Robot doubly salient permanent magnet memory motor speed sensorless control method

Abstract

The invention discloses a robot doubly salient permanent magnet memory motor speed sensorless control method, and relates to the technical field of electric transmission control equipment, and the method comprises the steps: extracting a characteristic function of a robot doubly salient permanent magnet memory motor, and designing a rotor flux linkage ring of the robot doubly salient permanent magnet memory motor based on a vector control method; designing a rotor flux linkage and a rotor tracking flux linkage variation of the active-disturbance-rejection rotor flux linkage observer by combining a rotor flux linkage ring of a robot doubly salient permanent magnet memory motor, and introducing a switching function to obtain a voltage model and a current model of the active-disturbance-rejection rotor flux linkage observer; the method comprises the steps of constructing a frequency response function, setting a control law function of a super-spiral active-disturbance-rejection type rotor flux linkage observer, building a reference model based on the super-spiral active-disturbance-rejection type rotor flux linkage observer, and completing speed sensorless control of the robot doubly salient permanent magnet memory motor according to the reference model. According to the invention, the dynamic and steady-state performance of the doubly salient permanent magnet memory motor can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of electric drive control equipment, in particular to a speed sensorless control method for a robot double-salient-pole permanent-magnet memory motor. Background Art

[0002] Doubly salient permanent magnet memory motors have technical advantages such as simple structure, high power density, good magnetic modulation performance, and low failure rate. They are widely used in robots, new energy vehicles, and new energy power generation. Speed ​​sensorless control has been widely used in the fields of electric drive and power electronics due to its advantages such as simple control structure, few system constraints, and optimized switching frequency. Traditionally, the rotor position obtained from mechanical sensors is very important for the dynamic control of robotic doubly salient permanent magnet memory motors, but the installation of rotor position sensors will reduce the robustness and reliability of the motor system. Due to these shortcomings, sensorless control has been studied for application to robotic doubly salient permanent magnet memory motors. There are many advanced control schemes, such as model predictive current control, auto-disturbance rejection control, and sliding mode control, which have been applied to achieve high-performance speed sensorless control of related motors. For example, the auto-disturbance rejection controller shows strong tolerance to disturbances from both internal and external sources, but it has the problem of too many dependent parameters in terms of complex control structure. Compared with the auto-disturbance rejection controller, the method of using the super-helical auto-disturbance rejection type rotor flux observer has faster dynamic response and simpler control framework structure.

[0003] After searching the literature and patents, the speed sensorless control methods generally used for related robot motors, such as "PMSM speed sensorless control based on MRAS", proposed a speed identification method based on variable structure reference model adaptation to accurately identify the speed of permanent magnet synchronous motors, but this method requires accurate calculation of the mathematical model of the control object to accurately estimate the rotor speed. "Research on speed sensorless control strategy of doubly fed wind power generation system" requires the completion of decoupling control of the control object before speed sensorless control can be achieved. There is also an invention patent "A high-performance control method for permanent magnet synchronous motors based on speed sensorless" that uses a differential tracking filter instead of a traditional filter to solve the noise problem, thereby improving the motor speed regulation performance, but there is a difficulty in complex control structure.

[0004] After searching relevant patents and literature at home and abroad, although there are various methods for various motor types, no speed sensorless control method for robot double-salient permanent magnet memory motor has been found. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a speed sensorless control method for a robot double-salient permanent magnet memory motor, which can effectively improve the dynamic and steady-state performance of the double-salient permanent magnet memory motor.

[0006] The present invention adopts the following technical solutions to solve the above technical problems:

[0007] A speed sensorless control method for a robot double-salient permanent magnet memory motor according to the present invention comprises:

[0008] The characteristic function of the robot's double-salient permanent magnet memory motor is extracted, and the rotor flux link of the robot's double-salient permanent magnet memory motor is designed based on the characteristic function of the robot's double-salient permanent magnet memory motor and the vector control method;

[0009] Combined with the rotor flux ring of the robot's double-salient permanent magnet memory motor, the rotor flux and rotor tracking flux variation of the self-disturbance-rejection rotor flux observer are designed. According to the rotor flux and rotor tracking flux variation of the self-disturbance-rejection rotor flux observer and the introduction of the switching function, the voltage model and current model of the self-disturbance-rejection rotor flux observer are obtained.

[0010] The frequency response function is constructed by combining the voltage model and current model of the self-disturbance rejection type rotor flux observer, and the control law function of the super-helical self-disturbance rejection type rotor flux observer is set up based on the frequency response function. Then, a reference model based on the super-helical self-disturbance rejection type rotor flux observer is built according to the frequency response function and the control law function. The speed sensorless control of the robot's double-pole permanent magnet memory motor is completed based on the reference model.

[0011] As a further optimization scheme of the speed sensorless control method of a robot double-salient permanent magnet memory motor described in the present invention,

[0012] The characteristic function of the robot double-salient permanent magnet memory motor is shown in formula (1):

[0013]

[0014] Among them, ω e is the turning frequency of the voltage and current model of the robot double-salient permanent magnet memory motor, K i is the integration parameter, K p is the scale parameter, is the characteristic function of the robot's doubly salient permanent magnet memory motor.

[0015] As a further optimization scheme of the speed sensorless control method of a robot double-salient permanent magnet memory motor described in the present invention, according to formula (1) and based on the vector control method, the rotor magnetic link ring of the robot double-salient permanent magnet memory motor is designed as follows:

[0016]

[0017] Among them, T r is the load disturbance change, Δψ ris the flux change, ΔL m represents the change in inductance, ΔJ is the change in actual moment of inertia and initial moment of inertia, i s is the stator current, ω r is the rotor time frequency, n p is the pole pair number, L r is the rotor inductance, t is the time, i sd is the stator current, ψ r (t) is the actual value of the rotor flux at time t.

[0018] As a further optimization scheme of the speed sensorless control method of a robot double-salient permanent magnet memory motor described in the present invention,

[0019] Combined with the rotor flux link of formula (2), the rotor flux and rotor tracking flux variation of the robot double-salient permanent magnet memory motor self-disturbance anti-disturbance rotor flux observer are designed as follows:

[0020]

[0021] Among them, ψ r (t+1) is the actual value of the rotor flux at time t+1, is the rotor flux reference value at time t, is the actual value of the rotor tracking flux change at time t, The actual value of the rotor tracking flux change at time t+1; is the reference value of the rotor tracking flux change at time t, T s is the coefficient of the magnetic link control quantity.

[0022] As a further optimization scheme of the speed sensorless control method of a robot double-salient permanent magnet memory motor described in the present invention,

[0023] Introducing the switching function ψ R ,

[0024]

[0025] Among them, F v 、F c They are the voltage model and current model of the self-disturbance rejection type rotor flux observer respectively.

[0026] As a further optimization scheme of the speed sensorless control method of a robot double-salient permanent magnet memory motor described in the present invention,

[0027]

[0028] Among them, R r is the rotor resistance, is the estimated rotor resistance, L mis the motor mutual inductance, i sa and i βa are the stator current components in the stationary coordinate system α and β, ω s is the stator time frequency, is the estimated value of the motor mutual inductance, is the estimated value of rotor inductance, L s is the stator inductance, u s is the stator voltage, is the estimated stator resistance.

[0029] As a further optimization scheme of the speed sensorless control method of a robot double-salient permanent magnet memory motor described in the present invention,

[0030] Construct frequency response function θ vc as follows:

[0031]

[0032] Among them, ω c is the rotor frequency.

[0033] As a further optimization scheme of the speed sensorless control method of a robot double-salient permanent magnet memory motor described in the present invention,

[0034] The control law function is as follows:

[0035] γ c =S P +χ∫tanh(εθ vc )dt+‖S Q ‖ 1 / 2 tanh(θ vc ) (8)

[0036] Among them, γ c is the control law function, S P , S Q are the active power and reactive power of the robot’s doubly salient permanent magnet memory motor, respectively. Tanh(·) represents the hyperbolic tangent function. χ and ε are positive constants.

[0037] As a further optimization scheme of the speed sensorless control method of a robot double-salient permanent magnet memory motor described in the present invention,

[0038] The reference model of the robotic doubly salient permanent magnet memory motor based on the super-helical self-disturbance rejection type rotor flux observer is expressed as:

[0039]

[0040] Among them, x, u, y represent the state vector, input vector and output vector of the robot double-salient permanent magnet memory motor system respectively, A, B, C, D represent the system matrix, input matrix, output matrix and disturbance matrix of the robot double-salient permanent magnet memory motor system respectively, is the derivative of the state vector.

[0041] A computer device comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, the steps of the aforementioned speed sensorless control method of a robot double-salient permanent magnet memory motor are implemented.

[0042] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0043] (1) For the speed sensorless control method of the robot's double-salient permanent magnet memory motor, the super-helical self-disturbance rejection type rotor flux observer method has a simpler mathematical model, better global and local optimal balance capabilities, faster dynamic response and simpler control framework structure than the self-disturbance rejection type rotor flux observer. It can significantly improve the effectiveness of the robot's double-salient permanent magnet memory motor control strategy.

[0044] (2) Regarding the speed sensorless control method of the robot's doubly salient permanent magnet memory motor, the super-helical self-disturbance-resistant rotor flux observer method is very suitable for solving various speed prediction problems oriented towards switching function optimization. It has better anti-disturbance and robustness, and can effectively improve the dynamic and steady-state performance of the doubly salient permanent magnet memory motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is the observed value diagram of the super-helical self-disturbance-resistant rotor flux.

[0046] Figure 2 It is a super-helical self-anti-disturbance rotor flux error diagram obtained by formula (9) in the specific implementation method of the specification.

[0047] Figure 3 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] The present invention is used to solve the speed sensorless control method of the robot double salient permanent magnet memory motor. The self-disturbance rejection type rotor flux observer is mainly affected by parameters such as the rotor flux and the rotor tracking flux change, while the super helical rotor flux observer is mainly affected by parameters such as the rotor resistance. Therefore, the super helical self-disturbance rejection type rotor flux observer method directly affects the parameter sensitivity of the stator and rotor resistance and mutual inductance through the control law function. In the present invention, the characteristic function of the robot's double-pole permanent magnet memory motor is first extracted, and based on the vector control method, the rotor flux ring of the robot's double-pole permanent magnet memory motor is designed. Then, the rotor flux and rotor tracking flux change of the self-disturbance-resistant rotor flux observer are designed. In order to analyze the parameter sensitivity of the self-disturbance-resistant rotor flux observer, a switching function is introduced to obtain the voltage model and current model of the self-disturbance-resistant rotor flux observer, construct a frequency response function, set the control law function of the super-helical self-disturbance-resistant rotor flux observer, and build a reference model based on the super-helical self-disturbance-resistant rotor flux observer to complete the speed sensorless control of the robot's double-pole permanent magnet memory motor, thereby improving the convergence speed and accuracy of the algorithm.

[0050] The simulation results of the robot doubly salient permanent magnet memory motor show that the speed sensorless control method of the robot doubly salient permanent magnet memory motor with super-helical self-disturbance rejection type rotor flux observer has good convergence and optimization ability, and the optimized rotor flux error is smaller and the accuracy is high.

[0051] like Figure 3 As shown, a speed sensorless control method for a robot double-salient permanent magnet memory motor includes the following:

[0052] The characteristic function of the robot's double-salient permanent magnet memory motor is extracted, and the rotor flux link of the robot's double-salient permanent magnet memory motor is designed based on the characteristic function of the robot's double-salient permanent magnet memory motor and the vector control method;

[0053] Combined with the rotor flux ring of the robot's double-salient permanent magnet memory motor, the rotor flux and rotor tracking flux variation of the self-disturbance rejection rotor flux observer are designed. In order to analyze the parameter sensitivity of the self-disturbance rejection rotor flux observer, the voltage model and current model of the self-disturbance rejection rotor flux observer are obtained according to the rotor flux and rotor tracking flux variation of the self-disturbance rejection rotor flux observer and the introduction of the switching function.

[0054] The frequency response function is constructed by combining the voltage model and current model of the self-disturbance rejection type rotor flux observer. The control law function of the super-helical self-disturbance rejection type rotor flux observer is set based on the frequency response function. Then, a reference model based on the super-helical self-disturbance rejection type rotor flux observer is built based on the frequency response function and the control law function. The speed sensorless control of the robot double-pole permanent magnet memory motor is completed based on the reference model.

[0055] To this end, the present invention compares and analyzes the parameter sensitivity of the super helical rotor flux observer and the self-disturbance rejection type rotor flux observer by combining characteristic functions to prove the effectiveness of the speed sensorless control method of the robot double salient pole permanent magnet memory motor with the proposed super helical self-disturbance rejection type rotor flux observer.

[0056] The characteristic function of the robot double-salient permanent magnet memory motor is shown in formula (1):

[0057]

[0058] Among them, ω e is the turning frequency of the voltage and current model of the robot double-salient permanent magnet memory motor, K i is the integration parameter, K p is the scale parameter, is the characteristic function of the robot double-salient permanent magnet memory motor. According to equation (1) and based on the vector control method, the rotor flux link of the robot double-salient permanent magnet memory motor can be designed as:

[0059]

[0060] Among them, T r is the load disturbance change, Δψ r is the flux change, ΔL m represents the change in inductance, ΔJ is the change in actual moment of inertia and initial moment of inertia, i s is the stator current, ω r is the rotor time frequency, n p is the pole pair number, L r is the rotor inductance, t is the time, i sd is the stator current, ψ r (t) is the actual value of the rotor flux at time t.

[0061] Combined with the rotor flux link of formula (2), the rotor flux and rotor tracking flux variation of the robot double-salient permanent magnet memory motor self-disturbance anti-disturbance rotor flux observer are designed as follows:

[0062]

[0063] Among them, ψ r (t+1) is the actual value of the rotor flux at time t+1, is the rotor flux reference value at time t, is the actual value of the rotor tracking flux change at time t, The actual value of the rotor tracking flux change at time t+1; is the reference value of the rotor tracking flux change at time t, T s is the coefficient of the magnetic link control quantity.

[0064] In order to analyze the parameter sensitivity of the self-disturbance rejection rotor flux observer, the switching function ψ is introduced. R ,

[0065]

[0066] Among them, F v 、F c They are the voltage model and current model of the self-disturbance rejection type rotor flux observer respectively.

[0067] In formula (4), F V 、F C are the voltage model and current model of the self-disturbance rejection rotor flux observer, which can be expressed as:

[0068]

[0069] Among them, R r is the rotor resistance, is the estimated rotor resistance, L m is the motor mutual inductance, i sa and i βa are the stator current components in the stationary coordinate system α and β, ω s is the stator time frequency, is the estimated value of the motor mutual inductance, is the estimated value of rotor inductance, L s is the stator inductance, u s is the stator voltage, is the estimated stator resistance.

[0070] From the voltage model and current model of the self-disturbance rejection rotor flux observer in equation (4), the frequency response function θ is constructed. vc as follows,

[0071]

[0072] Among them, ω c is the rotor frequency.

[0073] Considering the steady-state performance indicators of the robot double-salient permanent magnet memory motor under different working conditions, combined with the frequency response function of formula (7), the control law function of the super-helical self-disturbance rejection type rotor flux observer is set.

[0074]

[0075] Among them, γ c is the control law function, S P , S Qare the active power and reactive power of the robot’s doubly salient permanent magnet memory motor, respectively. Tanh(·) represents the hyperbolic tangent function. χ and ε are positive constants.

[0076] The robot double-salient permanent magnet memory motor is used to track the actual value of the magnetic flux change at time t. and the actual value of the rotor flux at time tψ r The error amplitude between (t) represents the flux linkage error and is expressed as,

[0077]

[0078] In formula (9), is the steady-state value of the rotor flux, and the parameter sensitivity of the super-helical self-disturbance rejection type rotor flux observer can be intuitively analyzed.

[0079] The reference model of the robotic doubly salient permanent magnet memory motor based on the super-helical self-disturbance rejection type rotor flux observer is expressed as:

[0080]

[0081] Among them, x, u, y represent the state vector, input vector and output vector of the robot double-salient permanent magnet memory motor system respectively, A, B, C, D represent the system matrix, input matrix, output matrix and disturbance matrix of the robot double-salient permanent magnet memory motor system respectively, is the derivative of the state vector.

[0082] The rotor flux steady-state value of the robot double-salient permanent magnet memory motor used in the analysis Set to 2Wb, the switching frequency varies between 50Hz±5Hz, and the rotor time frequency ω r =50rad / s, rated speed 1500r / min. The super-helical self-anti-disturbance rotor flux observation value and rotor flux error value are as follows Figure 1 and Figure 2 As shown, by adopting the super-helical self-disturbance rejection type rotor flux observer, smooth switching between the current model and the voltage model can be achieved, and speed sensorless control of the robot's doubly salient permanent magnet memory motor is realized.

[0083] The present invention analyzes the parameter sensitivity of a super helical rotor flux observer and an auto-disturbance rejection type rotor flux observer by comparing and combining characteristic functions to prove the effectiveness of the speed sensorless control method of a robot double salient pole permanent magnet memory motor with the proposed super helical auto-disturbance rejection type rotor flux observer.

[0084] An embodiment of the present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, the steps of the speed sensorless control method of a robot double-pole permanent magnet memory motor are implemented as described in the first aspect above or any corresponding embodiment thereof.

[0085] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the speed sensorless control method of the robot double-pole permanent magnet memory motor as described in the first aspect above or any corresponding embodiment thereof.

[0086] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The schemes in the embodiments of the present invention may be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0087] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0088] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0090] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0091] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A speed sensorless control method for a robot double-salient permanent magnet memory motor, characterized in that: include: The characteristic function of the robot's double-salient permanent magnet memory motor is extracted, and the rotor flux link of the robot's double-salient permanent magnet memory motor is designed based on the characteristic function of the robot's double-salient permanent magnet memory motor and the vector control method; Combined with the rotor flux ring of the robot's double-salient permanent magnet memory motor, the rotor flux and rotor tracking flux variation of the self-disturbance-rejection rotor flux observer are designed. According to the rotor flux and rotor tracking flux variation of the self-disturbance-rejection rotor flux observer and the introduction of the switching function, the voltage model and current model of the self-disturbance-rejection rotor flux observer are obtained. The frequency response function is constructed by combining the voltage model and current model of the self-disturbance rejection type rotor flux observer, and the control law function of the super-helical self-disturbance rejection type rotor flux observer is set up based on the frequency response function. Then, a reference model based on the super-helical self-disturbance rejection type rotor flux observer is built according to the frequency response function and the control law function. The speed sensorless control of the robot's double-pole permanent magnet memory motor is completed based on the reference model.

2. A speed sensorless control method for a robot double-salient permanent magnet memory motor according to claim 1, characterized in that: The characteristic function of the robot double-salient permanent magnet memory motor is shown in formula (1): Among them, ω e is the turning frequency of the voltage and current model of the robot double-salient permanent magnet memory motor, K i is the integration parameter, K p is the scale parameter, is the characteristic function of the robot's doubly salient permanent magnet memory motor.

3. A speed sensorless control method for a robot double-salient permanent magnet memory motor according to claim 2, characterized in that: According to formula (1) and based on the vector control method, the rotor flux link of the robot double-salient permanent magnet memory motor is designed as: Among them, T r is the load disturbance change, Δψ r is the flux change, ΔL m represents the change in inductance, ΔJ is the change in actual moment of inertia and initial moment of inertia, i s is the stator current, ω r is the rotor time frequency, n p is the pole pair number, L r is the rotor inductance, t is the time, i sd is the stator current, ψ r (t) is the actual value of the rotor flux at time t.

4. A speed sensorless control method for a robot double-salient permanent magnet memory motor according to claim 3, characterized in that: Combined with the rotor flux link of formula (2), the rotor flux and rotor tracking flux variation of the robot double-salient permanent magnet memory motor self-disturbance anti-disturbance rotor flux observer are designed as follows: Among them, ψ r (t+1) is the actual value of the rotor flux at time t+1, is the rotor flux reference value at time t, is the actual value of the rotor tracking flux change at time t, The actual value of the rotor tracking flux change at time t+1; is the reference value of the rotor tracking flux change at time t, T s is the coefficient of the magnetic link control quantity.

5. A speed sensorless control method for a robot double-salient permanent magnet memory motor according to claim 4, characterized in that: Introducing the switching function ψ R , Among them, F v 、F c They are the voltage model and current model of the self-disturbance rejection type rotor flux observer respectively.

6. A speed sensorless control method for a robot double-salient permanent magnet memory motor according to claim 5, characterized in that: Among them, R r is the rotor resistance, is the estimated rotor resistance, L m is the motor mutual inductance, i sa and i βa are the stator current components in the stationary coordinate system α and β, ω s is the stator time frequency, is the estimated value of the motor mutual inductance, is the estimated value of rotor inductance, L s is the stator inductance, u s is the stator voltage, is the estimated stator resistance.

7. A speed sensorless control method for a robot double-salient permanent magnet memory motor according to claim 6, characterized in that: Construct frequency response function θ vc as follows: Among them, ω c is the rotor frequency.

8. A speed sensorless control method for a robot double-salient permanent magnet memory motor according to claim 7, characterized in that: The control law function is as follows: c c =S P +χ∫tanh(θ vc )dt+‖S Q ‖ 1 / 2 tanh(θ vc ) (8) Among them, γ c is the control law function, S P , S Q are the active power and reactive power of the robot’s doubly salient permanent magnet memory motor, respectively. Tanh(·) represents the hyperbolic tangent function. χ and ε are positive constants.

9. A speed sensorless control method for a robot double-salient permanent magnet memory motor according to claim 8, characterized in that: The reference model of the robotic doubly salient permanent magnet memory motor based on the super-helical self-disturbance rejection type rotor flux observer is expressed as: Among them, x, u, y represent the state vector, input vector and output vector of the robot double-salient permanent magnet memory motor system respectively, A, B, C, D represent the system matrix, input matrix, output matrix and disturbance matrix of the robot double-salient permanent magnet memory motor system respectively, is the derivative of the state vector.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the computer program, the steps of the speed sensorless control method for a robot double-salient permanent magnet memory motor are implemented as described in any one of claims 1 to 9.

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