An enhanced anti-disturbance current control method for permanent magnet synchronous motor

Abstract

The present invention discloses an enhanced anti-disturbance current control method for a permanent magnet synchronous motor. The method comprises: establishing a discrete model of a permanent magnet synchronous motor and a current enhanced anti-disturbance controller; inputting a preset reference instruction of a current, a lumped disturbance observation value of a current loop, and an actual current observation value into a proportional control law, and outputting a reference voltage; inputting into a discrete model of a permanent magnet synchronous motor, and outputting an actual current; inputting into an optimized extended state observer, and outputting a lumped disturbance observation value of a current loop and an actual current observation value, and then inputting into a proportional control law for closed-loop feedback; and processing the reference voltage sequentially through an anti-Park coordinate change and SVPWM to generate six-way switching signals of an inverter to control the inverter, and then drive the permanent magnet synchronous motor to work, and realize enhanced anti-disturbance control of closed-loop feedback. The method of the present invention can effectively suppress periodic disturbances and non-periodic disturbances existing in the current loop of a permanent magnet synchronous motor at the same time, and greatly improves the control accuracy of the current.

Description

Technical Field

[0001] The invention relates to a current control method, in particular to an enhanced self-anti-disturbance current control method of a permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motors have been widely used in the industrial field due to their high power density, high reliability, excellent dynamic performance and other advantages. Permanent magnet synchronous motor drive systems usually adopt a multi-loop cascade control structure based on field-oriented control. As the innermost loop, the control performance of the current loop directly determines the control performance of the torque, and further determines the control performance of the speed loop and position loop. Therefore, current control with high dynamic response and high steady-state accuracy is the key to achieving high-quality operation of permanent magnet synchronous motor drive systems.

[0003] However, there are two types of disturbances in the permanent magnet synchronous motor current loop: periodic and non-periodic. Periodic disturbances are mainly caused by inverter dead time effects and permanent magnet flux harmonics. Non-periodic disturbances are mainly caused by motor parameter changes or mismatches. These various disturbances increase the difficulty of achieving high-performance current control.

[0004] In recent years, ADRC has been widely studied in the field of motor control due to its good anti-disturbance capability and model-independent characteristics. However, due to the limited observation bandwidth of the extended state observer in the ADRC for disturbances, the conventional ADRC can only effectively suppress non-periodic disturbances in the control of permanent magnet synchronous motors, but cannot effectively suppress periodic disturbances. These periodic disturbances will cause current fluctuations and deteriorate the steady-state control accuracy of the current. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the present invention provides an enhanced self-disturbance rejection current control method for a permanent magnet synchronous motor, which enables the self-disturbance rejection controller to simultaneously suppress periodic disturbances and non-periodic disturbances existing in the current loop of the permanent magnet synchronous motor, thereby improving the steady-state control accuracy of the current.

[0006] The technical solution adopted by the present invention is:

[0007] The method for enhancing the self-anti-interference current control of the present invention comprises the following steps:

[0008] Step 1: Establish a permanent magnet synchronous motor discrete model of the permanent magnet synchronous motor; establish a current enhancement active disturbance rejection controller of the permanent magnet synchronous motor, and the current enhancement active disturbance rejection controller includes a proportional control law and an optimized extended state observer.

[0009] Step 2: Input the preset reference instruction of the permanent magnet synchronous motor's current, the current loop lumped disturbance observation value, and the actual current observation value into the proportional control law, and the proportional control law outputs the reference voltage of the permanent magnet synchronous motor; input the reference voltage of the permanent magnet synchronous motor into the discrete model of the permanent magnet synchronous motor, and the discrete model of the permanent magnet synchronous motor outputs the actual current of the permanent magnet synchronous motor; input the actual current of the permanent magnet synchronous motor into the optimized extended state observer, and the optimized extended state observer outputs the current loop lumped disturbance observation value and the actual current observation value of the permanent magnet synchronous motor, which are then input into the proportional control law for closed-loop feedback.

[0010] Step three: The input control end of the permanent magnet synchronous motor is electrically connected to the inverter. In the closed-loop feedback process of step two, the reference voltage of the output permanent magnet synchronous motor is processed in turn through the anti-Park coordinate change and the space vector pulse width modulation algorithm SVPWM to generate six switching signals of the inverter to control the inverter, and then the permanent magnet synchronous motor is driven by the inverter to work normally, thereby realizing the enhanced self-disturbance rejection control of the closed-loop feedback of the permanent magnet synchronous motor.

[0011] In the step 1, the permanent magnet synchronous motor discrete model of the permanent magnet synchronous motor is established as follows:

[0012]

[0013] Among them, i d (k+1) and i d (k) represents the actual current of the d-axis in the permanent magnet synchronous motor at sampling time k+1 and sampling time k respectively; i q (k+1) and i q (k) represents the actual current of the q-axis in the permanent magnet synchronous motor at sampling time k+1 and sampling time k respectively; T s Indicates the sampling period; L dn and L qn They represent the nominal values ​​of the stator inductance of the d-axis and q-axis in the permanent magnet synchronous motor respectively; u dref (k) and u qref (k) respectively represent the reference voltage of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k; d d (k) and d q (k) represents the lumped disturbance of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k.

[0014] In the step 2, the reference voltage of the permanent magnet synchronous motor includes the reference voltage u of the d-axis and the q-axis in the permanent magnet synchronous motor at the sampling time k. dref (k) and u qref (k); The actual current of the permanent magnet synchronous motor includes the actual current i of the d-axis and q-axis of the permanent magnet synchronous motor at the sampling time k+1 d(k+1) and i q (k+1).

[0015] The lumped disturbance d of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k is d (k) and d q (k) as follows:

[0016]

[0017] Among them, ω e (k) represents the rotor electrical speed of the permanent magnet synchronous motor at sampling time k; L d and L q They represent the stator inductance of the d-axis and q-axis in the permanent magnet synchronous motor respectively; ψ rd and ψ rq They represent the flux of the d-axis and q-axis in the permanent magnet synchronous motor respectively; Δu d (k) and Δu q (k) represents the voltage harmonics of the d-axis and q-axis of the permanent magnet synchronous motor at the sampling time k; R represents the stator resistance of the permanent magnet synchronous motor; ΔL d and ΔL q They respectively represent the stator inductance deviation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor.

[0018] A position encoder and two current sensors are installed on the permanent magnet synchronous motor. The position encoder, the two current sensors and the inverter are all electrically connected to a microcontroller. The position encoder is coaxially connected to the output shaft of the permanent magnet synchronous motor. The position encoder collects the electrical angle θ of the rotor position of the permanent magnet synchronous motor. e Then the rotor electrical speed ω is obtained e and input into the microcontroller; two current sensors respectively collect the actual current of the d-axis and q-axis in the permanent magnet synchronous motor through electromagnetic induction and input into the microcontroller; the microcontroller sets the current preset given reference instruction of the permanent magnet synchronous motor.

[0019] The stator inductance L of the d-axis and q-axis in the permanent magnet synchronous motor is d and L q The details are as follows:

[0020]

[0021] In the step 1, the proportional control law of the current enhanced active disturbance rejection controller is as follows:

[0022]

[0023]

[0024] Among them, u dref (k+1) and uqref (k+1) respectively represent the reference voltages of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1; k p Indicates the preset proportional coefficient; i dref (k) and i qref (k) respectively represent the current preset given reference instructions of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k; and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 respectively; and They respectively represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1.

[0025] In the step 2, the current preset reference instruction of the permanent magnet synchronous motor includes the current preset reference instruction i of the d-axis and q-axis of the permanent magnet synchronous motor at the sampling time k. dref (k) and i qref (k); The current loop lumped disturbance observation value includes the current loop lumped disturbance observation value of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 and The actual current observation value includes the actual current observation value of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 and

[0026] In the step 1, the optimized extended state observer of the current enhanced active disturbance rejection controller is specifically as follows:

[0027]

[0028]

[0029] in, and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively; and They represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively; and They represent the lumped disturbance observation value of the current loop of the q-axis in the permanent magnet synchronous motor at the sampling time k+1. and The integral part of and They represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k. and The integral part; h1 and h2 represent the first gain coefficient and the second gain coefficient of the optimized extended state observer respectively; G rc (z) represents a discrete repetitive controller; and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively.

[0030] The discrete repetitive controller G rc (z) are as follows:

[0031]

[0032] Among them, k rc represents the proportional gain; z K represents the delay compensation of K sampling cycles; Q represents the feedback gain; z -N Indicates a delay of N sampling periods.

[0033] The permanent magnet synchronous motor is equipped with two current sensors, which respectively collect the a-phase current i of the permanent magnet synchronous motor through electromagnetic induction. a and b-phase current i b , according to the a phase current i a and b-phase current i b Calculate the c-phase current i of the permanent magnet synchronous motor c , as follows:

[0034] i c =-(i a +i b )

[0035] The a-phase current i of the permanent magnet synchronous motor a , b-phase current i b and c-phase current i c The actual currents of the d-axis and q-axis in the permanent magnet synchronous motor are obtained through the Park coordinate change.

[0036] The beneficial effects of the present invention are:

[0037] The enhanced anti-disturbance current controller of the present invention can effectively suppress periodic disturbances and non-periodic disturbances existing in the current loop of the permanent magnet synchronous motor at the same time, thereby greatly improving the control accuracy of the current. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is the overall control block diagram of the permanent magnet synchronous motor of the present invention;

[0039] Figure 2 It is a principle diagram of the d-axis current enhanced active disturbance rejection controller of the present invention;

[0040] Figure 3 It is a principle diagram of the q-axis current enhanced active disturbance rejection controller of the present invention;

[0041] Figure 4 (a) is the traditional experimental result diagram of the d-axis and q-axis current of the permanent magnet synchronous motor;

[0042] Figure 4 (b) is a graph showing the experimental results of the d-axis and q-axis currents of the permanent magnet synchronous motor according to the method of the present invention. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] like Figure 1 , Figure 2 and Figure 3 As shown, the enhanced self-interference rejection current control method of the present invention includes the following steps:

[0045] Step 1: Establish a permanent magnet synchronous motor discrete model of the permanent magnet synchronous motor; establish a current enhancement active disturbance rejection controller of the permanent magnet synchronous motor, and the current enhancement active disturbance rejection controller includes a proportional control law and an optimized extended state observer.

[0046] In step 1, the permanent magnet synchronous motor discrete model of the permanent magnet synchronous motor is established as follows:

[0047]

[0048] Among them, i d (k+1) and i d (k) represents the actual current of the d-axis in the permanent magnet synchronous motor at sampling time k+1 and sampling time k respectively; i q (k+1) and i q (k) represents the actual current of the q-axis in the permanent magnet synchronous motor at sampling time k+1 and sampling time k respectively; T s Indicates the sampling period; L dn and L qn They represent the nominal values ​​of the stator inductance of the d-axis and q-axis in the permanent magnet synchronous motor respectively; udref(k) and uqref(k) represent the reference voltages of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively; d d (k) and d q (k) represents the lumped disturbance of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k.

[0049] The lumped disturbance d of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k d (k) and d q (k) as follows:

[0050]

[0051] Among them, ω e (k) represents the rotor electrical speed of the permanent magnet synchronous motor at sampling time k; L d and L q They represent the stator inductance of the d-axis and q-axis in the permanent magnet synchronous motor respectively; ψ rd and ψ rq They represent the flux of the d-axis and q-axis in the permanent magnet synchronous motor respectively; Δu d (k) and Δu q (k) represents the voltage harmonics of the d-axis and q-axis of the permanent magnet synchronous motor at the sampling time k; R represents the stator resistance of the permanent magnet synchronous motor; ΔL d and ΔL q They respectively represent the stator inductance deviation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor.

[0052] A position encoder and two current sensors are installed on the permanent magnet synchronous motor. The position encoder, the two current sensors and the inverter are all electrically connected to a microcontroller. The position encoder is coaxially connected to the output shaft of the permanent magnet synchronous motor. The position encoder collects the electrical angle θ of the rotor position of the permanent magnet synchronous motor. e Then the rotor electrical speed ω is obtained e and input into the microcontroller; two current sensors respectively collect the actual current of the d-axis and q-axis in the permanent magnet synchronous motor through electromagnetic induction and input into the microcontroller; the microcontroller sets the current preset given reference instruction of the permanent magnet synchronous motor.

[0053] Stator inductance L of d-axis and q-axis in permanent magnet synchronous motor d and L q The details are as follows:

[0054]

[0055] In step 1, the proportional control law of the current enhanced ADRC is as follows:

[0056]

[0057]

[0058] Among them, u dref (k+1) and u qref (k+1) respectively represent the reference voltages of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1; k p Indicates the preset proportional coefficient; i dref (k) and i qref (k) respectively represent the current preset given reference instructions of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k; and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 respectively; and They respectively represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1.

[0059] In step 1, the optimized extended state observer of the current enhanced active disturbance rejection controller is as follows:

[0060]

[0061] in, and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively; and They represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively; and They represent the lumped disturbance observation value of the current loop of the q-axis in the permanent magnet synchronous motor at the sampling time k+1. and The integral part of and They represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k. and The integral part; h1 and h2 represent the first gain coefficient and the second gain coefficient of the optimized extended state observer respectively; G rc (z) represents a discrete repetitive controller; and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively.

[0062] Discrete Repetitive Controller G rc (z) are as follows:

[0063]

[0064] Among them, k rc represents the proportional gain; z K represents the delay compensation of K sampling cycles; Q represents the feedback gain; z- N Indicates a delay of N sampling periods.

[0065] There are two current sensors installed on the permanent magnet synchronous motor. The two current sensors collect the a-phase current i of the permanent magnet synchronous motor through electromagnetic induction. a and b-phase current i b , according to the a phase current i a and b-phase current i bCalculate the c-phase current i of the permanent magnet synchronous motor c , as follows:

[0066] i c =-(i a +i b )

[0067] The a-phase current i of the permanent magnet synchronous motor a , b-phase current i b and c-phase current i c The actual currents of the d-axis and q-axis in the permanent magnet synchronous motor are obtained through the Park coordinate change.

[0068] Step 2: Input the preset reference instruction of the permanent magnet synchronous motor's current, the current loop lumped disturbance observation value, and the actual current observation value into the proportional control law, and the proportional control law outputs the reference voltage of the permanent magnet synchronous motor; input the reference voltage of the permanent magnet synchronous motor into the discrete model of the permanent magnet synchronous motor, and the discrete model of the permanent magnet synchronous motor outputs the actual current of the permanent magnet synchronous motor; input the actual current of the permanent magnet synchronous motor into the optimized extended state observer, and the optimized extended state observer outputs the current loop lumped disturbance observation value and the actual current observation value of the permanent magnet synchronous motor, which are then input into the proportional control law for closed-loop feedback.

[0069] In step 2, the reference voltage of the permanent magnet synchronous motor includes the reference voltage u of the d-axis and the q-axis in the permanent magnet synchronous motor at the sampling time k. dref (k) and u qref (k); The actual current of the permanent magnet synchronous motor includes the actual current i of the d-axis and q-axis of the permanent magnet synchronous motor at the sampling time k+1 d (k+1) and i q (k+1).

[0070] In step 2, the current preset reference instruction of the permanent magnet synchronous motor includes the current preset reference instruction i of the d-axis and the q-axis in the permanent magnet synchronous motor at the sampling time k. dref (k) and i qref (k); The current loop lumped disturbance observation value includes the current loop lumped disturbance observation value of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 and The actual current observation value includes the actual current observation value of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 and

[0071] Step three: The input control end of the permanent magnet synchronous motor is electrically connected to the inverter. In the closed-loop feedback process of step two, the reference voltage of the output permanent magnet synchronous motor is processed in turn through the anti-Park coordinate change and the space vector pulse width modulation algorithm SVPWM to generate six switching signals of the inverter to control the inverter, and then the permanent magnet synchronous motor is driven by the inverter to work normally, thereby realizing the enhanced self-disturbance rejection control of the closed-loop feedback of the permanent magnet synchronous motor.

[0072] In order to verify the effectiveness and superiority of the control method proposed in the present invention, an experimental verification is carried out, and the specific embodiments are as follows:

[0073] The experimental contents are as follows:

[0074] The d-axis reference current of the permanent magnet synchronous motor is set to 0A, and the q-axis reference current is stepped from 0A to 8.6A at the moment of 0.4s. By observing and comparing the actual d-axis current and the steady-state fluctuation amplitude of the actual q-axis current of the permanent magnet synchronous motor under the control of the traditional anti-disturbance current controller d-axis current traditional anti-disturbance controller, the traditional anti-disturbance current controller q-axis current and the enhanced anti-disturbance current controller d-axis current enhanced anti-disturbance controller, and the q-axis current enhanced anti-disturbance controller, the control effect of the enhanced anti-disturbance current control method of the permanent magnet synchronous motor in the present invention is verified.

[0075] The experimental results are as follows:

[0076] like Figure 4 As shown in the figure, it is an experimental comparison diagram of the actual current of the d-axis and the actual current of the q-axis of the permanent magnet synchronous motor under the control method proposed by the present invention and under the traditional active disturbance rejection control method. It can be seen from the experimental diagram that compared with the traditional active disturbance rejection controller, the d-axis current enhanced active disturbance rejection controller and the q-axis current enhanced active disturbance rejection controller constructed by the enhanced active disturbance rejection controller can effectively suppress the periodic and non-periodic disturbances in the current loop of the permanent magnet synchronous motor, greatly improving the control accuracy of the current.

[0077] The above description is only a typical embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An enhanced anti-disturbance current control method for a permanent magnet synchronous motor, characterized in that: The method comprises the following steps: Step 1: Establish a permanent magnet synchronous motor discrete model of the permanent magnet synchronous motor; establish a current enhancement active disturbance rejection controller of the permanent magnet synchronous motor, the current enhancement active disturbance rejection controller includes a proportional control law and an optimized extended state observer; Step 2: Input the preset reference instruction of the permanent magnet synchronous motor's current, the current loop lumped disturbance observation value, and the actual current observation value into the proportional control law, and the proportional control law outputs the reference voltage of the permanent magnet synchronous motor; input the reference voltage of the permanent magnet synchronous motor into the discrete model of the permanent magnet synchronous motor, and the discrete model of the permanent magnet synchronous motor outputs the actual current of the permanent magnet synchronous motor; input the actual current of the permanent magnet synchronous motor into the optimized extended state observer, and the optimized extended state observer outputs the current loop lumped disturbance observation value and the actual current observation value of the permanent magnet synchronous motor, which are then input into the proportional control law for closed-loop feedback; Step 3: The input control end of the permanent magnet synchronous motor is electrically connected to the inverter. In the closed-loop feedback process of step 2, the reference voltage of the output permanent magnet synchronous motor is processed in turn by the anti-Park coordinate change and the space vector pulse width modulation algorithm SVPWM to generate six switching signals of the inverter to control the inverter, and then the permanent magnet synchronous motor is driven to work normally through the inverter, so as to realize the enhanced anti-disturbance control of the closed-loop feedback of the permanent magnet synchronous motor; In the step 1, the permanent magnet synchronous motor discrete model of the permanent magnet synchronous motor is established as follows: Among them, i d (k+1) and i d (k) represents the actual current of the d-axis in the permanent magnet synchronous motor at sampling time k+1 and sampling time k respectively; i q (k+1) and i q (k) represents the actual current of the q-axis in the permanent magnet synchronous motor at sampling time k+1 and sampling time k respectively; T s Indicates the sampling period; L dn and L qn They represent the nominal values ​​of the stator inductance of the d-axis and q-axis in the permanent magnet synchronous motor respectively; u dref (k) and u qref (k) respectively represent the reference voltage of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k; d d (k) and d q (k) represents the lumped disturbance of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k; In the step 2, the reference voltage of the permanent magnet synchronous motor includes the reference voltage u of the d-axis and the q-axis of the permanent magnet synchronous motor at the sampling time k. dref (k) and u qref (k); The actual current of the permanent magnet synchronous motor includes the actual current i of the d-axis and q-axis of the permanent magnet synchronous motor at the sampling time k+1 d (k+1) and i q (k+1); In the step 1, the optimized extended state observer of the current enhanced active disturbance rejection controller is specifically as follows: in, and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively; and They represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively; and They represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 respectively. and The integral part of and They represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k. and The integral part; h1 and h2 represent the first gain coefficient and the second gain coefficient of the optimized extended state observer respectively; G rc (z) represents a discrete repetitive controller; and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k respectively.

2. The enhanced anti-disturbance current control method of a permanent magnet synchronous motor according to claim 1, characterized in that: The lumped disturbance d of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k is d (k) and d q (k) as follows: Among them, ω e (k) represents the rotor electrical speed of the permanent magnet synchronous motor at sampling time k; L d and L q They represent the stator inductance of the d-axis and q-axis in the permanent magnet synchronous motor respectively; ψ rd and ψ rq They represent the flux of the d-axis and q-axis in the permanent magnet synchronous motor respectively; Δu d (k) and Δu q (k) represents the voltage harmonics of the d-axis and q-axis of the permanent magnet synchronous motor at the sampling time k; R represents the stator resistance of the permanent magnet synchronous motor; ΔL d and ΔL q They respectively represent the stator inductance deviation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor.

3. The enhanced anti-disturbance current control method of a permanent magnet synchronous motor according to claim 2, characterized in that: The stator inductance L of the d-axis and q-axis in the permanent magnet synchronous motor is d and L q The details are as follows:

4. The enhanced anti-disturbance current control method of a permanent magnet synchronous motor according to claim 1, characterized in that: In the step 1, the proportional control law of the current enhanced active disturbance rejection controller is as follows: Among them, u dref (k+1) and u qref (k+1) respectively represent the reference voltages of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1; k p Indicates the preset proportional coefficient; i dref (k) and i qref (k) respectively represent the current preset given reference instructions of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k; and They represent the actual current observation values ​​of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 respectively; and They represent the lumped disturbance observation values ​​of the current loop of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 respectively; In the step 2, the current preset reference instruction of the permanent magnet synchronous motor includes the current preset reference instruction i of the d-axis and q-axis of the permanent magnet synchronous motor at the sampling time k. dref (k) and i qref (k); The current loop lumped disturbance observation value includes the current loop lumped disturbance observation value of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 and The actual current observation value includes the actual current observation value of the d-axis and q-axis in the permanent magnet synchronous motor at the sampling time k+1 and 5. The enhanced anti-disturbance current control method of a permanent magnet synchronous motor according to claim 1, characterized in that: The discrete repetitive controller G rc (z) are as follows: Among them, k rc represents the proportional gain; z K represents the delay compensation of K sampling cycles; Q represents the feedback gain; z -N Indicates a delay of N sampling periods.

6. The enhanced anti-disturbance current control method of a permanent magnet synchronous motor according to claim 1, characterized in that: The permanent magnet synchronous motor is equipped with two current sensors, which respectively collect the a-phase current i of the permanent magnet synchronous motor. a and b-phase current i b , according to the a phase current i a and b-phase current i b Calculate the c-phase current i of the permanent magnet synchronous motor c , as follows: i c =-(i a +i b ) The a-phase current i of the permanent magnet synchronous motor a , b-phase current i b and c-phase current i c The actual currents of the d-axis and q-axis in the permanent magnet synchronous motor are obtained through the Park coordinate change.

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