Novel sliding mode control torsional vibration suppression method and system for permanent magnet driving system of electric vehicle

Abstract

The invention discloses a novel sliding mode control torsional vibration suppression method and system for a permanent magnet driving system of an electric vehicle, and compared with a traditional PI controller and a sliding mode controller, the adopted novel sliding mode control method can reduce the torsional vibration problem of the permanent magnet driving system under the condition of load disturbance. The method is more suitable for non-linear and strong-coupling systems such as an electric automobile permanent magnet driving system, meanwhile, a sliding mode disturbance observer is adopted for estimating load disturbance, feedforward compensation is conducted on a novel sliding mode controller, and the anti-interference capacity of the electric automobile permanent magnet driving system is effectively improved; the control method disclosed by the invention has high response speed and high control precision, and realizes effective suppression of torsional vibration of the permanent magnet driving system of the electric vehicle.

Description

Technical Field

[0003] The present invention relates to the technical field of permanent magnet synchronous motors, and more specifically, to a novel sliding mode control torsional vibration suppression method and system for a permanent magnet drive system of an electric vehicle. Background Art

[0005] In recent years, permanent magnet synchronous motors have been widely used in the field of electric vehicles due to their obvious advantages such as high efficiency, high power density, high power factor, and reliable operation. Electric vehicles have occupied the vast majority of the automobile market due to their high energy conversion efficiency, environmental protection, and greenness. The advantages of electric vehicles, such as cleanliness, efficiency, and almost zero pollution, make them highly favored in solving the problem of air pollution, and are of great significance to achieving carbon peak and carbon neutrality.

[0006] However, while electric vehicles are meeting higher requirements for economy and power, the torsional vibration of the transmission system is increasing, which affects the performance of the entire vehicle. The resulting vehicle noise, vibration and harshness problems will also reduce the comfort of passengers.

[0007] Torsional vibration in cars has long been a concern in vehicles powered by internal combustion engines, and is a more serious problem in electric and hybrid electric vehicles. The first root cause is the lack of components that provide damping in the powertrain, such as clutches, torsional vibration dampers, and torque converters. The second root cause is the rapid torque rise time of permanent magnet synchronous motors that induce torsional resonance. Therefore, it is necessary to seek new control methods and conduct in-depth analysis and research on the torsional vibration of electric vehicle powertrains. Summary of the invention

[0009] The technical problem to be solved by the present invention is to provide a novel sliding mode control torsional vibration suppression method and system for a permanent magnet drive system of an electric vehicle in view of the deficiencies and defects of the prior art.

[0010] To achieve the above object, the present invention adopts the following technical solutions:

[0011] A novel sliding mode control torsional vibration suppression method for a permanent magnet drive system of an electric vehicle, characterized in that it comprises the following steps:

[0012] Step 1: The permanent magnet synchronous motor (1) is connected to the load (12) through the transmission system (13) to form a permanent magnet drive system for electric vehicles. The state equation is established as follows:

[0013] ;

[0014] in, is the mechanical angular velocity of the permanent magnet synchronous motor; is the angular velocity of the load end; is the moment of inertia of the permanent magnet synchronous motor; is the equivalent moment of inertia of the load end; is the torsional stiffness at the load end; is the equivalent torsional damping of the permanent magnet drive system; is the load torque; is the mechanical position angle of the permanent magnet synchronous motor; is the load end position angle; is the q-axis current component of the permanent magnet synchronous motor stator; is the pole pair number; is the permanent magnet flux;

[0015] Step 2: The current sensor (5) detects the stator current information and Send it to the Clarke transformation module (6) to get Shaft current , Shaft current ; The position and speed detection module (14) detects the electrical position angle of the permanent magnet synchronous motor and electrical angular velocity ; Then the current , and the electrical position angle of the permanent magnet synchronous motor Send it to the Park transformation module (7) to get Shaft current , Shaft current ;

[0016] Permanent magnet synchronous motor electrical angular velocity and Shaft current Transmitted to the sliding mode disturbance observer module (11) to obtain the load disturbance observation value ;

[0017] The specific process of designing the sliding mode disturbance observer module (11) in step 2 is as follows:

[0018] Step 2.1, select the sliding surface of the sliding mode disturbance observer (11) as

[0019] ;

[0020] in, is the observation error of the electrical angular velocity of the permanent magnet synchronous motor; is the electrical angular velocity of the permanent magnet synchronous motor, and ; is the electrical angular velocity of the permanent magnet synchronous motor An estimated value of

[0021] Step 2.2, design the specific expression of the sliding mode disturbance observer module (11) as follows:

[0022] ;

[0023] in, is the total moment of inertia of the permanent magnet drive system, and ; is the load disturbance observation value; The derivative of , is the load disturbance change rate; is the sliding mode disturbance observer gain, and ; is the sliding mode switching function, and , is the sliding mode switching gain, and ; is the estimation error of the load disturbance.

[0024] Step 3: The load disturbance observation value output by the sliding mode disturbance observer module (11) , permanent magnet synchronous motor electrical angular velocity , permanent magnet synchronous motor electrical position angle , load end angular velocity , load end position angle , transmitted to the novel sliding mode controller module (10), and the q-axis current reference value is obtained ;

[0025] The specific process of designing the novel sliding mode controller module (10) in step 3 is as follows:

[0026] Step 3.1, the state variables of the new sliding mode controller module (10) are

[0027] ;

[0028] in, is the reference angular velocity of the load end;

[0029] Step 3.2, the sliding surface of the new sliding mode controller module (10) is

[0030] ;

[0031] Where c is the sliding mode gain, and ;

[0032] Step 3.3, the new sliding mode reaching law of the new sliding mode controller module (10) is selected as

[0033] ;

[0034] in, , , , is the coefficient of the new sliding mode reaching law, and , , , ;

[0035] Step 3.3, the specific expression of the designed new sliding mode controller module (10) is:

[0036] ;

[0037] in, is the reference value of q-axis current; is the reference angular velocity of the load end The second derivative of ; is a symbolic function;

[0038] Step 4: Axis reference current value The d-axis current output by Park transformation (7) Make a difference and send to The shaft current controller module (9) obtains Axis reference voltage value ; Axis reference current value The q-axis current output by Park transformation (7) is Make a difference and send to The shaft current controller module (8) obtains Axis reference voltage value ; Set the dq axis reference voltage value , Transmitted to the Park inverse transform module (4), we get Axis reference voltage value , Axis reference current value ;Will , The SVPWM control module (3) transmits the obtained trigger pulse to the inverter module (2), outputs a three-phase voltage to drive the permanent magnet synchronous motor (1); the permanent magnet synchronous motor (1) drives the load (12) through the transmission system module (13).

[0039] A novel sliding mode control torsional vibration suppression system for a permanent magnet drive system of an electric vehicle, characterized by comprising a sliding mode disturbance observer module (11) and a novel sliding mode controller module (10), wherein:

[0040] The sliding mode disturbance observer module (11) is connected to the Park transformation module (7), the position and speed detection module (14), and the novel sliding mode controller module (10) respectively. Shaft current , permanent magnet synchronous motor electrical angular velocity Observe the load disturbance observation value , and the load disturbance observation value Output to the novel sliding mode controller module (10);

[0041] The novel sliding mode controller module (10) is respectively connected to the position and speed detection module (14), the position and speed detection module (15), and the sliding mode disturbance observer module (11), and outputs Shaft current reference value ;

[0042] Further, using The vector control strategy of Reference current value of the axis , Reference current value of the axis The dq axis currents output by Park transformation (7) are , Make a difference and send to Axis current controller module (9) and The shaft current controller module (8) obtains Reference voltage value of the axis , Reference voltage value of the axis ;Will , Transmitted to the Park inverse transform module (4), we get Axis reference voltage value , Axis reference current value ;Will , The voltage is transmitted to the SVPWM control module (3), and a trigger pulse is obtained and transmitted to the inverter module (2), which outputs a three-phase voltage to drive the permanent magnet synchronous motor (1); the permanent magnet synchronous motor (1) drives the load (12) through the transmission system module (13).

[0043] Furthermore, the current sensor (5) detects the current information of the permanent magnet synchronous motor and ; Current and Input to Clark transformation module (6) to obtain the current in α-β coordinate system , ; The position and speed detection module (14) detects the electrical position angle of the permanent magnet synchronous motor ; Current , and the electrical position angle of the permanent magnet synchronous motor Transmitted to the Park transformation module (7), the current in the dq axis coordinate system is obtained , .

[0044] The present invention adopts a sliding mode control method based on a novel sliding mode reaching law. Compared with a traditional PI controller and a traditional sliding mode controller (sliding mode control, SMC), the present invention reduces the influence of load disturbance on the jitter of a permanent magnet drive system of an electric vehicle, and is more suitable for nonlinear permanent magnet drive systems such as electric vehicles. At the same time, a sliding mode disturbance observer is used to accurately estimate the load disturbance part in real time, and feedforward compensation is performed on the novel sliding mode controller, which effectively suppresses current and torque pulsations, ensures high-performance control of the permanent magnet synchronous motor, and realizes the suppression of torsional vibration on the load side of the permanent magnet drive system of the electric vehicle. The control method of the present invention has better transient steady-state performance under external disturbances, stronger anti-interference ability, enhanced system robustness, and improved speed control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a system structure block diagram of an embodiment of the present invention;

[0047] In the figure, 1 is permanent magnet synchronous motor, 2 is inverter, 3 is SVPWM module, 4 is Park inverse transformation, 5 is current transformer, 6 is Clark transformation, 7 is Park transformation, 8 is q-axis current loop controller, 9 is d-axis current loop controller, 10 is new sliding mode controller, 11 is sliding mode disturbance observer, 12 is load, 13 is transmission system, 14 is position and speed detection, 15 is position and speed detection.

[0048] Figure 2 This is a comparison chart of the speed response of an embodiment of the present invention, PI control, and SMC.

[0049] Figure 3 This is a comparison diagram of the d-axis current response of an embodiment of the present invention, PI control, and SMC.

[0050] Figure 4 This is a comparison diagram of the q-axis current response of an embodiment of the present invention, PI control, and SMC.

[0051] Figure 5 This is a comparison chart of torque response between an embodiment of the present invention and PI control and SMC.

[0052] Figure 6This is a comparison diagram of the speed response of an embodiment of the present invention, PI control, and SMC permanent magnet synchronous motor side.

[0053] Figure 7 This is a comparison chart of the load-side speed response of an embodiment of the present invention, PI control, and SMC.

[0054] Figure 8 This is a comparison diagram of the position angle response of an embodiment of the present invention, PI control, and SMC permanent magnet synchronous motor side.

[0055] Fig. 9 This is a comparison diagram of the load-side position angle response of an embodiment of the present invention, PI control, and SMC.

[0056] Fig.10 This is a comparison diagram of the angular acceleration response of an embodiment of the present invention, PI control, and SMC permanent magnet synchronous motor.

[0057] Fig.11 This is a comparison chart of the angular acceleration response of an embodiment of the present invention, PI control, and SMC load side.

[0058] Fig.12 This is a speed observation diagram of a sliding mode disturbance observer according to an embodiment of the present invention.

[0059] Fig.13 This is a load disturbance observation diagram according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0062] Figure 1 The present invention is a block diagram of a novel sliding mode torsional vibration suppression method and system implementation scheme for a permanent magnet drive system of an electric vehicle. Figure 1 In the example, the current sensor (5) detects the stator current information of the permanent magnet synchronous motor (PMSM). and Send it to the Clarke transformation module (6) to get Shaft current , shaft current The position and speed detection module (14) detects the electrical position angle of the permanent magnet synchronous motor and electrical angular velocity ; Then the electrical position angle , - Shaft current , Transmitted to Park transformation module (7), output dq axis current , ; The position and speed detection module (15) detects the load end position angle and angular velocity ;Electrical angular velocity of permanent magnet synchronous motor and Shaft current Transmitted to the sliding mode disturbance observer module (11) to obtain the load disturbance observation value ; Permanent magnet synchronous motor position angle and electrical angular velocity , load end position angle and angular velocity , load disturbance observation value , load end reference angular velocity , transmitted to the novel sliding mode controller module (10), and the q-axis current reference value is obtained ;use The vector control strategy of Reference current value of the axis The d-axis current output by Park transformation (7) Make a difference and send to The shaft current controller module (9) obtains Reference voltage value of the axis ; Reference current value of the axis The q-axis current output by Park transformation (7) is Make a difference and send to The shaft current controller module (8) obtains Reference voltage value of the axis ; Set the dq axis reference voltage value , Transmitted to the Park inverse transform module (4), we get Reference voltage value of the axis , Reference current value of the axis ;Will , The signal is transmitted to the SVPWM (i.e., space vector pulse width modulation) module (3), and the obtained trigger pulse is transmitted to the inverter module (2), which outputs a three-phase voltage to drive the permanent magnet synchronous motor (1); the permanent magnet synchronous motor (1) drives the load (12) through the transmission system module (13).

[0063] Ignoring the core saturation and loss, ignoring the permanent magnet hysteresis and eddy current loss, and not considering parameter perturbation, the ideal PMSM model in the dq axis coordinate system can be obtained, where the stator voltage equation is:

[0064]

[0065] The stator flux equation is

[0066]

[0067] In formula (1) and formula (2), , are the stator dq axis voltage components respectively; , are the stator dq axis current components respectively; is the electrical angular velocity of the PMSM; is the nominal value of the stator phase winding resistance; , are the nominal values ​​of the dq-axis inductance of the stator phase winding respectively; is the nominal value of the permanent magnet flux, , are the dq axis stator flux components respectively.

[0068] The electromagnetic torque equation in the dq coordinate system is:

[0069] T e = 1 . 5 p n ( ψ d i q − ψ q i d ) = 1 . 5 p n [ ψ f i q + ( L d − L q ) i d i q ]

[0070] In the formula is the pole pair number; T e is the electromagnetic torque.

[0071] In the permanent magnet drive system of electric vehicles, the permanent magnet synchronous motor is generally required to have strong overload capacity, fast dynamic response speed, high torque linearity, and simple and reliable control method. For surface mounted permanent magnet synchronous motor (Surface PMSM, SPMSM), the inductance meets , it can be seen from formula (3) that the torque of SPMSM has nothing to do with the d-axis current and is only linearly related to the q-axis current:

[0072]

[0073] The PMSM mechanical motion equation is:

[0074]

[0075] In the formula, is the load torque; is the friction coefficient; is the mechanical angular velocity of the permanent magnet synchronous motor, satisfying ; is the rotational inertia of the system; assuming that the permanent magnet synchronous motor and the load are ideally connected by a rigid shaft, the rotational inertia of the permanent magnet synchronous motor and the load are and , then ; is the moment of inertia of the permanent magnet synchronous motor; is the equivalent moment of inertia of the load end.

[0076] According to equations (1), (2), (4) and (5), the state equation of SPMSM is:

[0077]

[0078] In the formula, is the mechanical position angle of the permanent magnet synchronous motor, satisfying ;

[0079] The speed controller of the traditional electric vehicle permanent magnet synchronous control system adopts PI controller and traditional sliding mode controller (SMC), which cannot adapt well to the application occasions where the permanent magnet synchronous motor control system faces complex working conditions. This embodiment proposes a new sliding-mode-reaching-law-based sliding mode control (NSMLL-SMC) torsional vibration suppression method for permanent magnet drive system.

[0080] S1 Establishing a permanent magnet drive system model for electric vehicles

[0081] The electric vehicle permanent magnet drive system analyzed in this embodiment has a central drive topology structure, does not consider the nonlinear characteristics of the transmission system, and abstracts the electric vehicle permanent magnet drive system as a dual-mass model. The model does not include the gear tooth gap and the change of meshing stiffness during the transmission process, ignores the differential effect of the reducer, and the output torque of the permanent magnet synchronous motor is considered to be evenly transmitted to the left and right half shafts; the state equation of the electric vehicle permanent magnet drive system is finally obtained as:

[0082]

[0083] Where: is the moment of inertia of the permanent magnet synchronous motor; is the equivalent moment of inertia of the load end; is the mechanical angular velocity of the permanent magnet synchronous motor; is the angular velocity of the load end; is the torsional stiffness at the load end; is the equivalent torsional damping of the permanent magnet drive system; is the load torque; is the mechanical position angle of the permanent magnet synchronous motor; is the load end position angle; is the stator d-axis current component; is the stator q-axis current component; is the pole pair number; is the permanent magnet flux;

[0084] S2 Establish a new sliding mode controller to suppress torsional vibration

[0085] According to the state equation of the permanent magnet drive system of electric vehicles, the state error of the controller For the control target, is the angular velocity of the load end;

[0086] The state variables of the new sliding mode controller module (10) are

[0087]

[0088] The sliding surface of the new sliding mode controller module (10) is selected as:

[0089]

[0090] In formula (8), c is the sliding mode gain, and ;

[0091] Introducing a new sliding mode reaching law:

[0092]

[0093] in , , , is the coefficient of the new sliding mode reaching law, and , , , ;

[0094] Finally, the new sliding mode controller can be expressed as

[0095]

[0096] In formulas (9)-(10), is the q-axis current reference value, is the reference angular velocity of the load end The second derivative of ; is a symbolic function;

[0097] Select the Lyapunov function , and taking its derivative we get:

[0098]

[0099] According to the Lyapunov stability criterion and the sliding mode reachability condition, the speed error controlled by the novel sliding mode controller designed in this embodiment will converge within a finite time.

[0100] S3 designs sliding mode disturbance observer to estimate the load disturbance part

[0101] Design a sliding mode disturbance observer to obtain load disturbance estimates ;

[0102] The sliding surface of the sliding mode disturbance observer is selected as:

[0103]

[0104] in is the observation error of the electrical angular velocity of the permanent magnet synchronous motor; is the electrical angular velocity of the permanent magnet synchronous motor, and ; is the estimated value of the electrical angular velocity of the permanent magnet synchronous motor;

[0105] The sliding mode disturbance observer is expressed as:

[0106]

[0107] in is the total moment of inertia of the permanent magnet drive system, and ; is the load disturbance observation value; The derivative of , Represents the load disturbance change rate; is the sliding mode disturbance observer gain, and ;

[0108] The error equation of the sliding mode disturbance observer (11) is

[0109]

[0110] Where: is the sliding mode switching function, and , is the sliding mode switching gain; is the estimation error of the load disturbance.

[0111] Select the Lyapunov function , and taking its derivative we get:

[0112] V ˙ 2 = s 2 s ˙ 2 = s 2 [ − B J e ω − T ˜ L J + γ sgn ( s 2 ) ] =− Bs 2 2 J − s 2 [ T ˜ L J − γ sgn ( s 2 ) ]

[0113] when hour, According to the Lyapunov stability theorem and the sliding mode reachability condition, it can be obtained that the sliding mode disturbance observer error equation (15) will converge to zero.

[0114] Next, the electric vehicle permanent magnet drive system was modeled and simulated. The system model is as follows: Figure 1 As shown, the speed loop controller of the permanent magnet drive system of the electric vehicle is controlled by a new sliding mode controller, the d-axis current controller and the q-axis current controller modules are controlled by PI, and the simulation parameters of the permanent magnet synchronous motor are shown in Table 1:

[0115] Table 1 Parameters of permanent magnet drive system of electric vehicle

[0116] parameter Numeric DC side voltage 350 V Stator resistance 1.9 Ω Direct axis inductor 3.34 mH Quadrature-axis inductance 3.34 mH Permanent magnet flux 0.171 Wb Viscous friction coefficient 0.0001 Nms / rad Motor moment of inertia <![CDATA[0.015kg.m 2 ]]> Pole pairs 4 pairs System torsional stiffness 4000N.m / rad Torsional Damping 100 Nms / rad Vehicle inertia <![CDATA[2.5 kg.m 2 ]]>

[0117] Set the reference angular velocity of the load end is 600 rad / s. The simulation waveform is as follows Figures 2 to 13 shown.

[0118] Depend on Figure 2 From the speed change curve, it can be seen that compared with the PI control and SMC methods, the new sliding mode control (NSMRL-SMC) method has the smallest speed control overshoot, the fastest speed response, and can recover to the reference speed in a very short time.

[0119] Depend on Figure 3-Figure 5 From the dq-axis current response and torque response, it can be seen that compared with the PI control and SMC methods, the new sliding mode control (NSMRL-SMC) has smaller dq-axis current and torque pulsations, smoother waveforms, and better transient steady-state performance of the permanent magnet synchronous motor.

[0120] Depend on Figure 6-Figure 13 is the mechanical angular velocity of the permanent magnet synchronous motor and load end angular velocity , Permanent magnet synchronous motor mechanical angle position angle and load end position angle It can be seen from the comparison chart that the new sliding mode control (NSMRL-SMC) method can obviously suppress torsional vibration.

[0121] From the above analysis, it can be seen that compared with the PI control and SMC methods, the new sliding mode control (NSMRL-SMC) method can effectively suppress the pulsation of torque and current and speed up the system response speed, improve the overall control performance of the permanent magnet synchronous motor, and have a better suppression effect on the torsional vibration on the load side.

[0122] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A novel sliding mode control torsional vibration suppression method for permanent magnet drive system of electric vehicle, characterized in that: The following steps are involved: Step 1: The permanent magnet synchronous motor (1) is connected to the load (12) through the transmission system (13) to form a permanent magnet drive system for electric vehicles. The state equation is established as follows: ； in, is the mechanical angular velocity of the permanent magnet synchronous motor; is the angular velocity of the load end; is the moment of inertia of the permanent magnet synchronous motor; is the equivalent moment of inertia of the load end; is the torsional stiffness at the load end; is the equivalent torsional damping of the permanent magnet drive system; is the load torque; is the mechanical position angle of the permanent magnet synchronous motor; is the load end position angle; is the q-axis current component of the permanent magnet synchronous motor stator; is the pole pair number; is the permanent magnet flux; Step 2: The current sensor (5) detects the stator current information and Send it to the Clarke transformation module (6) to get Shaft current , Shaft current ; The position and speed detection module (14) detects the electrical position angle of the permanent magnet synchronous motor and electrical angular velocity ; Then the current , and the electrical position angle of the permanent magnet synchronous motor Send it to the Park transformation module (7) to get Shaft current , Shaft current ; Permanent magnet synchronous motor electrical angular velocity and Shaft current Transmitted to the sliding mode disturbance observer module (11) to obtain the load disturbance observation value ; The specific process of designing the sliding mode disturbance observer module (11) in step 2 is as follows: Step 2.1, select the sliding surface of the sliding mode disturbance observer as ,in is the observation error of the electrical angular velocity of the permanent magnet synchronous motor; is the electrical angular velocity of the permanent magnet synchronous motor, and ; is the estimated value of the electrical angular velocity of the permanent magnet synchronous motor; Step 2.2, design the specific expression of the sliding mode disturbance observer module (11) as follows: ； in is the total moment of inertia of the permanent magnet drive system, and ; is the load disturbance observation value; The derivative of , Represents the load disturbance change rate; is the sliding mode disturbance observer gain, and ; is the sliding mode switching function, and , is the sliding mode switching gain, and ; is the estimation error of the load disturbance; Step 3: The load disturbance observation value output by the sliding mode disturbance observer module (11) , permanent magnet synchronous motor electrical angular velocity , permanent magnet synchronous motor electrical position angle , load end angular velocity , load end position angle , transmitted to the novel sliding mode controller module (10), and the q-axis current reference value is obtained ; The specific process of designing the novel sliding mode controller module (10) in step 3 is as follows: Step 3.1, the state variables of the new sliding mode controller module (10) are ； in is the reference angular velocity of the load end; Step 3.2, the sliding surface of the new sliding mode controller module (10) is ； Where c is the sliding mode gain, and ; Step 3.3, the new sliding mode reaching law of the new sliding mode controller module (10) is selected as ； in, , , , is the coefficient of the new sliding mode reaching law, and , , , ; Step 3.3, the specific expression of the designed new sliding mode controller module (10) is:

2. Among them, is the q-axis current reference value; is the reference angular velocity of the load end The second derivative of ; is a symbolic function; Step 4: Axis reference current value The d-axis current output by Park transformation (7) Make a difference and send to The shaft current controller module (9) obtains Axis reference voltage value ; Axis reference current value The q-axis current output by Park transformation (7) is Make a difference and send to The shaft current controller module (8) obtains Axis reference voltage value ; Set the dq axis reference voltage value , Transmitted to the Park inverse transform module (4), we get Axis reference voltage value , Axis reference current value ;Will , The SVPWM control module (3) transmits the obtained trigger pulse to the inverter module (2), outputs a three-phase voltage to drive the permanent magnet synchronous motor (1); the permanent magnet synchronous motor (1) drives the load (12) through the transmission system module (13).

3. A novel sliding mode control torsional vibration suppression system for electric vehicle permanent magnet drive system, characterized in that: It comprises a sliding mode disturbance observer module (11) and a novel sliding mode controller module (10), wherein: The sliding mode disturbance observer module (11) is connected to the Park transformation module (7), the position and speed detection module (14), and the novel sliding mode controller module (10) respectively. Shaft current , permanent magnet synchronous motor electrical angular velocity Observe the load disturbance observation value , and the load disturbance observation value Output to the novel sliding mode controller module (10); The novel sliding mode controller module (10) is respectively connected to the position and speed detection module (14), the position and speed detection module (15), and the sliding mode disturbance observer module (11), and outputs Shaft current reference value ; The novel sliding mode torsional vibration suppression control system of the electric vehicle permanent magnet drive system adopts the novel sliding mode control torsional vibration suppression method of the electric vehicle permanent magnet drive system described in claim 1.

4. According to claim 2, a novel sliding mode control torsional vibration suppression system for a permanent magnet drive system of an electric vehicle is characterized in that: use The vector control strategy of Reference current value of the axis , Reference current value of the axis The dq axis currents output by Park transformation (7) are , Make a difference and send to Axis current controller module (9) and The shaft current controller module (8) obtains Reference voltage value of the axis , Reference voltage value of the axis ;Will , Transmitted to the Park inverse transform module (4), we get Axis reference voltage value , Axis reference current value ;Will , The voltage is transmitted to the SVPWM control module (3), and a trigger pulse is obtained and transmitted to the inverter module (2), which outputs a three-phase voltage to drive the permanent magnet synchronous motor (1); the permanent magnet synchronous motor (1) drives the load (12) through the transmission system module (13).

5. A novel sliding mode control torsional vibration suppression system for permanent magnet drive system of electric vehicle according to any one of claims 2-3, characterized in that: The current sensor (5) detects the current information of the permanent magnet synchronous motor and ; Current and Input to Clark transformation module (6) to obtain the current in α-β coordinate system , ; The position and speed detection module (14) detects the electrical position angle of the permanent magnet synchronous motor ; Current , and the electrical position angle of the permanent magnet synchronous motor Transmitted to the Park transformation module (7), the current in the dq axis coordinate system is obtained , .

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