Permanent magnet synchronous motor speed control method and system based on new type of sliding mode observer

Abstract

The application discloses a permanent magnet synchronous motor speed control method and system based on a novel sliding mode observer, which is applied to the technical field of permanent magnet synchronous motor control and comprises the following steps: a disturbed kinematic equation of a permanent magnet synchronous motor is established; a sliding mode observer based on nonlinear resonance control is established according to the disturbed kinematic equation of the permanent magnet synchronous motor; an error feedback control law is established based on a mechanical angular velocity error of the permanent magnet synchronous motor; and a reference current is obtained by compensating the error feedback control law to an observation value of a total disturbance of the sliding mode observer.

Description

Technical Field

[0001] This invention relates to the field of control technology for permanent magnet synchronous motors, and in particular to a speed control method and system for permanent magnet synchronous motors based on a novel sliding mode observer. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in electric vehicles, CNC machine tools, and robot servo control due to their advantages such as high power density, low energy loss, and high reliability. Therefore, achieving robust and high-precision speed control of PMSMs has become a research hotspot. However, in practical PMSM drive systems, aperiodic disturbances caused by external load torque and model uncertainties reduce system stability, while periodic torque pulsations cause speed pulsations, reducing control accuracy. Currently, a widely used strategy for addressing aperiodic disturbances in PMSM drive systems is to use disturbance observers to observe and compensate for the total system disturbance, such as Luneburger observers, extended state observers, and sliding mode observers. Among these, sliding mode observers have particular advantages due to their simplicity and robustness, and have been successfully applied to various systems. However, traditional sliding mode observers can only observe aperiodic disturbances and cannot effectively attenuate periodic speed pulsations.

[0003] To overcome these shortcomings, this application proposes a speed control method and system for permanent magnet synchronous motors based on a novel sliding mode observer. Summary of the Invention

[0004] The purpose of this application is to provide a speed control method and system for permanent magnet synchronous motors based on a novel sliding mode observer, which aims to solve the problem that traditional sliding mode observers cannot attenuate periodic speed pulsations.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] This application provides a speed control method for permanent magnet synchronous motors based on a novel sliding mode observer, including:

[0007] Establish the disturbed kinematic equations of the permanent magnet synchronous motor;

[0008] Based on the disturbed kinematic equations of the permanent magnet synchronous motor, a sliding mode observer based on nonlinear resonant control is established.

[0009] An error feedback control law is established based on the mechanical angular velocity error of the permanent magnet synchronous motor.

[0010] The reference current is obtained by compensating the error feedback control law with the observed value of the total disturbance of the sliding mode observer.

[0011] Furthermore, the step of establishing the disturbed kinematic equations of the permanent magnet synchronous motor specifically includes the following steps:

[0012] The initial kinematic equations of the permanent magnet synchronous motor are:

[0013]

[0014] Where ω m The mechanical angular velocity of the permanent magnet synchronous motor; J is the differential of the mechanical angular velocity; J is the moment of inertia; T is the derivative of the mechanical angular velocity. e B is the electromagnetic torque; T is the coefficient of viscous friction; B is the electromagnetic torque. l This refers to the external load torque.

[0015] Based on the non-periodic disturbance and periodic torque pulsation, the initial kinematic equations are rewritten as follows:

[0016]

[0017] Among them, J0, K t0 B0 and B0 are the nominal moment of inertia, electromagnetic torque, and coefficient of viscous friction, respectively; ΔJ = J - J0, ΔK t =K t -K t0 ΔB = B - B0 represents the mismatched moment of inertia, electromagnetic torque, and coefficient of viscous friction, respectively; T h =T6cos(6θ) e +θ6) represents the periodic torque pulsation, T6 is the amplitude of the torque pulsation, and θ e θ6 is the electrical angle of the motor, and θ6 is the phase angle of torque pulsation; i q The stator current is the q-axis current.

[0018] The disturbed kinematic equations of the permanent magnet synchronous motor are:

[0019]

[0020] in The total disturbance includes both aperiodic disturbances and periodic disturbances caused by torque pulsation.

[0021] Furthermore, the step of establishing a sliding mode observer based on nonlinear resonant control according to the disturbed kinematic equations of the permanent magnet synchronous motor specifically includes the following steps:

[0022] The sliding mode observer based on nonlinear resonant control is designed as follows:

[0023]

[0024] in and These are the estimated values ​​for mechanical angular velocity, total disturbance, and periodic disturbance, respectively. This is the error in the observation of mechanical angular velocity; ρ is the sliding mode function; ρ<0 is the observer gain; ω c k r and ω h These represent the cutoff frequency, resonant gain, and resonant frequency, respectively; R is the resonant integral term. Let A be the arctangent function, and let N be the adjustable parameters of the arctangent function.

[0025] Furthermore, the sliding mode function is obtained by subtracting the disturbed kinematic equations of the permanent magnet synchronous motor from the sliding mode observer, thus yielding the differential equation for the mechanical angular velocity observation error as follows:

[0026]

[0027] in This represents the total disturbance observation error.

[0028] Furthermore, the sliding mode observer based on nonlinear resonance control also includes:

[0029] The sliding surface of the sliding mode observer is defined as:

[0030]

[0031] Where k1>0 is the integral gain of the sliding surface;

[0032] Differentiating both sides of the equality with respect to the sliding surface, we get:

[0033]

[0034] The sliding mode reaching law of the sliding mode observer is defined as follows:

[0035]

[0036] Where k2>0 is the exponential gain of the reaching law; η>0 is the switching gain; It is a symbolic function;

[0037] Substituting the sliding mode convergence law into the differentiated sliding surface, we obtain the sliding mode function. for:

[0038]

[0039] Furthermore, the step of establishing an error feedback control law based on the mechanical angular velocity error of the permanent magnet synchronous motor specifically includes the following steps:

[0040] The mechanical angular velocity reference for a permanent magnet synchronous motor is defined as follows: The mechanical angular velocity tracking error is An error feedback control law is adopted:

[0041]

[0042] Where k p This is the proportionality coefficient.

[0043] Furthermore, the step of compensating the observed value of the total disturbance of the sliding mode observer to the error feedback control law to obtain the reference current specifically includes the following steps:

[0044] The total disturbance d estimated based on the sliding mode observer is: The observed values ​​of the total disturbance Compensation is applied to the aforementioned error feedback control law to obtain the reference current:

[0045]

[0046] in This is the q-axis reference current.

[0047] This application provides a speed control system for a permanent magnet synchronous motor based on a novel sliding mode observer, including:

[0048] Establishment Module: Establish the disturbed kinematic equations of the permanent magnet synchronous motor; based on the disturbed kinematic equations of the permanent magnet synchronous motor, establish a sliding mode observer based on nonlinear resonant control; based on the mechanical angular velocity error of the permanent magnet synchronous motor, establish an error feedback control law;

[0049] Control module: The reference current is obtained by compensating the error feedback control law with the observed value of the total disturbance of the sliding mode observer.

[0050] This application provides an apparatus comprising a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing a speed control method for a permanent magnet synchronous motor based on a novel sliding mode observer; the processor is configured to execute the program instructions stored in the memory to implement speed control of the permanent magnet synchronous motor based on the novel sliding mode observer.

[0051] This application provides a storage medium storing processor-executable program instructions for executing a speed control method for a permanent magnet synchronous motor based on a novel sliding mode observer.

[0052] This application provides a speed control method and system for permanent magnet synchronous motors based on a novel sliding mode observer, which has the following advantages:

[0053] This application embeds resonant control technology into the design of a sliding mode observer, enabling it to effectively suppress non-periodic disturbances and attenuate periodic speed pulsations, thus solving the problem that traditional sliding mode observers cannot suppress periodic disturbances. Secondly, by applying the nonlinear arctangent function to resonant control, the negative impact of integral saturation on the dynamic performance of the system caused by the traditional resonant control method during the system's dynamic process is effectively solved, achieving strong robustness and high-precision speed control of the permanent magnet synchronous motor. Attached Figure Description

[0054] Figure 1 This is a flowchart illustrating the speed control method for a permanent magnet synchronous motor based on a novel sliding mode observer according to Embodiment 1 of this application.

[0055] Figure 2 This is a schematic diagram of the arctangent function in Embodiment 1 of this application;

[0056] Figure 3 This is a schematic diagram of the simulation model structure of the permanent magnet synchronous motor drive system based on a novel sliding mode observer according to Embodiment 1 of this application;

[0057] Figure 4 A schematic diagram of the total disturbance observed by the conventional sliding mode observer in Embodiment 1 of this application and the Fourier analysis results in steady state;

[0058] Figure 5 A schematic diagram showing the total disturbance observed by the novel sliding mode observer of Embodiment 1 of this application and the Fourier analysis results in steady state;

[0059] Figure 6 This is a schematic diagram of the mechanical angular velocity and its steady-state Fourier analysis results when using a conventional sliding mode observer in Embodiment 1 of this application;

[0060] Figure 7 This is a schematic diagram of the mechanical angular velocity and its steady-state Fourier analysis results when using the novel sliding mode observer in Embodiment 1 of this application;

[0061] Figure 8 A schematic diagram of the simulation results of the total disturbance observed by the conventional resonant sliding mode observer and the novel sliding mode observer in Embodiment 1 of this application;

[0062] Figure 9 This is a schematic diagram of the permanent magnet synchronous motor speed control system based on a novel sliding mode observer according to Embodiment 2 of this application;

[0063] Figure 10 This is a schematic diagram of the device structure in Embodiment 3 of this application;

[0064] Figure 11 This is a schematic diagram of the storage medium structure of Embodiment 4 of this application. Detailed Implementation

[0065] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0067] Example 1

[0068] Please see Figure 1 This is a flowchart illustrating the speed control method for a permanent magnet synchronous motor based on a novel sliding mode observer according to Embodiment 1 of this application; the steps include:

[0069] S1: Establish the disturbed kinematic equations of the permanent magnet synchronous motor.

[0070] In this embodiment, the initial kinematic equations of the permanent magnet synchronous motor are:

[0071]

[0072] Where ω m This refers to the mechanical angular velocity of the permanent magnet synchronous motor. T is the differential of the mechanical angular velocity; J is the moment of inertia; T is the derivative of the mechanical angular velocity. e Where B is the electromagnetic torque, B is the coefficient of viscous friction, and T is the electromagnetic torque. l This represents the external load torque.

[0073] For a surface-mounted permanent magnet synchronous motor, the electromagnetic torque equation of the permanent magnet synchronous motor is:

[0074]

[0075] Where i d and i q The stator currents L and L are the d-axis and q-axis currents, respectively. d =L q The stator inductances along the d-axis and q-axis are respectively, ψ f For permanent magnet flux linkage, n p K is the number of magnetic pole pairs. t is the electromagnetic torque constant.

[0076] However, in practical permanent magnet synchronous motor systems, there are aperiodic disturbances caused by external load torque and model uncertainties. Simultaneously, the 6th flux harmonic and voltage harmonics cause periodic torque pulsations, which in turn lead to speed pulsations. Based on the aperiodic disturbances and periodic torque pulsations, the initial kinematic equations are rewritten as:

[0077]

[0078] Among them, J0, K t0 B0 and B0 are the nominal moment of inertia, electromagnetic torque, and coefficient of viscous friction, respectively; ΔJ = J - J0, ΔK t =K t -K t0 ΔB = B - B0 represents the mismatched moment of inertia, electromagnetic torque, and coefficient of viscous friction, respectively; T h =T6cos(6θ) e +θ6) represents the periodic torque pulsation, T6 is the amplitude of the torque pulsation, and θ e θ6 is the electrical angle of the motor, and θ6 is the phase angle of torque pulsation; i q Let q be the stator current along the q-axis.

[0079] The disturbed kinematic equations of the permanent magnet synchronous motor can then be simplified to:

[0080]

[0081] in The total disturbance includes both aperiodic disturbances and periodic disturbances caused by torque pulsation.

[0082] S2: Based on the disturbed kinematic equations of the permanent magnet synchronous motor, a sliding mode observer based on nonlinear resonant control is established.

[0083] In this embodiment, to achieve robust and high-precision speed control of the permanent magnet synchronous motor, and addressing the limitations of traditional sliding mode control in effectively attenuating speed ripples and the integral saturation problem of traditional resonant control during system dynamics, a novel sliding mode observer based on nonlinear resonant control is designed for the speed control of the permanent magnet synchronous motor as follows:

[0084]

[0085] in and These are the estimated values ​​for mechanical angular velocity, total disturbance, and periodic disturbance, respectively. This is the error in the observation of mechanical angular velocity; ρ is the sliding mode function; ρ<0 is the observer gain; ω c k r and ω hThese represent the cutoff frequency, resonant gain, and resonant frequency, respectively; R is the resonant integral term. Let A be the arctangent function, and let N be the adjustable parameters of the arctangent function.

[0086] The sliding mode function is obtained by subtracting the disturbed kinematic equations of the permanent magnet synchronous motor from the sliding mode observer, thus yielding the differential equation for the mechanical angular velocity observation error:

[0087]

[0088] in This represents the total disturbance observation error.

[0089] The sliding surface of the sliding mode observer is defined as:

[0090]

[0091] Where k1>0 is the integral gain of the sliding surface.

[0092] Differentiating both sides of the equality with respect to the sliding surface, we get:

[0093]

[0094] The sliding mode reaching law of the sliding mode observer is defined as follows:

[0095]

[0096] Where k2>0 is the exponential gain of the reaching law; η>0 is the switching gain; It is a symbolic function.

[0097] Substituting the sliding mode convergence law into the differentiated sliding surface, we obtain the sliding mode function. for:

[0098]

[0099] It is understandable that introducing resonant control technology into the sliding mode observer can compensate for periodic disturbances, enabling the sliding mode observer based on nonlinear resonant control to effectively observe periodic disturbances. Secondly, applying the arctangent function to the resonant control effectively avoids the negative impact of integral saturation problem in the system dynamic process of traditional resonant control on the system dynamic performance.

[0100] Please see Figure 2 This is a schematic diagram of the arctangent function in Embodiment 1 of this application, which is a nonlinear arctangent function. When the system is in a dynamic process (corresponding to) Figure 2(In the solid line portion), the velocity observation error is relatively large. The arctangent function limits the impact of the velocity observation error on the system to a fixed range A, effectively avoiding integral saturation. Once the system enters steady state (corresponding to...), Figure 2 (In the dashed section), the velocity observation error is relatively small, and the arctangent function changes with the velocity observation error, thus being used for resonance control.

[0101] S3: Based on the mechanical angular velocity error of the permanent magnet synchronous motor, establish an error feedback control law.

[0102] In this embodiment, the mechanical angular velocity reference of the permanent magnet synchronous motor is defined as... The mechanical angular velocity tracking error is An error feedback control law is adopted:

[0103]

[0104] Where k p This is the proportionality coefficient.

[0105] S4: The reference current is obtained by compensating the error feedback control law with the observed value of the total disturbance of the sliding mode observer.

[0106] In this embodiment, the total disturbance d of the sliding mode observer is estimated as follows: The observed values ​​of the total disturbance Compensation is applied to the aforementioned error feedback control law to obtain the reference current:

[0107]

[0108] in This is the q-axis reference current.

[0109] Please see Figure 3 This is a schematic diagram of the simulation model structure of the permanent magnet synchronous motor drive system based on a novel sliding mode observer according to Embodiment 1 of this application. In the figure, u d and u q The voltages on the d-axis and q-axis are respectively, u d(q) This is the combined voltage vector along the d-axis and q-axis. For the inverse Park transform, u α(β) S is the resultant voltage vector along the α and β axes. abc Let i be the inverter switching signal state vector modulated by SVPWM. a i b and i c These are the three-phase currents of the permanent magnet synchronous motor, i α(β) This is the resultant current vector along the α and β axes. This represents the Park transformation.

[0110] In the simulation model, the speed loop controller adopts the novel sliding mode observer and error feedback control law of this application, while the current loop controller adopts a PI controller. First, the mechanical angular velocity reference of the permanent magnet synchronous motor is given. Using an encoder to collect the electrical angle θ of the motor e and mechanical angular velocity ω m Electrical angle θ e Used for coordinate transformation, mechanical angular velocity ω m The observation of the total disturbance is used for the novel sliding mode observer. The q-axis reference current is obtained from the speed error feedback control law. Then, the three-phase current i of the motor is obtained using a current sensor. a i b and i c Then, the actual currents i along the d-axis and q-axis of the motor are obtained through coordinate transformation. d and i q Used for current loop control to obtain the voltage u of the d-axis and q-axis. d and u q Furthermore, the inverter's switching signal state vector S is obtained through coordinate transformation and SVPWM pulse modulation method. abc Finally, the inverter outputs three-phase current to drive the permanent magnet synchronous motor.

[0111] Please see Figure 4 and Figure 5 The figures show the total disturbance and its steady-state Fourier analysis results observed by the traditional sliding mode observer and the novel sliding mode observer in Embodiment 1 of this application, respectively. The simulation results in the figures show that both sliding mode observers can effectively observe the non-periodic 3 N·m external load torque disturbance. However, the sixth harmonic amplitude in the total disturbance observed by the traditional sliding mode observer is only 0.03211%, and it cannot effectively observe the periodic sixth-order torque pulsation. Conversely, the sixth harmonic amplitude in the total disturbance observed by the novel sliding mode observer reaches 5.896%, and it can effectively observe the periodic sixth-order torque pulsation.

[0112] Please see Figure 6 and Figure 7The figures show schematic diagrams illustrating the mechanical angular velocity and its steady-state Fourier analysis results using a traditional sliding mode observer and a novel sliding mode observer, respectively, in Embodiment 1 of this application. The simulation results in the figures show that compensating the error feedback control law of the speed loop with the periodic sixth harmonic torque pulsation observed by the novel sliding mode observer reduces the steady-state mechanical angular velocity fluctuation from 0.095 rpm to 0.049 rpm, and reduces the amplitude of the sixth harmonic in the mechanical angular velocity from 0.03787% to 0.007198%. Therefore, the permanent magnet synchronous motor speed control strategy based on the novel sliding mode observer effectively attenuates the steady-state speed pulsation and improves the speed control accuracy of the permanent magnet synchronous motor.

[0113] Please see Figure 8 This is a schematic diagram illustrating the simulation results of the total disturbance observed by the conventional resonant sliding mode observer and the novel sliding mode observer in Embodiment 1 of this application. The mechanical angular velocity reference is... and external load torque T l Under the condition of 3 N·m, the traditional resonant control is embedded into a sliding mode observer, which is called a traditional resonant sliding mode observer. The simulation results in the figure show that, when the traditional resonant control is embedded into the sliding mode observer, the integral saturation problem of the traditional resonant control affects the dynamic performance of the observer during the system's dynamic process (the dashed area in the figure), resulting in significant fluctuations in the observed total disturbance. Conversely, by applying the nonlinear arctangent function to the resonant control, the total disturbance observed by the new sliding mode observer is significantly reduced. There are no large fluctuations during the dynamic process, which effectively avoids the negative impact of integral saturation problem on the dynamic performance of the system, which is a problem inherent in traditional resonant control.

[0114] In summary, Embodiment 1 of this application embeds resonant control technology into the design of the sliding mode observer, enabling it to effectively suppress both aperiodic disturbances and periodic speed pulsations, thus solving the problem that traditional sliding mode observers cannot suppress periodic disturbances. Furthermore, by applying the nonlinear arctangent function to the resonant control, the negative impact of integral saturation on the dynamic performance of the system due to the traditional resonant control method is effectively resolved, thereby improving the control accuracy of the permanent magnet synchronous motor speed control.

[0115] Example 2

[0116] Please see Figure 9 This is a schematic diagram of the permanent magnet synchronous motor speed control system based on a novel sliding mode observer according to Embodiment 2 of this application; the specific content includes:

[0117] Establishment Module: Establish the disturbed kinematic equations of the permanent magnet synchronous motor; based on the disturbed kinematic equations of the permanent magnet synchronous motor, establish a sliding mode observer based on nonlinear resonant control; based on the mechanical angular velocity error of the permanent magnet synchronous motor, establish an error feedback control law;

[0118] Control module: The reference current is obtained by compensating the error feedback control law with the observed value of the total disturbance of the sliding mode observer.

[0119] Example 3

[0120] Please see Figure 10 This is a schematic diagram of the device structure in Embodiment 3 of this application. The device 50 includes a processor 51 and a memory 52 coupled to the processor 51.

[0121] The memory 52 stores program instructions for implementing the speed control method of the permanent magnet synchronous motor based on the novel sliding mode observer described above.

[0122] The processor 51 is used to execute program instructions stored in the memory 52 to implement speed control of the permanent magnet synchronous motor based on the novel sliding mode observer.

[0123] The processor 51 can also be referred to as a CPU (Central Processing Unit).

[0124] Processor 51 may be an integrated circuit chip with signal processing capabilities. Processor 51 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0125] Example 4

[0126] Please see Figure 11This is a schematic diagram of the storage medium in Embodiment 4 of this application. The storage medium in this embodiment stores a program file 61 capable of implementing all the above methods. This program file 61 can be stored in the storage medium in the form of a software product, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or devices such as computers, servers, mobile phones, and tablets.

[0127] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0128] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0129] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

[0130] Of course, the present invention may have many other embodiments. Based on this embodiment, other embodiments obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention.

Claims

1. A speed control method for permanent magnet synchronous motors based on a novel sliding mode observer, characterized in that, include: Establish the disturbed kinematic equations of the permanent magnet synchronous motor; Based on the disturbed kinematic equations of the permanent magnet synchronous motor, a sliding mode observer based on nonlinear resonant control is established. An error feedback control law is established based on the mechanical angular velocity error of the permanent magnet synchronous motor. The reference current is obtained by compensating the error feedback control law with the observed value of the total disturbance of the sliding mode observer. The steps for establishing the disturbed kinematic equations of the permanent magnet synchronous motor specifically include the following steps: The initial kinematic equations of the permanent magnet synchronous motor are: in The mechanical angular velocity of the permanent magnet synchronous motor; This is the differential of the mechanical angular velocity; It is the moment of inertia; Electromagnetic torque; It is the coefficient of viscous friction; This refers to the external load torque. Based on the non-periodic disturbance and periodic torque pulsation, the initial kinematic equations are rewritten as follows: in , , These are the nominal moment of inertia, electromagnetic torque, and coefficient of viscous friction, respectively. , , These are the mismatched moment of inertia, electromagnetic torque, and coefficient of viscous friction, respectively. It is a periodic torque pulsation. This represents the amplitude of the torque ripple. The electrical angle of the motor, The phase angle for torque pulsation; for Stator current of the shaft; The disturbed kinematic equations of the permanent magnet synchronous motor are: in The total disturbance includes both aperiodic disturbances and periodic disturbances caused by torque pulsation; The step of establishing a sliding mode observer based on nonlinear resonant control according to the disturbed kinematic equations of the permanent magnet synchronous motor specifically includes the following steps: The sliding mode observer based on nonlinear resonant control is designed as follows: in , and These are the estimated values ​​for mechanical angular velocity, total disturbance, and periodic disturbance, respectively. This is the error in the observation of mechanical angular velocity; It is a sliding mode function; For observer gain; , and These are the cutoff frequency, resonant gain, and resonant frequency, respectively. For the resonant integral term, It is the arctangent function. and This is an adjustable parameter of the arctangent function; The step of establishing an error feedback control law based on the mechanical angular velocity error of the permanent magnet synchronous motor specifically includes the following steps: The mechanical angular velocity reference for a permanent magnet synchronous motor is defined as follows: The mechanical angular velocity tracking error is An error feedback control law is adopted: in This is the proportionality coefficient; The step of compensating the observed value of the total disturbance of the sliding mode observer to the error feedback control law to obtain the reference current specifically includes the following steps: Based on the total perturbation of the sliding mode observer Estimated as The observed values ​​of the total disturbance Compensation is applied to the aforementioned error feedback control law to obtain the reference current: in for Shaft reference current.

2. The speed control method for permanent magnet synchronous motors based on a novel sliding mode observer according to claim 1, characterized in that, The sliding mode function is obtained by subtracting the disturbed kinematic equations of the permanent magnet synchronous motor from the sliding mode observer, thus yielding the differential equation for the mechanical angular velocity observation error: in This represents the total disturbance observation error.

3. The speed control method for permanent magnet synchronous motors based on a novel sliding mode observer according to claim 2, characterized in that, The sliding mode observer based on nonlinear resonance control also includes: The sliding surface of the sliding mode observer is defined as: in The integral gain of the sliding surface; Differentiating both sides of the equality with respect to the sliding surface, we get: The sliding mode reaching law of the sliding mode observer is defined as follows: in For the exponential gain of the reaching law; To switch the gain; It is a symbolic function; Substituting the sliding mode convergence law into the differentiated sliding surface, we obtain the sliding mode function. for: 。 4. A system for a speed control method for a permanent magnet synchronous motor based on a novel sliding mode observer according to claim 1, characterized in that, include: Establishment Module: Establish the disturbed kinematic equations of the permanent magnet synchronous motor; Based on the disturbed kinematic equations of the permanent magnet synchronous motor, a sliding mode observer based on nonlinear resonant control is established. An error feedback control law is established based on the mechanical angular velocity error of the permanent magnet synchronous motor. Control module: The reference current is obtained by compensating the error feedback control law with the observed value of the total disturbance of the sliding mode observer.

5. A device, characterized in that, The device includes a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing the permanent magnet synchronous motor speed control method based on the novel sliding mode observer as described in any one of claims 1-3; the processor is used to execute the program instructions stored in the memory to implement the permanent magnet synchronous motor speed control based on the novel sliding mode observer.

6. A storage medium, characterized in that, The device stores processor-executable program instructions for performing the speed control method for a permanent magnet synchronous motor based on a novel sliding mode observer as described in any one of claims 1-3.

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