Position sensorless predictive control method and system for permanent magnet synchronous motor

Abstract

The present invention proposes a position sensorless predictive control method and system for a permanent magnet synchronous motor, relating to the field of motor control technology. The method comprises calculating the d- and q-axis voltages and d- and q-axis currents of the motor; using the q-axis stator current observation value, the motor speed observation value, and the load torque observation value as state variables, and the q-axis stator current error as feedback, to determine the observed value of the motor speed; calculating the motor stator current based on the observed value of the motor speed; using the total unknown part of the motor system and the motor stator current as state variables, and the current observation error as feedback, to determine the αβ-axis stator current values ​​of the motor; and obtaining the desired stator voltage value based on the αβ-axis stator current values ​​of the motor, thereby controlling the motor using the desired stator voltage value. The present invention can effectively improve the observation accuracy and the anti-disturbance capability of the control system, and combines position sensorless control with predictive control to effectively improve the dynamic characteristics of the control system.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and in particular relates to a position sensorless predictive control method and system for a permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motors (PMSMs) have the advantages of small size, high power density, high dynamic performance, and high power factor. They have been widely used in high-power wind power generation, new energy vehicles, industrial manufacturing equipment, and household appliances. In practical applications, an encoder should be installed to obtain precise position information of the PMSM in order to construct a servo control loop. However, the encoder not only increases the cost of the motor itself and the complexity of the servo system, but also increases the probability of motor failure and the motor's operation and maintenance costs. If the mechanical encoder fails under special operating conditions, the motor control performance will deteriorate rapidly, and in severe cases, it may even cause the converter to shut down due to overcurrent. Therefore, how to achieve high-quality, full-speed position sensorless control of permanent magnet synchronous motors is a major challenge facing the current AC servo control field.

[0003] Currently, there are two approaches to achieving sensorless control of permanent magnet synchronous motors: 1) motor model-based methods, such as the extended back-EMF (E-EMF) method and the active-flux method; and 2) methods based on the motor's salient-pole characteristics, such as the online inductance measurement method (INFORM) and the high-frequency signal injection method (HFSI). These existing sensorless control systems can be divided into three basic parts: the inner control loop, the back-EMF / flux / current observer, and the rotor information observer. The first part relies on the classic vector control framework, the second part primarily consists of the back-EMF / flux / salient-pole characteristic observer, and the third part relies on a traditional phase-locked loop structure to output rotor position and speed.

[0004] The inventors found that the control inner loop and rotor information observation part of the permanent magnet synchronous motor position sensorless control system are respectively constrained by the classical vector control framework and the traditional phase-locked loop structure, which seriously restricts the flexibility of the position sensorless control system, limits the system's ability to handle multiple inputs, multiple outputs, and multiple control targets, and significantly reduces the system's speed regulation capability and speed response dynamic characteristics. Summary of the Invention

[0005] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a position sensorless predictive control method and system for a permanent magnet synchronous motor. In the position sensorless observation part, a new speed observer is proposed, which effectively improves the observation accuracy and the anti-disturbance capability of the control system, and combines position sensorless control with predictive control to effectively improve the dynamic characteristics of the control system.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] A first aspect of the present invention provides a position sensorless predictive control method for a permanent magnet synchronous motor.

[0008] A position sensorless predictive control method for a permanent magnet synchronous motor comprises the following steps:

[0009] Calculate the d-axis and q-axis voltages and d-axis and q-axis currents of the motor;

[0010] Taking the q-axis stator current observation value, motor speed observation value, and load torque observation value as state variables, and the q-axis stator current error as feedback, combined with the q-axis voltage of the motor, a speed observer based on the extended state observer is constructed to solve the observed value of the motor speed;

[0011] Based on the observed value of the motor speed, the motor speed observation error is calculated and input into the PI controller to obtain the motor stator current.

[0012] The current observation error is calculated based on the motor stator current and the motor d- and q-axis currents. Using the total unknown part of the motor system and the motor stator current as state variables and the current observation error as feedback, a deadbeat predictive control inner loop based on the extended state observer is constructed to solve the motor's αβ-axis stator current values.

[0013] Based on the αβ-axis stator current value of the motor, the desired stator voltage value is obtained, and the motor is controlled using the desired stator voltage value.

[0014] A second aspect of the present invention provides a position sensorless predictive control system for a permanent magnet synchronous motor.

[0015] Permanent magnet synchronous motor position sensorless predictive control system, including:

[0016] The initial calculation module is configured to: calculate the d-axis and q-axis voltages and d-axis and q-axis currents of the motor;

[0017] The speed observer construction and solution module is configured to use the q-axis stator current observation value, motor speed observation value, and load torque observation value as state variables, and the q-axis stator current error as feedback. Combined with the motor's q-axis voltage, a speed observer based on the extended state observer is built to solve the motor speed observation value.

[0018] The PI controller module is configured to: calculate a motor speed observation error based on an observed value of the motor speed, and input the motor speed observation error into the PI controller to obtain a motor stator current;

[0019] The deadbeat predictive control inner loop construction and solution module is configured to: calculate the current observation error based on the motor stator current and the motor d- and q-axis currents; use the total unknown part of the motor system and the motor stator current as state variables, and the current observation error as feedback, to build a deadbeat predictive control inner loop based on the extended state observer to solve the motor's αβ-axis stator current values;

[0020] The control module is configured to obtain a desired stator voltage value based on the αβ-axis stator current value of the motor, and control the motor using the desired stator voltage value.

[0021] A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the position sensorless predictive control method for a permanent magnet synchronous motor as described in the first aspect of the present invention.

[0022] The fourth aspect of the present invention provides an electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the position sensorless predictive control method for a permanent magnet synchronous motor as described in the first aspect of the present invention are implemented.

[0023] One or more of the above technical solutions have the following beneficial effects:

[0024] The present invention provides a position sensorless predictive control method and system for a permanent magnet synchronous motor. Firstly, predictive control is combined with position sensorless control, and an ESO-based deadbeat predictive control structure is used in the inner loop of the control system, which effectively improves the system flexibility, dynamic characteristics and inner loop parameter robustness. Secondly, a new speed observer based on ESO is established, which replaces the traditional phase-locked loop structure and can directly obtain motor speed information from the stator current, effectively improving the system speed regulation capability, dynamic characteristics and load torque disturbance resistance.

[0025] The present invention reduces the complexity of the control system and improves the flexibility of the system; replaces the phase-locked loop structure in the prior art, improves the speed regulation capability of the system, and effectively improves the dynamic characteristics of the system speed response, and has the ability to effectively improve the system's ability to resist load torque disturbances in the full speed range.

[0026] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] Figure 1This is the position sensorless control strategy diagram of the permanent magnet synchronous motor.

[0029] Figure 2 This is an overall control flow chart of Example 1.

[0030] Figure 3 This is the block diagram of the new speed observer based on ESO.

[0031] Figure 4 This is the inner loop block diagram of the ESO-based deadbeat predictive control. DETAILED DESCRIPTION

[0032] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0033] It should be noted that the terms used herein are for describing particular embodiments only and are not intended to limit the exemplary embodiments according to the present invention.

[0034] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0035] The overall idea proposed by the present invention is:

[0036] This paper addresses the field of permanent magnet synchronous motor (PMSM) servo drives and proposes a method and system for position sensorless predictive control of PMSMs. Currently, high-precision servo drive systems for PMSMs require precise rotor position and speed information to achieve accurate closed-loop control. However, mechanical encoders, essential components for obtaining rotor position information, are bulky, costly, and easily damaged, severely restricting the use of PMSMs in certain operating conditions.

[0037] Based on this, the present invention proposes a position sensorless predictive control method for a permanent magnet synchronous motor based on a new speed observer. This method proposes a new speed observer in the position sensorless observation part, which effectively improves the observation accuracy and the anti-disturbance ability of the control system; on the other hand, this method combines position sensorless control with predictive control, effectively improving the dynamic characteristics of the control system.

[0038] At present, the control loop part and the rotor position information observation part of the permanent magnet synchronous motor position sensorless control system rely on the traditional vector control strategy and phase-locked loop structure respectively. This limits the flexibility of the position sensorless control system to a certain extent and reduces the dynamic characteristics of the system response.

[0039] This method solves the above problems through two means:

[0040] 1) The control loop of this method adopts a deadbeat predictive control structure based on an extended state observer (ESO). Compared with traditional methods, it effectively improves the system dynamic range and control loop robustness.

[0041] 2) This method proposes an ESO-based speed observer, which can replace the phase-locked loop structure to directly obtain the rotor speed, improve the system speed regulation capability, enhance the system dynamic characteristics and position sensorless tracking accuracy, and effectively improve the system's ability to resist load torque disturbances.

[0042] Explanation of terms:

[0043] ESO-Based Predictive Control: ESO-based predictive control;

[0044] SVM: space vector modulation;

[0045] ESO-Based Speed ​​Observer: ESO-based speed observer;

[0046] Hybrid Flux Estimator: hybrid flux observer;

[0047] PMSM: permanent magnet synchronous motor;

[0048] Encoderless control: Encoderless control;

[0049] Saliency-based: based on saliency characteristics;

[0050] Injection-based: based on injection;

[0051] Rotating signal injection: Rotating signal injection;

[0052] Pulsating signal injection: Pulsating signal injection;

[0053] FPE-based: based on carrier injection;

[0054] INFORM: Online inductance measurement;

[0055] ZVVI: Zero Voltage Vector Injection;

[0056] Arbitrary Injection: Arbitrary injection;

[0057] Model-based: based on the model;

[0058] EMF: back electromotive force;

[0059] Flux: magnetic link.

[0060] Example 1

[0061] This embodiment discloses a position sensorless predictive control method for a permanent magnet synchronous motor.

[0062] like Figure 1 、 Figure 2 As shown, the position sensorless predictive control method for a permanent magnet synchronous motor includes the following steps:

[0063] Calculate the d-axis and q-axis voltages and d-axis and q-axis currents of the motor;

[0064] Taking the q-axis stator current observation value, motor speed observation value, and load torque observation value as state variables, and the q-axis stator current error as feedback, combined with the q-axis voltage of the motor, a speed observer based on the extended state observer is constructed to solve the observed value of the motor speed;

[0065] Based on the observed value of the motor speed, the motor speed observation error is calculated and input into the PI controller to obtain the motor stator current.

[0066] The current observation error is calculated based on the motor stator current and the motor d- and q-axis currents. Using the total unknown part of the motor system and the motor stator current as state variables and the current observation error as feedback, a deadbeat predictive control inner loop based on the extended state observer is constructed to solve the motor's αβ-axis stator current values.

[0067] Based on the αβ-axis stator current value of the motor, the desired stator voltage value is obtained, and the motor is controlled using the desired stator voltage value.

[0068] The core point of this embodiment is to improve the flexibility, speed regulation capability, dynamic characteristics and load torque disturbance resistance of the existing position sensorless control system, and propose a position sensorless predictive control method for permanent magnet synchronous motor based on a new speed observer.

[0069] Compared with the existing position sensorless control strategy, this scheme innovatively proposes a speed observer that can replace the traditional phase-locked loop, and combines predictive control with position sensorless control, significantly improving the control performance.

[0070] like Figure 1 As shown in the figure, it is a diagram of the position sensorless control strategy of the permanent magnet synchronous motor. It can be seen from the figure that the position sensorless control of the permanent magnet synchronous motor is mainly divided into a method based on the motor model and a method based on the motor salient pole characteristics.

[0071] The design principle of the novel control method and system proposed by the present invention will be described in detail below. The overall control block diagram is as follows: Figure 2 shown.

[0072] 1. Hybrid flux observer

[0073] This embodiment uses an improved hybrid flux observer to obtain rotor position information. The derivation process is as follows. First, the permanent magnet synchronous motor torque equation can be obtained:

[0074]

[0075] Where T e is the electromagnetic torque of the motor, ψ f is the permanent magnet flux, P n is the number of motor pole pairs, L d,q 、i d,q , ψ d,q Respectively represent the inductance, stator current and stator flux of the motor in the dq coordinate system. From this formula, the active flux expression can be obtained:

[0076] ψ act =(L d -L q )i d +ψ f (2)

[0077] Substituting it into the flux equation in the PMSM fixed coordinate system, the active flux calculation formula can be obtained:

[0078]

[0079] where θ e is the motor rotor position angle, ψ α,β is the stator flux of the motor in the αβ coordinate system.

[0080] This leads to two ways to calculate the active flux, namely the voltage model and the current model.

[0081] The calculation formula of the voltage model is:

[0082]

[0083] The calculation formula of the current model is:

[0084]

[0085] It can be seen from the expressions of the two models that the voltage model has problems with the initial value of integration and DC bias, and its effect is not good in the low-speed domain; the current model requires precise rotor position for coordinate transformation, so it cannot independently calculate the magnetic flux.

[0086] Combining the two through high-pass filter and low-pass filter respectively can obtain the mixed magnetic flux:

[0087]

[0088] Furthermore, the rotor position information can be directly obtained through inverse tangent transformation:

[0089]

[0090] 2. New speed observer based on ESO

[0091] Existing sensorless control systems directly couple speed observation with rotor position observation. Due to the low-pass nature of the phase-locked loop (PLL) speed output, the speed regulation range is limited by bandwidth, severely hampering the dynamic performance of the speed response. To address this challenge, the present invention constructs an ESO-based speed observer based on the motor voltage response equation and dynamic equations, effectively eliminating the drawbacks of the traditional PLL architecture.

[0092] First, the stator voltage response equation of the permanent magnet synchronous motor in the dq coordinate system can be obtained:

[0093]

[0094] Among them, ω e is the motor electrical angular velocity, ψ act is the active flux amplitude.

[0095] From the dynamic equation of permanent magnet synchronous motor, we can get:

[0096]

[0097] Where J is the motor's moment of inertia, T L is the motor load torque.

[0098] From equations (8) and (9), we can use the q-axis stator current, motor speed, and load torque as state variables to construct the following equations: Figure 3 The extended state observer shown in . Its expression is:

[0099]

[0100] in:

[0101]

[0102] Among them, z1s is the q-axis current observation value z2s is the observed value of the motor speed z 3s is the observed value of load torque u q is the q-axis voltage; errs is the q-axis stator current error; where ω 01 is the speed observer bandwidth; L q is the inductance of the motor in the q coordinate system; i d is the current of the motor in the d coordinate system; ω e is the motor electrical angular velocity; ψ act is the active flux amplitude; R s is the stator resistance of the motor; i q is the current of the motor in the q coordinate system; P n is the number of motor pole pairs; J is the motor moment of inertia.

[0103] 3. Deadbeat predictive control inner loop based on ESO

[0104] First, the super-local model of the permanent magnet synchronous motor in the natural coordinate system can be obtained:

[0105]

[0106] Where F=(-R s i s -jω e ψ f ) / L s , which means the total unknown part of the motor system.

[0107] Based on the hyperlocal model given by formula (12), F and i s is the state variable, and the current observation error is used as feedback to construct Figure 4 The extended state observer shown in . Its expression is:

[0108]

[0109] in, are the observation errors of stator current and total system disturbance respectively; ω 02 is the bandwidth of the inner loop ESO for predictive control; e rrp is the current observation error; u s is the motor stator voltage; is is the motor stator current.

[0110] Substituting the discrete mathematical model of permanent magnet synchronous motor into equation (13) yields:

[0111]

[0112] After discretization, formula (12) can be obtained:

[0113]

[0114] Assuming that the stator current reaches the reference value at time k+1, the voltage reference value can be obtained:

[0115]

[0116] like Figure 2 As shown, further, in this embodiment, the d-axis and q-axis voltages and d-axis and q-axis currents of the motor are calculated as follows:

[0117] Obtain the permanent magnet synchronous motor rotor position information, and combine it with the permanent magnet synchronous motor αβ axis stator current to obtain the permanent magnet synchronous motor d and q axis voltages;

[0118] Collect the three-phase current of the motor stator and convert it into the d and q axis current of the motor.

[0119] Furthermore, the process of obtaining the permanent magnet synchronous motor rotor position information is as follows:

[0120] Based on the permanent magnet synchronous motor torque equation and the permanent magnet synchronous motor flux equation in a fixed coordinate system, the active flux calculation formula based on the voltage model and current model is obtained;

[0121] The active flux calculation formulas based on the voltage model and the current model are combined through a high-pass filter and a low-pass filter respectively to obtain a hybrid flux.

[0122] Based on the obtained mixed flux, the rotor position information is directly obtained through inverse tangent transformation.

[0123] Furthermore, based on the αβ-axis stator current values ​​of the motor, the desired stator voltage values ​​are obtained, specifically:

[0124] The stator current values ​​of the motor's αβ axes are modulated by space vector to obtain the switching values ​​of the three phases of the converter;

[0125] The switching quantity of the three-phase converter is applied to the converter, and the desired stator voltage value is obtained through the control of the switching quantity.

[0126] This embodiment combines predictive control with position sensorless control, and applies ESO-based zero-beat predictive control in the inner control loop, effectively improving the system flexibility and dynamic characteristics; the proposed new ESO-based speed observer uses stator current and stator voltage to directly observe the motor speed, effectively improving the control system's speed regulation capability, dynamic characteristics and load torque disturbance resistance.

[0127] Example 2

[0128] This embodiment discloses a position sensorless predictive control system for a permanent magnet synchronous motor.

[0129] Permanent magnet synchronous motor position sensorless predictive control system, including:

[0130] The initial calculation module is configured to: calculate the d-axis and q-axis voltages and d-axis and q-axis currents of the motor;

[0131] The speed observer construction and solution module is configured to use the q-axis stator current observation value, motor speed observation value, and load torque observation value as state variables, and the q-axis stator current error as feedback. Combined with the motor's q-axis voltage, a speed observer based on the extended state observer is built to solve the motor speed observation value.

[0132] The PI controller module is configured to: calculate a motor speed observation error based on an observed value of the motor speed, and input the motor speed observation error into the PI controller to obtain a motor stator current;

[0133] The deadbeat predictive control inner loop construction and solution module is configured to: calculate the current observation error based on the motor stator current and the motor d- and q-axis currents; use the total unknown part of the motor system and the motor stator current as state variables, and the current observation error as feedback, to build a deadbeat predictive control inner loop based on the extended state observer to solve the motor's αβ-axis stator current values;

[0134] The control module is configured to obtain a desired stator voltage value based on the αβ-axis stator current value of the motor, and control the motor using the desired stator voltage value.

[0135] Example 3

[0136] The purpose of this embodiment is to provide a computer-readable storage medium.

[0137] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the position sensorless predictive control method for a permanent magnet synchronous motor as described in Example 1 of the present disclosure.

[0138] Example 4

[0139] The purpose of this embodiment is to provide an electronic device.

[0140] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the position sensorless predictive control method for a permanent magnet synchronous motor as described in Example 1 of the present disclosure are implemented.

[0141] The steps involved in the apparatuses of Examples 2, 3, and 4 above correspond to those of Method Example 1. For detailed implementations, please refer to the relevant description of Example 1. The term "computer-readable storage medium" should be understood to mean a single medium or multiple media containing one or more instruction sets; it should also be understood to include any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and causing the processor to perform any method of the present invention.

[0142] Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computer device. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0143] Although the above describes the specific embodiments of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without any creative work are still within the scope of protection of the present invention.

Claims

1. A position sensorless predictive control method for a permanent magnet synchronous motor, characterized in that: The following steps are involved: Calculate the d-axis and q-axis voltages and d-axis and q-axis currents of the motor; Taking the q-axis stator current observation value, motor speed observation value, and load torque observation value as state variables, and the q-axis stator current error as feedback, combined with the q-axis voltage of the motor, a speed observer based on the extended state observer is constructed to solve the observed value of the motor speed; Based on the observed value of the motor speed, the motor speed observation error is calculated and input into the PI controller to obtain the motor stator current. Calculate the current observation error based on the motor stator current and the motor d-axis and q-axis currents; Taking the total unknown part of the motor system and the motor stator current as state variables and the current observation error as feedback, a deadbeat predictive control inner loop based on the extended state observer is constructed to solve the motor's αβ-axis stator current value; Based on the αβ-axis stator current value of the motor, a desired stator voltage value is obtained, and the motor is controlled using the desired stator voltage value; The speed observer based on the extended state observer specifically includes: ； ； in, is the q-axis current observation value , is the observed value of motor speed , is the observed value of load torque ; is the q-axis voltage; is the q-axis stator current error; ; ,in is the speed observer bandwidth; for q The inductance of the motor in the coordinate system; for d The current of the motor in the coordinate system; is the motor electrical angular velocity; is the active flux amplitude; is the stator resistance of the motor; for q The current of the motor in the coordinate system; is the number of motor pole pairs; is the motor's moment of inertia.

2. The position sensorless predictive control method for a permanent magnet synchronous motor according to claim 1, wherein: The difference between the observed value of the motor speed and the preset value of the motor speed is calculated to obtain the motor speed observation error.

3. The position sensorless predictive control method for a permanent magnet synchronous motor according to claim 1, wherein: The deadbeat predictive control inner loop based on the extended state observer is specifically: ； in ; , To predict the control of the inner loop ESO bandwidth; is the current observation error; is the motor stator voltage; is the motor stator current.

4. The position sensorless predictive control method for a permanent magnet synchronous motor according to claim 1, wherein: Based on the αβ-axis stator current values ​​of the motor, the desired stator voltage values ​​are obtained, specifically: The stator current values ​​of the motor's αβ axes are modulated by space vector to obtain the switching values ​​of the three phases of the converter; The switching quantity of the three-phase converter is applied to the converter, and the desired stator voltage value is obtained through the control of the switching quantity.

5. The position sensorless predictive control method for a permanent magnet synchronous motor according to claim 1, wherein: Calculate the d-axis and q-axis voltages and d-axis and q-axis currents of the motor as follows: Obtain the permanent magnet synchronous motor rotor position information, and combine it with the permanent magnet synchronous motor αβ axis stator current to obtain the permanent magnet synchronous motor d and q axis voltages; Collect the three-phase current of the motor stator and convert it into the d and q axis current of the motor.

6. The position sensorless predictive control method for a permanent magnet synchronous motor according to claim 5, wherein: The process of acquiring the permanent magnet synchronous motor rotor position information is as follows: Based on the permanent magnet synchronous motor torque equation and the permanent magnet synchronous motor flux equation in a fixed coordinate system, the active flux calculation formula based on the voltage model and current model is obtained; The active flux calculation formulas based on the voltage model and the current model are combined through a high-pass filter and a low-pass filter respectively to obtain a hybrid flux. Based on the obtained mixed flux, the rotor position information is directly obtained through inverse tangent transformation.

7. A position sensorless predictive control system for a permanent magnet synchronous motor, characterized in that: include: The initial calculation module is configured to: calculate the d-axis and q-axis voltages and d-axis and q-axis currents of the motor; The speed observer construction and solution module is configured to use the q-axis stator current observation value, motor speed observation value, and load torque observation value as state variables, and the q-axis stator current error as feedback. Combined with the motor's q-axis voltage, a speed observer based on the extended state observer is built to solve the motor speed observation value. The PI controller module is configured to: calculate a motor speed observation error based on an observed value of the motor speed, and input the motor speed observation error into the PI controller to obtain a motor stator current; The deadbeat predictive control inner loop solution module is configured to: calculate the current observation error based on the motor stator current and the motor d-axis and q-axis currents; Taking the total unknown part of the motor system and the motor stator current as state variables and the current observation error as feedback, a deadbeat predictive control inner loop based on the extended state observer is constructed to solve the motor's αβ-axis stator current value; The control module is configured to: obtain a desired stator voltage value based on the αβ-axis stator current value of the motor, and control the motor using the desired stator voltage value; The speed observer based on the extended state observer specifically includes: ； ； in, is the q-axis current observation value , is the observed value of motor speed , is the observed value of load torque ; is the q-axis voltage; is the q-axis stator current error; ; ,in is the speed observer bandwidth; for q The inductance of the motor in the coordinate system; for d The current of the motor in the coordinate system; is the motor electrical angular velocity; is the active flux amplitude; is the stator resistance of the motor; for q The current of the motor in the coordinate system; is the number of motor pole pairs; is the motor's moment of inertia.

8. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the position sensorless predictive control method for a permanent magnet synchronous motor as described in any one of claims 1 to 6 are implemented.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps in the position sensorless predictive control method for a permanent magnet synchronous motor as described in any one of claims 1 to 6 are implemented.

Images