Permanent magnet synchronous motor control method and system based on sliding mode variable structure

Abstract

The invention relates to a permanent magnet synchronous motor control method and system based on a sliding mode variable structure. The method comprises the following steps: constructing a current state equation of a surface-mounted permanent magnet synchronous motor under a two-phase static coordinate system; designing a sliding-mode observer according to the current state equation; designing an integral type sliding mode control rate through a sliding mode observer and a non-singular fast terminal sliding mode surface, and replacing a sign function of the integral type sliding mode control rate with a sine saturation function with a variable boundary layer; designing a back electromotive force adaptive rate, and combining the back electromotive force adaptive rate with an integral sliding mode control rate to form an adaptive nonsingular fast terminal sliding mode observer; using the observed back electromotive force of the permanent magnet synchronous motor as the input of a PID phase-locked loop, and using the PID phase-locked loop to observe the rotor position and the rotating speed of the permanent magnet synchronous motor; and feeding back the rotor position and the rotating speed of the permanent magnet synchronous motor observed by the PID phase-locked loop to a rotating speed loop of a permanent magnet synchronous motor control system to realize closed-loop control.

Description

Technical Field

[0001] The present application relates to the technical field of motor speed regulation, and more specifically, to a permanent magnet synchronous motor control method and system based on a sliding mode variable structure. Background Art

[0002] Traditional permanent magnet synchronous motor control systems require mechanical sensors to obtain rotor position and speed information to achieve high-performance control. However, the installation of mechanical sensors will increase the size and rotational inertia of the motor, increase system costs, reduce reliability, and cannot be installed in some special occasions. Therefore, using sensorless technology to obtain rotor position and speed information has become a hot research direction in the field of motor control.

[0003] Sensorless control technology can collect some state quantities of the motor (such as current and voltage) without using mechanical sensors, and use different estimation methods to estimate the position and speed of the motor rotor in real time, so as to achieve closed-loop control to improve control accuracy and anti-interference ability. This technology is conducive to improving the reliability of permanent magnet synchronous motor drive systems, reducing system costs and complexity, and is of great significance for expanding permanent magnet synchronous motors to high-precision application fields.

[0004] Prior art, such as the Chinese patent number "CN111726048A", discloses a method for estimating the rotor position and speed of a permanent magnet synchronous motor based on a sliding mode observer, including: replacing the sign function in the sliding mode observer with an inverse sine function based on a boundary layer self-regulation, and using an extended Kalman filter to extract the extended back electromotive force, removing the low-pass filter in the existing sliding mode observer, and feeding the extracted extended back electromotive force back to the current state observer for amplitude compensation. The estimation method estimates the rotor position angle and speed through a software phase-locked loop

[0005] The problems with the above prior art are:

[0006] 1. The control system based on the linear sliding surface is simple to implement and convenient to adjust parameters, but the system state error cannot converge to zero within a limited time and the control accuracy is not high.

[0007] 2. Using a proportional-integral phase-locked loop to obtain rotor position information has problems such as insufficient accuracy and slow dynamic response. Summary of the invention

[0008] In order to solve the above technical problems, the present invention proposes a permanent magnet synchronous motor control method and system based on sliding mode variable structure.

[0009] The technical solution of the present invention is as follows:

[0010] The present invention proposes a permanent magnet synchronous motor control method based on a sliding mode variable structure, comprising the following steps:

[0011] Step S1, constructing a current state equation of a surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system;

[0012] Step S2, designing a sliding mode observer according to the current state equation in a two-phase stationary coordinate system;

[0013] Step S3, designing an integral sliding mode control rate through a sliding mode observer and a non-singular fast terminal sliding mode surface, and using a variable boundary layer sinusoidal saturation function to replace the sign function of the integral sliding mode control rate;

[0014] Step S4, designing a back electromotive force adaptive rate, combining the back electromotive force adaptive rate with an integral sliding mode control rate to form an adaptive non-singular fast terminal sliding mode observer;

[0015] Step S5, using the back electromotive force of the permanent magnet synchronous motor observed by the adaptive non-singular fast terminal sliding mode observer as the input of the proportional-integral-differential phase-locked loop, and using the proportional-integral-differential phase-locked loop to observe the rotor position and speed of the permanent magnet synchronous motor;

[0016] Step S6, feeding back the rotor position and speed of the permanent magnet synchronous motor observed by the proportional-integral-differential phase-locked loop to the speed loop of the permanent magnet synchronous motor control system to achieve closed-loop control.

[0017] As a preferred implementation, the current state equation of the surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system is constructed, and the specific equation is as follows:

[0018]

[0019] In the formula, i α 、i β are the α and β axis components of the stator current; u α 、u β are the α and β axis components of the stator voltage; L s is the stator inductance; R s is the stator winding resistance; E α 、E β To expand the back EMF;

[0020] The extended back electromotive force E α 、E β The expression is:

[0021]

[0022] In the formula, ψ f is the magnetic linkage; ω e is the rotor electrical angular velocity; θ e is the rotor position in electrical degrees.

[0023] As a preferred implementation, the sliding mode observer is designed according to the current state equation in the two-phase stationary coordinate system, and the sliding mode observer expression is as follows:

[0024]

[0025] In the formula, is the stator observation current; v α 、v β represents the observer control rate.

[0026] As a preferred implementation, the design of the integral sliding mode control rate through the sliding mode observer and the non-singular fast terminal sliding mode surface, and the use of a variable boundary layer sinusoidal saturation function to replace the sign function of the integral sliding mode control rate, comprises the following steps:

[0027] The error state equation of current is obtained by the sliding mode observer and the current state equation:

[0028]

[0029] In the formula,

[0030] make e iα 、e iβ is the current error, the current error state equation can be rewritten as:

[0031]

[0032] The sliding surface function is defined as:

[0033]

[0034] Wherein g, h, p, q are all positive odd numbers; 1<p / q<2, g / h>p / q; m and n are constants greater than 0;

[0035] The designed integral sliding mode control rate is:

[0036]

[0037] in, for e iα 、e iβ The differential of; k, ε are variable parameters; sign is the sign function; the designed integral sliding mode control rate v α 、v β This will make the sliding surface function s α 、s β Converges to zero in a finite time, making e iα 、e iβ , Approaching zero, the error state equation of the current can be changed to:

[0038]

[0039] The variable boundary layer sinusoidal saturation function is used to replace the sign function in the design sliding mode control rate; the sinusoidal saturation function expression is:

[0040]

[0041] Where s is the sliding surface function; λ = π / 2Δ, Δ is the boundary layer thickness.

[0042] As a preferred implementation, the back electromotive force adaptation rate is designed by combining the back electromotive force adaptation rate with the integral sliding mode control rate; wherein the observed back electromotive force equation is:

[0043]

[0044] The expression of the back EMF adaptation rate is as follows:

[0045]

[0046] In the formula, is the estimated value of electrical angular velocity; is the estimated value of back EMF.

[0047] On the other hand, the present invention also provides a permanent magnet synchronous motor control based on sliding mode variable structure, comprising:

[0048] Module M1 is used to construct the current state equation of the surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system;

[0049] Module M2, designs the sliding mode observer based on the current state equation in the two-phase stationary coordinate system;

[0050] Module M3, through the sliding mode observer, designs the integral sliding mode control rate based on the non-singular fast terminal sliding mode surface, and uses the variable boundary layer sinusoidal saturation function to replace the sign function of the integral sliding mode control rate;

[0051] Module M4 is used to design the back-EMF adaptive rate, and combines the back-EMF adaptive rate with the integral sliding mode control rate to form an adaptive non-singular fast terminal sliding mode observer;

[0052] Module M5 uses the back electromotive force of the permanent magnet synchronous motor observed by the adaptive non-singular fast terminal sliding mode observer as the input of the proportional-integral-differential phase-locked loop, and uses the proportional-integral-differential phase-locked loop to observe the rotor position and speed of the permanent magnet synchronous motor;

[0053] Module M6 is used to feed back the rotor position and speed of the permanent magnet synchronous motor observed by the proportional-integral-differential phase-locked loop to the speed loop of the permanent magnet synchronous motor control system to achieve closed-loop control.

[0054] As a preferred implementation, the module M1 is used to construct the current state equation of the surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system. The specific equation is as follows:

[0055]

[0056] In the formula, i α 、i β are the α and β axis components of the stator current; u α 、u β are the α and β axis components of the stator voltage; L s is the stator inductance; R s is the stator winding resistance; E α 、E β To expand the back EMF;

[0057] The extended back electromotive force E α 、E β The expression is:

[0058]

[0059] In the formula, ψ f is the magnetic linkage; ω e is the rotor electrical angular velocity; θ e is the rotor position in electrical degrees.

[0060] As a preferred implementation, the module M2 designs a sliding mode observer according to the current state equation in a two-phase stationary coordinate system. The sliding mode observer expression is as follows:

[0061]

[0062] In the formula, is the stator observation current; v α 、v β represents the observer control rate.

[0063] On the other hand, the present invention further provides an electronic device having a computer program stored thereon, wherein when the computer program is executed by a processor, the permanent magnet synchronous motor control method based on sliding mode variable structure as described in any embodiment of the present invention is implemented.

[0064] On the other hand, the present invention also provides a computer-readable medium for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement a permanent magnet synchronous motor control method based on sliding mode variable structure as described in any embodiment of the present invention.

[0065] The present invention has the following beneficial effects:

[0066] 1. The sliding mode control rate is designed based on the non-singular fast terminal sliding surface, and the sign function is replaced by a variable sinusoidal saturation function in the boundary layer to reduce the system chattering.

[0067] 2. An adaptive back-EMF law is designed to make the observed back-EMF smoother.

[0068] 3. The proportional-integral-differential phase-locked loop is used to estimate the rotor position and speed, greatly improving the dynamic performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0070] Figure 1 The block diagram of PMSM vector control based on adaptive non-singular fast terminal sliding mode observer;

[0071] Figure 2 It is a simulation model for a non-singular fast terminal sliding mode observer;

[0072] Figure 3 It is an adaptive back-EMF simulation model;

[0073] Figure 4 Implement a block diagram for a proportional-integral-differential phase-locked loop;

[0074] Figure 5a The waveform diagram of the actual speed and estimated speed in the simulation test;

[0075] Figure 5b This is the speed error waveform of the simulation test;

[0076] Figure 5c The actual rotor position and estimated rotor position waveforms of the simulation test. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] It should be understood that the step numbers used in this document are only for convenience of description and are not intended to limit the order in which the steps are executed.

[0079] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0080] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0081] The term "and / or" means and includes any and all possible combinations of one or more of the associated listed items.

[0082] Embodiment 1:

[0083] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following will be combined with the specific embodiments of the present application and refer to the attached Figure 1 , clearly and completely describe the technical solution of the present invention.

[0084] To solve the problems in the prior art, the present invention provides a permanent magnet synchronous motor control method based on a sliding mode variable structure, comprising the following steps:

[0085] Step S1, constructing a current state equation of a surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system;

[0086] The current state equation of the surface-mounted permanent magnet synchronous motor in the two-phase stationary coordinate system is as follows:

[0087]

[0088] In the formula, i α 、i β are the α and β axis components of the stator current; u α 、u β are the α and β axis components of the stator voltage; L s is the stator inductance; Rs is the stator winding resistance; E α 、E β To expand the back EMF;

[0089] The extended back electromotive force E α 、E β The expression is:

[0090]

[0091] In the formula, ψ f is the magnetic linkage; ω e is the rotor electrical angular velocity; θ e is the rotor position in electrical degrees.

[0092] Step S2, designing a sliding mode observer according to the current state equation in a two-phase stationary coordinate system;

[0093] The sliding mode observer is designed based on the current state equation. The sliding mode observer expression is as follows:

[0094]

[0095] In the formula, is the stator observation current; v α 、v β represents the observer control rate.

[0096] Step S3, designing an integral sliding mode control rate through a sliding mode observer and a non-singular fast terminal sliding mode surface, and using a variable boundary layer sinusoidal saturation function to replace the sign function of the integral sliding mode control rate;

[0097] Step S301, sliding mode observer and current state equation, can obtain the error state equation of current:

[0098]

[0099] In the formula,

[0100] Step S302: e iα 、e iβ is the current error, the current error state equation can be rewritten as:

[0101]

[0102] Step S303, define the sliding surface function as:

[0103]

[0104] Wherein, g, h, p, q are all positive odd numbers; 1<p / q<2, g / h>p / q; m and n are constants greater than 0;

[0105] Step S304, designing an integral sliding mode control rate, which is expressed by the following formula:

[0106]

[0107] in, for e iα 、e iβ The differential of; k, ε are variable parameters; sign is the sign function; the designed integral sliding mode control rate v α 、v β This will make the sliding surface function s α 、s β Converges to zero in a finite time, making e iα 、e iβ , Approaching zero, the error state equation of the current can be changed to:

[0108]

[0109] Step S305: In order to improve the control performance of the sliding mode observer, a sinusoidal saturation function with a variable boundary layer is used to replace the sign function in the sliding mode control rate to reduce system chattering; the sinusoidal saturation function expression is:

[0110]

[0111] Where s is the sliding surface function; λ = π / 2Δ, Δ is the boundary layer thickness.

[0112] Step S4, designing a back electromotive force adaptive rate, combining the back electromotive force adaptive rate with an integral sliding mode control rate to form an adaptive non-singular fast terminal sliding mode observer;

[0113] Step S401, the observed back electromotive force equation is:

[0114]

[0115] Step S402, back electromotive force E α The simulation model is built as follows Figure 2 As shown in the figure, in order to make the back electromotive force smoother, an adaptive law of the back electromotive force is designed, and its expression is:

[0116]

[0117] In the formula, is the estimated value of electrical angular velocity; is the estimated value of the back electromotive force. The adaptive law and the non-singular fast terminal sliding mode control law are combined to form an adaptive non-singular fast terminal sliding mode observer. The simulation model of the adaptive back electromotive force is built as follows: Figure 3 shown.

[0118] Step S5, using the back electromotive force of the permanent magnet synchronous motor observed by the adaptive non-singular fast terminal sliding mode observer as the input of the proportional-integral-differential phase-locked loop, and using the proportional-integral-differential phase-locked loop to observe the rotor position and speed of the permanent magnet synchronous motor;

[0119] The back electromotive force estimated by the back electromotive force adaptive link is used as the input of the phase-locked loop, and the phase-locked loop is used to estimate the rotor position information. The present invention adopts a proportional-integral-differential phase-locked loop, and its principle block diagram is shown in FIG. Figure 4 shown.

[0120] Step S6, feeding back the rotor position and speed of the permanent magnet synchronous motor observed by the proportional-integral-differential phase-locked loop to the speed loop of the permanent magnet synchronous motor control system to achieve closed-loop control.

[0121] In this embodiment, the parameters of the simulated permanent magnet synchronous motor are as follows:

[0122]

[0123] The simulation parameters are set as follows: the given speed is set to 1000r / min, and the initial load torque is 4N·m. At 0.2S, the load torque suddenly increases from 4N·m to 8N·m; at 0.4s, the load torque suddenly decreases from 8N·m to 4N·m. The corresponding test waveform is shown in the figure below: Figure 5a , 5b , 5c.

[0124] According to the simulation test results, the sensorless control method proposed in the present invention can achieve rapid tracking of the rotor position and speed when the load suddenly changes, and the steady-state rotor position error and speed error are relatively small. The system has good dynamic performance and strong resistance to load disturbances.

[0125] Embodiment 2:

[0126] This embodiment provides a permanent magnet synchronous motor control system based on a sliding mode variable structure, including:

[0127] Module M1 is used to construct the current state equation of the surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system; this module is used to implement the function of step S1 in embodiment 1, which will not be repeated here.

[0128] Module M2 designs a sliding mode observer according to the current state equation in a two-phase stationary coordinate system; this module is used to implement the function of step S2 in the first embodiment, which will not be described in detail here.

[0129] Module M3, through the sliding mode observer, designs an integral sliding mode control rate based on the non-singular fast terminal sliding mode surface, and uses a variable sinusoidal saturation function of the boundary layer to replace the sign function of the integral sliding mode control rate; this module is used to implement the function of step S3 in Example 1, which will not be repeated here.

[0130] Module M4 is used to design the back electromotive force adaptation rate, and combines the back electromotive force adaptation rate with the integral sliding mode control rate to form an adaptive non-singular fast terminal sliding mode observer; this module is used to implement the function of step S4 in embodiment 1, which will not be repeated here.

[0131] Module M5 uses the back electromotive force of the permanent magnet synchronous motor observed by the adaptive non-singular fast terminal sliding mode observer as the input of the proportional-integral-differential phase-locked loop, and uses the proportional-integral-differential phase-locked loop to observe the rotor position and speed of the permanent magnet synchronous motor; this module is used to implement the function of step S5 in Example 1, which will not be repeated here.

[0132] Module M6 is used to feed back the rotor position and speed of the permanent magnet synchronous motor observed by the proportional-integral-differential phase-locked loop to the speed loop of the permanent magnet synchronous motor control system to achieve closed-loop control. This module is used to implement the function of step S6 in embodiment 1, which will not be described in detail here.

[0133] Embodiment three:

[0134] This embodiment provides an electronic device having a computer program stored thereon. When the computer program is executed by a processor, a permanent magnet synchronous motor control method based on a sliding mode variable structure as described in any embodiment of the present invention is implemented.

[0135] Embodiment 4:

[0136] This embodiment provides a computer-readable medium for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement a permanent magnet synchronous motor control method based on sliding mode variable structure as described in any embodiment of the present invention.

[0137] In the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0138] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0139] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0140] In several embodiments provided in the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk, and other media that can store program codes.

[0141] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor control method based on sliding mode variable structure, characterized in that: The following steps are involved: Step S1, constructing a current state equation of a surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system; Step S2, designing a sliding mode observer according to the current state equation in a two-phase stationary coordinate system; Step S3, designing an integral sliding mode control rate through a sliding mode observer and a non-singular fast terminal sliding mode surface, and using a variable boundary layer sinusoidal saturation function to replace the sign function of the integral sliding mode control rate; Step S4, designing a back electromotive force adaptive rate, combining the back electromotive force adaptive rate with an integral sliding mode control rate to form an adaptive non-singular fast terminal sliding mode observer; Step S5, using the back electromotive force of the permanent magnet synchronous motor observed by the adaptive non-singular fast terminal sliding mode observer as the input of the proportional-integral-differential phase-locked loop, and using the proportional-integral-differential phase-locked loop to observe the rotor position and speed of the permanent magnet synchronous motor; Step S6, feeding back the rotor position and speed of the permanent magnet synchronous motor observed by the proportional-integral-differential phase-locked loop to the speed loop of the permanent magnet synchronous motor control system to achieve closed-loop control.

2. The method for controlling a permanent magnet synchronous motor based on a sliding mode variable structure according to claim 1, characterized in that: The current state equation of the surface-mounted permanent magnet synchronous motor in the two-phase stationary coordinate system is constructed as follows: In the formula, i α 、i β are the α and β axis components of the stator current; u α 、u β are the α and β axis components of the stator voltage; L s is the stator inductance; R s is the stator winding resistance; E α 、E β To expand the back EMF; The extended back electromotive force E α 、E β The expression is: In the formula, ψ f is the magnetic linkage; ω e is the rotor electrical angular velocity; θ e is the rotor position in electrical degrees.

3. The method for controlling a permanent magnet synchronous motor based on a sliding mode variable structure according to claim 1, characterized in that: The sliding mode observer is designed according to the current state equation in the two-phase stationary coordinate system, and the sliding mode observer expression is as follows: In the formula, is the stator observation current; v α 、v β represents the observer control rate.

4. The method for controlling a permanent magnet synchronous motor based on a sliding mode variable structure according to claim 1, characterized in that: The method of designing an integral sliding mode control rate by using a sliding mode observer and a non-singular fast terminal sliding mode surface, and replacing the sign function of the integral sliding mode control rate with a variable sinusoidal saturation function of the boundary layer, comprises the following steps: The error state equation of current is obtained by the sliding mode observer and the current state equation: In the formula, make e iα 、e iβ is the current error, the current error state equation can be rewritten as: The sliding surface function is defined as: Wherein g, h, p, q are all positive odd numbers; 1<p / q<2, g / h>p / q; m and n are constants greater than 0; The designed integral sliding mode control rate is: in, for e iα 、e iβ The differential of; k, ε are variable parameters; sign is the sign function; the designed integral sliding mode control rate v α 、v β This will make the sliding surface function s α 、s β Converges to zero in a finite time, making e iα 、e iβ , Approaching zero, the error state equation of the current can be changed to: The variable boundary layer sinusoidal saturation function is used to replace the sign function in the design sliding mode control rate; the sinusoidal saturation function expression is: Where s is the sliding surface function; λ = π / 2Δ, Δ is the boundary layer thickness.

5. The method for controlling a permanent magnet synchronous motor based on a sliding mode variable structure according to claim 1, characterized in that: The designed back electromotive force adaptive rate combines the back electromotive force adaptive rate and the integral sliding mode control rate; wherein the observed back electromotive force equation is: The expression of the back EMF adaptation rate is as follows: In the formula, is the estimated value of electrical angular velocity; is the estimated value of the back EMF.

6. A permanent magnet synchronous motor control system based on sliding mode variable structure, characterized in that: include: Module M1 is used to construct the current state equation of the surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system; Module M2, designs the sliding mode observer based on the current state equation in the two-phase stationary coordinate system; Module M3, through the sliding mode observer, designs the integral sliding mode control rate based on the non-singular fast terminal sliding mode surface, and uses the variable boundary layer sinusoidal saturation function to replace the sign function of the integral sliding mode control rate; Module M4 is used to design the back-EMF adaptive rate, and combines the back-EMF adaptive rate with the integral sliding mode control rate to form an adaptive non-singular fast terminal sliding mode observer; Module M5 uses the back electromotive force of the permanent magnet synchronous motor observed by the adaptive non-singular fast terminal sliding mode observer as the input of the proportional-integral-differential phase-locked loop, and uses the proportional-integral-differential phase-locked loop to observe the rotor position and speed of the permanent magnet synchronous motor; Module M6 is used to feed back the rotor position and speed of the permanent magnet synchronous motor observed by the proportional-integral-differential phase-locked loop to the speed loop of the permanent magnet synchronous motor control system to achieve closed-loop control.

7. The permanent magnet synchronous motor control system based on sliding mode variable structure according to claim 6, characterized in that: The module M1 is used to construct the current state equation of the surface-mounted permanent magnet synchronous motor in a two-phase stationary coordinate system. The specific equation is as follows: In the formula, i α 、i β are the α and β axis components of the stator current; u α 、u β are the α and β axis components of the stator voltage; L s is the stator inductance; R s is the stator winding resistance; E α 、E β To expand the back EMF; The extended back electromotive force E α 、E β The expression is: In the formula, ψ f is the magnetic linkage; ω e is the rotor electrical angular velocity; θ e is the rotor position in electrical degrees.

8. The permanent magnet synchronous motor control system based on sliding mode variable structure according to claim 6, characterized in that: The module M2 designs a sliding mode observer according to the current state equation in a two-phase stationary coordinate system. The sliding mode observer expression is as follows: In the formula, is the stator observation current; v α 、v β represents the observer control rate.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, a permanent magnet synchronous motor control method based on sliding mode variable structure as described in any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a permanent magnet synchronous motor control method based on sliding mode variable structure as described in any one of claims 1 to 5 is implemented.

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