation signal, the half cycle amplitude limiting transformation is carried out, and the speed hysteresis deviation amplitude limiting signal is obtained as follows:

[0137]

[0138] Where y1 is the speed hysteresis deviation amplitude limiting signal.

[0139] Third, the speed hysteresis deviation amplitude limiting signal is carried out the sine-cosine mixed transformation, and the speed hysteresis deviation sine-cosine mixed signal is obtained as follows:

[0140]

[0141] Where w3 is the speed hysteresis deviation sine-cosine mixed signal.

[0142] Fourth, according to the speed hysteresis deviation sine-cosine mixed signal and the output signal of the large hysteresis integrator, the output second derivative signal of the large hysteresis integrator is calculated as follows:

[0143]

[0144] Where T1, c6, T2 are constant parameters, s d2ω is the output second derivative signal of the large hysteresis integrator.

[0145] Fifth step, the output of the second derivative signal of the large lag integrator is nonlinearly integrated to obtain the output of the first derivative signal of the large lag integrator as follows:

[0146]

[0147] Where s d1ω is the output of the first derivative signal of the large lag integrator.

[0148] Sixth step, the output of the first derivative signal of the large lag integrator is nonlinearly integrated to obtain the output signal of the large lag integrator as follows:

[0149]

[0150] Where e ω10 is the output signal of the large lag integrator.

[0151] Step S50, according to the speed lag deviation signal and the output of the first derivative signal of the large lag integrator, the angular velocity primary differential signal is calculated; then the input signal of the sine-cosine hybrid differentiator is superimposed to obtain the angular velocity hybrid differential signal; the d-axis stator current signal in the two-phase rotating coordinate system obtained after Prak transformation is inverse transformed to obtain the d-axis current error signal; the d-axis current error signal is half-cycle amplitude-limited to obtain the d-axis current error amplitude-limited signal; the d-axis current error amplitude-limited signal is sine-cosine hybrid transformed to obtain the d-axis current error amplitude-limited sine-cosine hybrid signal; then the d-axis current error signal is linearly integrated to obtain the d-axis current error linear integral signal; the d-axis current error amplitude-limited sine-cosine hybrid signal is integrated to obtain the d-axis current error sine-cosine hybrid integral signal; the d-axis current error signal is hysteresis differentiated to obtain the d-axis current error hysteresis differential signal; the d-axis current error hybrid differential signal is obtained by superimposing the angular velocity hybrid differential signal; finally, the q-axis stator voltage control signal is formed by superimposing the d-axis current error signal, the d-axis current error amplitude-limited sine-cosine hybrid signal, the d-axis current error linear integral signal, and the d-axis current error sine-cosine hybrid integral signal.

[0152] Specifically, it can be decomposed into the following ten small steps. First step, according to the speed lag deviation signal and the output of the first derivative signal of the large lag integrator, the angular velocity primary differential signal is calculated as follows:

[0153]

[0154] Where u2 is the angular velocity primary differential signal.

[0155] Second step, the angular velocity primary differential signal is superimposed with the input signal of the sine-cosine hybrid differentiator to obtain the angular velocity hybrid differential signal as follows:

[0156]

[0157] wherein u p is the angular velocity mixed differential signal.

[0158] Thirdly, the d-axis stator current signal in the two-phase rotating coordinate system after Prak transformation is inversely transformed to obtain a d-axis current error signal as follows:

[0159] e d = -i d ;

[0160] wherein e d is the d-axis current error signal.

[0161] Fourthly, a half-cycle limiting transformation is performed on the d-axis current error signal to obtain a d-axis current error limiting signal as follows:

[0162]

[0163] wherein y2 is the d-axis current error limiting signal.

[0164] Fifthly, a sine-cosine mixed transformation is performed on the d-axis current error limiting signal to obtain a d-axis current error limiting sine-cosine mixed signal as follows:

[0165]

[0166] wherein w4 is the d-axis current error limiting sine-cosine mixed signal.

[0167] Sixthly, a linear integration is performed on the d-axis current error signal to obtain a d-axis current error linear integration signal as follows:

[0168] s1 = ∫e d dt;

[0169] wherein s1 is the d-axis current error linear integration signal.

[0170] Seventhly, an integration is performed on the d-axis current error limiting sine-cosine mixed signal to obtain a d-axis current error sine-cosine mixed integration signal as follows:

[0171] s2 = ∫w4dt;

[0172] wherein s2 is the d-axis current error sine-cosine mixed integration signal.

[0173] Eighthly, a hysteresis differential operation is performed on the d-axis current error signal to obtain a d-axis current error hysteresis differential signal as follows:

[0174]

[0175] where s is a differential operator of a hysteresis differential operation transfer function, u p0 is a d-axis current error hysteresis differential signal.

[0176] In the ninth step, a d-axis current error mixed differential signal is obtained by superimposing the d-axis current error hysteresis differential signal and the angular velocity mixed differential signal as follows:

[0177] u p1 = u p + k6u p0 ;

[0178] where k6 is a constant parameter signal, u p1 is the d-axis current error mixed differential signal.

[0179] In the tenth step, a q-axis stator voltage control signal is formed by superimposing the d-axis current error mixed differential signal, the d-axis current error signal, the d-axis current error amplitude limiting sine-cosine mixed signal, the d-axis current error linear integral signal, and the d-axis current error sine-cosine mixed integral signal as follows:

[0180] u q = k1e d + k2w4 + k3s1 + k4s2 + k5u p1 ;

[0181] where k1, k2, k3, k4, k5, are constant control parameters, u q is the q-axis stator voltage control signal.

[0182] In step S60, a q-axis current expected signal is obtained by superimposing the speed error signal, the output signal of the large hysteresis integrator, and the angular velocity mixed differential signal. Then, the q-axis current expected signal is compared with the q-axis stator current signal in the two-phase rotating coordinate system obtained by Prak transformation to obtain a q-axis current error signal. Then, a half-cycle amplitude limiting transformation is performed on the q-axis current error signal to obtain a q-axis current error amplitude limiting signal. Then, a sine-cosine mixed transformation is performed on the q-axis current error amplitude limiting signal to obtain a q-axis current error amplitude limiting sine-cosine mixed signal. Then, a linear integral is performed on the q-axis current error signal to obtain a q-axis current error linear integral signal. Then, an integral is performed on the q-axis current error amplitude limiting sine-cosine mixed signal to obtain a q-axis current error sine-cosine mixed integral signal.

[0183] Specifically, it can be decomposed into the following six small steps. In the first step, a q-axis current expected signal is obtained by superimposing the speed error signal, the output signal of the large hysteresis integrator, and the angular velocity mixed differential signal as follows:

[0184] i qx = d1e ω + d2e ω10 + d3u p ;

[0185] where d1, d2, d3 are constant parameters, i qx is the q-axis current expected signal.

[0186] Second step, the q-axis current expected signal is compared with the q-axis stator current signal in two-phase rotating coordinate system after Prak transformation, and the q-axis current error signal is obtained as follows:

[0187] e q = i q - i qx ;

[0188] where e q is the q-axis current error signal.

[0189] Third step, the q-axis current error signal is subjected to half-cycle limiting amplitude transformation, and the q-axis current error limiting amplitude signal is obtained as follows:

[0190]

[0191] where y3 is the q-axis current error limiting amplitude signal.

[0192] Fourth step, the q-axis current error limiting amplitude signal is subjected to sine-cosine hybrid transformation, and the q-axis current error limiting amplitude sine-cosine hybrid signal is obtained as follows:

[0193]

[0194] where w5 is the q-axis current error limiting amplitude sine-cosine hybrid signal.

[0195] Fifth step, the q-axis current error signal is subjected to linear integration, and the q-axis current error linear integration signal is obtained as follows:

[0196] s3 = ∫e q dt;

[0197] where s3 is the q-axis current error linear integration signal.

[0198] Sixth step, the q-axis current error limiting amplitude sine-cosine hybrid signal is subjected to integration, and the q-axis current error sine-cosine hybrid integration signal is obtained as follows:

[0199] s4 = ∫w5dt;

[0200] where s4 is the q-axis current error sine-cosine hybrid integration signal.

[0201] Step S70, set the output signal initial value of the current error large hysteresis integrator as the initial value of the q-axis current error; then compare with the q-axis current error signal to obtain the current hysteresis deviation signal; perform half-cycle amplitude limiting conversion according to the current hysteresis deviation signal to obtain the current hysteresis deviation amplitude limiting signal; then perform sine-cosine hybrid conversion on the current hysteresis deviation amplitude limiting signal to obtain the current hysteresis deviation sine-cosine hybrid signal; then calculate the output second-order derivative signal of the current error large hysteresis integrator according to the current hysteresis deviation sine-cosine hybrid signal and the output signal of the current error large hysteresis integrator, and then perform nonlinear integration to obtain the output first-order derivative signal of the current error large hysteresis integrator; then perform nonlinear integration again to obtain the output signal of the current error large hysteresis integrator.

[0202] Specifically, it can be decomposed into the following six small steps. First, set the output signal initial value of the current error large hysteresis integrator as the initial value of the q-axis current error; then compare with the q-axis current error signal to obtain the current hysteresis deviation signal as follows:

[0203] m=e q -s q0

[0204] Where s q0 is the output signal of the current error large hysteresis integrator, and its initial value is set as the initial value of the q-axis current error; m is the current hysteresis deviation signal.

[0205] Second, perform half-cycle amplitude limiting conversion according to the current hysteresis deviation signal to obtain the current hysteresis deviation amplitude limiting signal as follows:

[0206]

[0207] Where y4 is the current hysteresis deviation amplitude limiting signal.

[0208] Third, perform sine-cosine hybrid conversion on the current hysteresis deviation amplitude limiting signal to obtain the current hysteresis deviation sine-cosine hybrid signal as follows:

[0209]

[0210] Where w6 is the current hysteresis deviation sine-cosine hybrid signal.

[0211] Fourth, calculate the output second-order derivative signal of the current error large hysteresis integrator according to the current hysteresis deviation sine-cosine hybrid signal and the output signal of the current error large hysteresis integrator as follows:

[0212]

[0213] Where e q2 is the output second-order derivative signal of the current error large hysteresis integrator.

[0214] Fifth step, the output of the current error large hysteresis integrator of the second derivative signal is nonlinearly integrated, the output of the current error large hysteresis integrator of the first derivative signal is as follows:

[0215]

[0216] Where s q1 The output of the current error large hysteresis integrator of the first derivative signal.

[0217] Sixth step, the output of the current error large hysteresis integrator of the first derivative signal is nonlinearly integrated, the output of the current error large hysteresis integrator is as follows:

[0218]

[0219] Where s q0 The output of the current error large hysteresis integrator.

[0220] Step S80, according to the current hysteresis deviation signal and the output of the current error large hysteresis integrator of the first derivative signal to calculate the q-axis current error preliminary differential signal; Then superimpose the angular velocity mixed differential signal to obtain the q-axis current error mixed differential signal; Then superimpose the q-axis current error signal, the q-axis current error amplitude-corrected sine mixed signal, the q-axis current error linear integral signal, the q-axis current error amplitude-corrected sine mixed integral signal to obtain the final d-axis stator voltage control signal; Then according to the q-axis stator voltage control signal, the d-axis stator voltage control signal, Park inverse transformation is carried out, the stator control voltage in two-phase static coordinate system is obtained, which is output to the synchronous motor to realize the speed control of the synchronous motor.

[0221] Specifically, it can be decomposed into the following four small steps. First step, according to the current hysteresis deviation signal and the output of the current error large hysteresis integrator of the first derivative signal to calculate the q-axis current error preliminary differential signal as follows:

[0222]

[0223] Where u p3 The q-axis current error preliminary differential signal.

[0224] Second step, the q-axis current error preliminary differential signal is superimposed with the angular velocity mixed differential signal to obtain the q-axis current error mixed differential signal as follows:

[0225] u p4 = u p + k7u p3 ;

[0226] Where u p4 The q-axis current error mixed differential signal.

[0227] Third step, using q-axis current error mixed differential signal superimposed q-axis current error signal, q-axis current error amplitude limiting positive and negative sine mixed signal, q-axis current error linear integral signal, q-axis current error positive and negative sine mixed integral signal to get the final d-axis stator voltage control signal as follows:

[0228] u d = j1e q + j2w5 + j3s3 + j4s4 + j5u p4 ;

[0229] Wherein j1, j2, j3, j4, j5 are constant parameter signals, u d is the final d-axis stator voltage control signal.

[0230] Fourth step, according to the q-axis stator voltage control signal, d-axis stator voltage control signal, Park inverse transformation is carried out, and the stator control voltage in two-phase static coordinate system is obtained as follows:

[0231]

[0232] Wherein u α , u β is the α, β axis stator control voltage in two-phase static coordinate system.

[0233] Case implementation and computer simulation result analysis

[0234] In step S10, p n = 2 is set. In step S20, the expected speed signal is set as ω mc = 85, a1 = 0.5 is selected, c0 = 3, c3 = 1.5, c2 = 6; the motor speed signal is as shown in Figure 2 , the speed error signal is as shown in Figure 3 , and the input signal of the positive and negative sine mixed differentiator is as shown in Figure 4 In step S30, c4 = -2 is selected.

[0235] In step S40, T1 = 0.01, c6 = 5, T2 = 0.005 are selected; the output first-order derivative signal of the large lag integrator is as shown in Figure 5 .

[0236] In step s50, k1 = -155, k2 = -15, k3 = -5, k4 = -3, k5 = -2 are selected; the q-axis stator voltage control signal is as shown in Figure 6 In step S60, d1 = -160, d2 = -25, d3 = -4 are selected.

[0237] In step S70, the output signal of the current error large-lag integrator is obtained as shown in Figure 7 .

[0238] In step S80, j1=-2.3, j2=0.3, j3=-0.2, j4=-0.1, j5=-0.2 are selected, the q-axis current error mixed differential signal is obtained as shown in Figure 8 , and the d-axis stator voltage control signal is obtained as shown in Figure 9 .

[0239] As shown in Figure 2 , the motor speed smoothly rises to the desired speed of about 85, and Figure 3 indicates that the speed error reaches 0 for the first time at about 1s, with overshoot, but can be adjusted at about 2s, and is stable at 0. Figure 4 , Figure 5 , Figure 6 and Figure 8 are intermediate signals, and there is no abnormal signal graph; as shown in Figure 7 and Figure 9 , the control signals of the double shafts are relatively smooth and stable without jitter, and there is no abnormal sharp phenomenon, so the entire motor control quality is very high, mainly due to the very reasonable damping ratio of the entire system, and the fast performance meets the general task requirements, and the anti-interference ability is good, thereby having high engineering application value.

Claims

1. A control method for permanent magnet machines using hybrid differentiation and hysteresis integration, It is characterized by the following steps: Step S10, the position of the rotor of the permanent magnet synchronous motor, the speed and the two-phase current of the three-phase current are measured, and the two-phase current is coordinate transformed as follows: θ e = p n θ m ; wherein i a , i b is a three-phase current signal of the permanent magnet synchronous motor detected by a Hall current sensor; i α , i β is a stator current in a two-phase stationary coordinate system after Clarke transformation is performed on i a , i b ; i q , i d is a d, q-axis stator current signal in a two-phase rotating coordinate system after Prak transformation is performed on i α , i β ; θ e from the measured value of the position of the rotor θ m is transformed to obtain; where p n is the number of motor pole pairs; θ m is the position signal of the permanent magnet synchronous motor rotor measured by the position detection sensor unit; Step S20, the rotor speed signal of the permanent magnet synchronous motor is measured by the speed detection sensor unit, the expected speed signal is set according to the motor task, then the rotor speed signal and the expected speed signal are compared to obtain the speed error signal; the first state initial value of the sine-cosine hybrid differentiator is set to 0, and compared with the speed error signal to obtain the state deviation signal; the state deviation signal is subjected to half-cycle limiting transformation to obtain the state deviation limiting signal; the state deviation limiting signal is subjected to sine-cosine hybrid transformation to obtain the state deviation sine-cosine hybrid signal; the second state initial value of the sine-cosine hybrid differentiator is set to 0, and the second state is subjected to half-cycle limiting transformation to obtain the second state limiting signal; the second state is subjected to sine-cosine hybrid transformation to obtain the second state sine-cosine hybrid signal; then the state deviation signal is superimposed with the second state signal and the state deviation sine-cosine hybrid signal to obtain the input signal of the sine-cosine hybrid differentiator as follows: e ω = ω m - ω mc ; σ = z0- e ω ; u=-C0σ+C3z1-C2W1; where ω m is the rotor speed signal measured by the speed detection sensor unit of the permanent magnet synchronous motor; ω mc is the desired speed signal set according to the task of the motor; e ω is the speed error signal; z0is the first state signal of the sine-cosine hybrid differentiator, and its initial value is set to 0; σ is the state deviation signal; a1is the constant parameter of half-cycle limiting transformation; σ1is the state deviation limiting signal; w1is the state deviation sine-cosine hybrid signal; z1is the second state signal of the sine-cosine hybrid differentiator, and its initial value is set to 0; z 1a is the second state limiting signal; w2is the second state sine-cosine hybrid signal; c0, c3, c2are constant parameters; and u is the input signal of the sine-cosine hybrid differentiator; Step S30, the first state derivative signal of the sine-cosine hybrid differentiator is obtained by solving according to the input signal of the sine-cosine hybrid differentiator; then the first state signal of the sine-cosine hybrid differentiator is obtained by nonlinear integration; finally, the second state derivative signal of the sine-cosine hybrid differentiator is obtained by solving the state deviation signal superimposed with the second state signal and the second state sine-cosine hybrid signal, and then the second state signal of the sine-cosine hybrid differentiator is obtained by nonlinear integration as follows: z d1 = -T a2 σ - z1+ C4w2; where T a1 is a constant parameter signal, z d0 is a first state derivative signal of the positive cosine hybrid differentiator; T is a constant integration parameter, z0 is a first state signal of the positive cosine hybrid differentiator; c4, T a2 are constant parameters, z d1 is a second state derivative signal of the positive cosine hybrid differentiator, z1 is a second state signal of the positive cosine hybrid differentiator; Step S40, according to the speed error signal, the output signal initial value of the large lag integrator is set to the initial value of the speed error signal; Then compared with the speed error signal, the speed lag deviation signal is obtained; the speed lag deviation limiting signal is obtained by half-cycle limiting transformation according to the speed lag deviation signal; the speed lag deviation limiting signal is subjected to sine-cosine hybrid transformation to obtain the speed lag deviation sine-cosine hybrid signal; then the second order derivative signal of the output of the large lag integrator is solved according to the speed lag deviation sine-cosine hybrid signal and the output signal of the large lag integrator, and then the first order derivative signal of the output of the large lag integrator is obtained by nonlinear integration; then the output signal of the large lag integrator is obtained by nonlinear integration again as follows: y = e ω - e ω10 ; where e ω10 is the output signal of the large-lag integrator, which is set to the initial value of the speed error signal; y is the speed lag bias signal; y1 is the speed lag bias amplitude limiting signal; w3 is the speed lag bias positive cosine hybrid signal; T1, c6, T2 are constant parameters, s d2ω is the output second-order derivative signal of the large-lag integrator, s d1ω is the output first-order derivative signal of the large-lag integrator; Step S50, according to the speed hysteresis deviation signal and the output of the large hysteresis integrator first order derivative signal to calculate the angular velocity primary differential signal; then superimposed on the input signal of the sine and cosine hybrid differentiator to obtain the angular velocity hybrid differential signal; the d-axis stator current signal in two-phase rotating coordinate system after Prak transformation is obtained by inverse transformation, and the d-axis current error signal is obtained; the half-cycle amplitude limiting transformation is carried out according to the d-axis current error signal, and the d-axis current error amplitude limiting signal is obtained; the d-axis current error amplitude limiting signal is subjected to sine and cosine hybrid transformation to obtain the d-axis current error amplitude limiting sine and cosine hybrid signal; then the d-axis current error signal is linearly integrated to obtain the d-axis current error linear integral signal; the d-axis current error amplitude limiting sine and cosine hybrid signal is integrated to obtain the d-axis current error sine and cosine hybrid integral signal; the d-axis current error signal is subjected to hysteresis differential operation to obtain the d-axis current error hysteresis differential signal; the d-axis current error hybrid differential signal is obtained by superimposing the angular velocity hybrid differential signal; finally, the d-axis current error signal, the d-axis current error amplitude limiting sine and cosine hybrid signal, the d-axis current error linear integral signal, and the d-axis current error sine and cosine hybrid integral signal are superimposed to form the q-axis stator voltage control signal as follows: e d = -i d ; s1 = ∫e d dt; s2 = ∫w4dt; u p1 = u p + k6u p0 ; u q = k1e d + k2w4 + k3s1 + k4s2 + k5u p1 ; wherein u2 is an angular velocity primary differential signal; u p is an angular velocity hybrid differential signal; e d is a d-axis current error signal, y2 is a d-axis current error limit signal, w4 is a d-axis current error limit positive and negative sine hybrid signal, s1 is a d-axis current error linear integral signal, s2 is a d-axis current error positive and negative sine hybrid integral signal, s is a differential operator of a lagging differential operation transfer function, u p0 is a d-axis current error lagging differential signal; k6 is a constant parameter signal, u p1 is a d-axis current error hybrid differential signal; k1, k2, k3, k4, k5 are constant control parameters, u q is a q-axis stator voltage control signal; Step S60, according to the speed error signal, the output signal of the large hysteresis integrator, and the angular velocity hybrid differential signal, the q-axis current expected signal is obtained by superimposing; then compared with the q-axis stator current signal in two-phase rotating coordinate system after Prak transformation, the q-axis current error signal is obtained; then the half-cycle amplitude limiting transformation is carried out according to the q-axis current error signal, and the q-axis current error amplitude limiting signal is obtained; the q-axis current error amplitude limiting signal is subjected to sine and cosine hybrid transformation to obtain the q-axis current error amplitude limiting sine and cosine hybrid signal; then the q-axis current error signal is linearly integrated to obtain the q-axis current error linear integral signal; the q-axis current error amplitude limiting sine and cosine hybrid signal is integrated to obtain the q-axis current error sine and cosine hybrid integral signal as follows: i qx = d1e ω + d2e ω10 + d3u p ; e q = i q - i qx ; s3 = ∫e q dt; s4 = ∫w5dt; Where d1, d2, and d3 are constant parameters, i qx e is the desired q-axis current signal; q y3 is the q-axis current error signal; y4 is the q-axis current error limiting signal; w5 is the q-axis current error limiting sine and cosine mixed signal; s3 is the q-axis current error linear integral signal; s4 is the q-axis current error sine and cosine mixed integral signal. Step S70, the initial value of the output signal of the current error large hysteresis integrator is set as the initial value of the q-axis current error; then compared with the q-axis current error signal, the current hysteresis deviation signal is obtained; the half-cycle amplitude limiting transformation is carried out according to the current hysteresis deviation signal, and the current hysteresis deviation amplitude limiting signal is obtained; the current hysteresis deviation amplitude limiting signal is subjected to sine and cosine hybrid transformation to obtain the current hysteresis deviation sine and cosine hybrid signal; then the current hysteresis deviation sine and cosine hybrid signal and the output signal of the current error large hysteresis integrator are calculated to obtain the second order derivative signal of the output of the current error large hysteresis integrator, and then nonlinear integration is carried out to obtain the first order derivative signal of the output of the current error large hysteresis integrator; then nonlinear integration is carried out to obtain the output signal of the current error large hysteresis integrator as follows: m = e q -s q0 where s q0 is an output signal of the current error large hysteresis integrator, which is set to an initial value of the q-axis current error; m is a current hysteresis deviation signal; y4 is a current hysteresis deviation amplitude limiting signal; w6 is a current hysteresis deviation positive and cosine mixed signal; e q2 is an output second-order derivative signal of the current error large hysteresis integrator, s q1 is an output first-order derivative signal of the current error large hysteresis integrator; Step S80, according to the current hysteresis deviation signal and the output of the current error large hysteresis integrator first derivative signal to calculate q-axis current error preliminary differential signal; Again superimposed angular velocity hybrid differential signal to obtain q-axis current error hybrid differential signal; Again superimposed q-axis current error signal, q-axis current error amplitude limiting positive and negative cosine hybrid signal, q-axis current error linear integral signal, q-axis current error positive and negative cosine hybrid integral signal to obtain the final d-axis stator voltage control signal; Again according to the q-axis stator voltage control signal, d-axis stator voltage control signal, Park inverse transformation is carried out, the stator control voltage in two-phase static coordinate system is obtained, which is output to the synchronous motor to realize the speed control of the synchronous motor as follows: u p4 = u p + k7u p3 ; u d = j1e q + j2w5 + j3s3 + j4s4 + j5u p4 ; where u p3 is a q-axis current error preliminary differential signal; u p4 is a q-axis current error mixed differential signal; j1, j2, j3, j4, j5 are constant parameter signals, u d is a final d-axis stator voltage control signal; u α , u β are α, β axis stator control voltages in a two-phase stationary coordinate system.

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