Model-free super-spiral rapid terminal sliding mode control method for permanent magnet synchronous motor

Abstract

The invention discloses a permanent magnet synchronous motor model-free superhelix fast terminal sliding mode control method and system, and the method can reduce the dependence of a controller on a system model compared with a conventional PI controller and a model-free controller. The method effectively solves the problem that the performance of the system is reduced due to parameter perturbation, is more suitable for a nonlinear time-varying system such as a permanent magnet synchronous motor, and meanwhile, adopts an extended superspiral sliding mode disturbance observer to estimate an unknown part of a novel superlocal model, so that the robustness of the method is enhanced; the anti-interference capability of the permanent magnet synchronous motor system is effectively improved; the control method is high in control precision and response speed, current harmonics and torque ripples generated by parameter perturbation can be effectively restrained, and then the control performance of a permanent magnet synchronous motor control system under the complex working condition is improved.

Description

Technical Field

[0001] The invention relates to the technical field of permanent magnet synchronous motor vector control, and in particular to model-free super-helical fast terminal sliding mode control based on an extended super-helical sliding mode disturbance observer. Background Art

[0002] As the global energy situation becomes increasingly tense and the dual carbon goals are further implemented, the application and development of new energy vehicles has become the focus of active exploration in the automotive industry. Permanent magnet synchronous motor (PMSM) has been widely used in high-end equipment manufacturing industries such as electric vehicles due to its small size and high power density, and has become a core component of electric vehicles. Research on common and basic key technologies such as high-precision and high-performance PMSM control methods can provide new ideas for the quality improvement and development of electric vehicles.

[0003] PMSM is a complex system with nonlinearity, multiple parameters, high coupling degree and susceptibility to unknown disturbances. Traditional PI control is easily affected by external disturbances and changes in internal parameters, and can only meet control accuracy requirements within a certain range.

[0004] Although traditional sliding mode control methods have certain robustness against unknown disturbances, they are highly dependent on accurate system models. In actual operating conditions, it is difficult to achieve high-precision modeling of motors due to parameter perturbations and external disturbances. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a method and system for model-free super-helical fast terminal sliding mode control of a permanent magnet synchronous motor in view of the deficiencies and defects of the prior art.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A method for controlling a permanent magnet synchronous motor by model-free super-helical fast terminal sliding mode, characterized in that it comprises the following steps:

[0008] Step 1: Establish a new hyperlocal model of the speed loop of the permanent magnet synchronous motor control system, which is specifically expressed as

[0009] ;

[0010] In the formula, is the electrical angular velocity; is the q-axis current; and is the state gain of the system to be designed; For the unknown part;

[0011] Step 2: The current sensor (5) detects the stator current and Send it to the Clarke transformation module (6) to get Shaft current , Shaft current The position and speed detection module (13) detects the electrical position angle and electrical angular velocity ; Then the current , and electrical position angle Send it to the Park transformation module (7) to get Shaft current , Shaft current ; Electrical angular velocity , q-axis current Transmitted to the extended super-helical sliding mode disturbance observer module (11), we get Observed value ;

[0012] The specific process of designing the extended super-helical sliding mode disturbance observer module (11) in step 2 is as follows:

[0013] Step 2.1, define the state error of the extended super-helical sliding mode disturbance observer as ,in, is the observed value of electrical angular velocity; the sliding surface is selected as ;

[0014] Step 2.2, the unknown disturbance Expanded to state variables, a new hyperlocal model of the speed loop is obtained

[0015] ;

[0016] In the formula, For unknown disturbance The rate of change of

[0017] The specific expression of the extended super-helical sliding mode disturbance observer module (11) is:

[0018] ;

[0019] In the formula, is the observed value of electrical angular velocity; is the unknown part of the observation value; for The rate of change of is the observer gain; is the sliding mode control rate;

[0020] The observer error equation is:

[0021]

[0022] Where: is the observation error of the unknown part;

[0023] Step 2.3, select the sliding mode reaching law as ,in, is the coefficient of the sliding mode reaching law; is a symbolic function; the control law of the extended super-helical sliding mode disturbance observer is designed as

[0024] ;

[0025] in, , is the gain parameter to be designed, and , ; To extend the time-varying disturbance of the super-helical sliding mode disturbance observer;

[0026] Step 2.4, when satisfied When, among them, , is a sufficiently large positive constant; the designed extended super-helical sliding mode disturbance observer module (11) converges, so we get ,Right now ,in, is the integral symbol, is the integration variable;

[0027] Step 3: Reference electrical angular velocity With electrical angular velocity The output of the super-helical sliding mode disturbance observer module (11) is , transmitted to the model-free super-helical fast terminal sliding mode controller module (10), and the q-axis current reference value is obtained ;

[0028] The specific process of designing the model-free superhelical fast terminal sliding mode controller module (10) in step 3 is as follows:

[0029] Step 3.1, define the state error of the controller as ; In the formula, is the reference electrical angular velocity; the state variable of the controller is selected as ;

[0030] Step 3.2: Select the second-order fast terminal sliding surface

[0031] ;

[0032] In the formula, is the second-order fast terminal sliding surface; , is the sliding mode gain, and both are positive; , is a positive odd number and ; for The first derivative of ;

[0033] Step 3.3, design the specific expression of the model-free superhelical fast terminal sliding mode controller module (10) as follows:

[0034]

[0035] In the formula, is the control law of the model-free superhelical fast terminal sliding mode controller module (10); for The equivalent control component of for The switching control component; for The second derivative of is a symbolic function; , are the parameters to be designed, and , ; is the integral symbol, is the integration variable;

[0036] Step 3.4, when satisfied When, the unknown part , is a sufficiently large constant, the state error of the model-free superhelical fast terminal sliding mode controller module (10) It will converge in finite time, and the designed model-free superhelical fast terminal sliding mode controller is stable;

[0037] Step 4: The q-axis current reference value output by the model-free super-helical fast terminal sliding mode controller module (10) Transmitted to the MTPA module (12), the Axis reference current value ; 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) 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), which outputs a three-phase voltage to drive the permanent magnet synchronous motor (1).

[0038] A permanent magnet synchronous motor model-free super-helical fast terminal sliding mode control system, characterized in that it comprises an extended super-helical sliding mode disturbance observer module (11) and a speed loop model-free super-helical fast terminal sliding mode controller module (10), wherein:

[0039] The extended superhelical sliding mode disturbance observer module (11) is respectively connected to the Park transformation module (7), the position and speed detection module (13), and the model-free superhelical fast terminal sliding mode controller module (10), and the output of the Park transformation module (7) is used to generate a superhelical sliding mode disturbance observer module (11). Shaft current , electrical angular velocity Observed Observed value , and Output to the speed loop model-free super-helical fast terminal sliding mode controller module (10);

[0040] The speed loop model-free super-helical fast terminal sliding mode controller module (10) is respectively connected to the position and speed detection module (13) and the extended super-helical sliding mode disturbance observer module (11), and outputs Shaft current reference value ;

[0041] The permanent magnet synchronous motor model-free super-helical fast terminal sliding mode control system adopts the above-mentioned permanent magnet synchronous motor model-free super-helical fast terminal sliding mode control method.

[0042] Furthermore, the vector control strategy of MTPA is adopted, and the model-free super-helical fast terminal sliding mode controller module (10) outputs Shaft current reference value ; sent to the MTPA module (12), and obtained Axis reference current value ; 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) 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), which outputs a three-phase voltage to drive the permanent magnet synchronous motor (1).

[0043] Furthermore, the current sensor (5) detects the permanent magnet synchronous motor current and ; Current and Input to Clark transform module (6) to get Shaft current , Shaft current The position and speed detection module (13) detects the electrical position angle ; Current , and electrical position angle Transmitted to the Park transformation module (7), the d-axis current is obtained , q-axis current .

[0044] The present invention adopts a model-free super-twisting fast terminal sliding mode control (MFSTFTSMC) method. Compared with a traditional PI controller and a traditional model-free controller (MFC), the controller can reduce the dependence of the controller on the system model, and can achieve a fast dynamic response of the permanent magnet traction system under the conditions of parameter perturbation and external disturbance, thereby improving the fault-tolerant control capability of the system and the dynamic and steady-state performances. At the same time, an extended super-twisting sliding mode disturbance observer (ESTSMDO) is adopted to estimate the unknown disturbance quantity, thereby enhancing the robust performance of the method of the present invention. The control method of the present invention has fast response speed and high control accuracy, and has a certain fault-tolerant function for motor parameter perturbation and unknown disturbance, so that the permanent magnet synchronous motor can operate efficiently and reliably under normal conditions or under permanent magnet parameter perturbation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a structural block diagram of a control system according to an embodiment of the present invention;

[0046] In the figure, 1—permanent magnet synchronous motor (PMSM), 2—three-phase inverter, 3—SVPWM module (i.e., space vector pulse width modulation), 4—Park inverse transformation, 5—current transformer, 6—Clark transformation, 7—Park transformation, 8—q-axis current controller, 9—d-axis current controller, 10—model-free super-helical fast terminal sliding mode controller, 11—extended super-helical sliding mode disturbance observer, 12—MTPA, 13—position and speed detection.

[0047] Figure 2 This is an embodiment of the present invention: a comparison diagram of speed response under parameter perturbation.

[0048] Figure 3 This is an embodiment of the present invention: a torque response comparison diagram under parameter perturbation.

[0049] Figure 4 This is an embodiment of the present invention: a comparison diagram of q-axis current response under parameter perturbation.

[0050] Figure 5 This is an embodiment of the present invention: a comparison diagram of d-axis current response under parameter perturbation.

[0051] Figure 6 This is an embodiment of the present invention: a comparison diagram of observer effects under parameter perturbation. DETAILED DESCRIPTION

[0052] The present invention will be further described below in conjunction with specific implementation modes.

[0053] Figure 1 The present invention is a block diagram of a method and system embodiment for implementing a model-free super-helical fast terminal sliding mode control of a permanent magnet synchronous motor. Figure 1 In the process, 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 (13) detects the electrical position angle of the permanent magnet synchronous motor and electrical angular velocity ; Then the electrical position angle , Shaft current , Shaft current Send it to the Park transformation module (7) to get Shaft current , Shaft current ; Electrical angular velocity , Shaft current Transmitted to the extended super-helical sliding mode disturbance observer (11), the unknown part of the new super-local model is obtained Observed value ; Reference electrical angular velocity With electrical angular velocity Difference, with the unknown part of the observed value Together, they are transmitted to the model-free superhelical fast terminal sliding mode controller (10) to obtain Axis reference current value ; Axis reference current value Transmitted to the MTPA module (12), the Axis reference current value ; Axis reference current value The output of Park transform (7) Shaft current 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) Make a difference and send to The shaft current controller module (8) obtains Axis reference voltage value ;Will Axis reference voltage and Axis reference voltage Transmitted to the Park inverse transform module (4), we get Axis reference voltage , Axis reference voltage ;Will , The trigger pulse is transmitted to the SVPWM (i.e., space vector pulse width modulation) module (3), and the obtained trigger pulse is transmitted to the three-phase inverter module (2), which outputs a three-phase voltage to drive the permanent magnet synchronous motor (1).

[0054] Under normal circumstances, the permanent magnet synchronous motor The voltage equation in the coordinate system can be expressed as:

[0055]

[0056] Where: , represent Shaft stator voltage component; , represent Shaft current component; is the nominal value of stator phase resistance; , They are Nominal value of shaft-stator flux component; is the electrical angular velocity.

[0057] The stator flux equation of permanent magnet synchronous motor is:

[0058]

[0059] Where: , for The nominal value of the shaft inductance component, and ; is the nominal value of permanent magnet flux.

[0060] In actual operating conditions, the electromagnetic parameters of the motor, such as resistance, inductance, and permanent magnet flux, will be perturbed. The mathematical model of PMSM considering parameter perturbations is:

[0061]

[0062] Where: , When the motor parameters are perturbed The shaft voltage perturbation values ​​are:

[0063]

[0064] in: , , Respectively, the resistance and Perturbation value of shaft inductance parameter; is the flux perturbation value of the permanent magnet.

[0065] The electromagnetic torque equation of the permanent magnet synchronous motor considering the electromagnetic parameter perturbation is:

[0066] T e = 3 2 n p [ ψ ro + ( L d − L q ) i d ] i q + Δ T e = 3 2 n p ψ ext i q + Δ T e

[0067] Where: represents electromagnetic torque; is the pole pair number; is the effective magnetic link. represents the torque perturbation under electromagnetic parameter perturbation, which can be expressed as:

[0068] Δ T e = 3 2 n p i q [ Δ ψ r + ( Δ L d − Δ L q ) i d ]

[0069] The mechanical motion equation of permanent magnet synchronous motor is:

[0070]

[0071] Where: is the electromagnetic torque; is the load torque; is the friction coefficient; is the pole pair number; is the moment of inertia; is the mechanical angular velocity; and .

[0072] When the motor parameters are perturbed, the mechanical motion equation of the permanent magnet synchronous motor is:

[0073]

[0074] in, is the unknown disturbance caused by the load torque.

[0075] The speed controller and current controller of the traditional permanent magnet synchronous motor control system are both PI controllers, which cannot adapt well to the working conditions of the permanent magnet synchronous motor control system, especially under the condition of parameter perturbation. This embodiment proposes a model-free super-twisting fast terminal sliding mode control method (MFSTFTSMC) of a permanent magnet synchronous motor.

[0076] S1: Establishment of a new hyperlocal model for the speed loop of a permanent magnet synchronous motor control system

[0077] According to the input and output of the permanent magnet synchronous motor speed loop, a new hyperlocal model of the permanent magnet synchronous motor speed loop is established:

[0078]

[0079] Where: is the electrical angular velocity; is the q-axis current; and is the state gain of the system to be designed; is the unknown part and is a continuous nonlinear bounded function that satisfies Lebesgue measurability;

[0080] S2: Design of a model-free superhelical fast terminal sliding mode controller for the speed loop

[0081] The state error of the controller is defined as ; In the formula, is the reference electrical angular velocity; the state variable of the controller is selected as ;

[0082] In order to effectively reduce the steady-state error and speed up the system response, the second-order fast terminal sliding surface is selected.

[0083]

[0084] In the formula, is the second-order fast terminal sliding surface; , is the sliding mode gain, and both are positive; , is a positive odd number and ; for The first derivative of .

[0085] Select the following Lyapunov function

[0086]

[0087] right The derivative is:

[0088]

[0089] have

[0090]

[0091] Therefore, the second-order fast terminal sliding surface converges.

[0092] Pair Taking the derivative and substituting the state equation into

[0093]

[0094] So we get the equivalent control term for

[0095] u eq = a ω − 1 [ e ¨ ( λ 1 + λ 2 e q / p − 1 ) + ω ˙ e ∗ − β ω ω e − F ]

[0096] At the same time, the superhelical switching control law is designed for

[0097]

[0098] in, , are the parameters to be designed, and , ; is the unknown part of the hyperlocal model;

[0099] When satisfied When, the unknown part , For a sufficiently large positive constant, the designed superhelical switching control law is Converges in finite time.

[0100] By equivalent control and superhelical switching control law , the designed speed loop model-free super-helical fast terminal sliding mode controller is

[0101]

[0102] In the formula, is the control law of the model-free superhelical fast terminal sliding mode controller module (10); for The equivalent control component of for The switching control component; for The second derivative of is the integral symbol, is the integration variable; is the observed value of the unknown part of the system.

[0103] S3: Design of an extended super-helical sliding mode disturbance observer to estimate unknowns in a novel super-local model

[0104] By expanding the unknown disturbance F into a state variable, a new hyperlocal model of the PMSM speed loop can be obtained:

[0105]

[0106] in, is defined as the rate of change of the unknown part.

[0107] The extended super spiral sliding mode disturbance observer (ESTSMDO) is designed as

[0108]

[0109] In the formula is the speed estimate; is the observed value of the unknown part of the system. represents its rate of change; is the observer gain; is the sliding mode control rate.

[0110] By Japanese style The observer error equation is:

[0111]

[0112] Where: is the speed estimation error; is the observation error of the unknown part.

[0113] For the observer Select sliding surface

[0114]

[0115] Select the following sliding mode reaching law:

[0116]

[0117] In the formula, , is the coefficient of the sliding mode reaching law; is a symbolic function;

[0118] The control law of the extended super-helical sliding mode disturbance observer is designed as:

[0119]

[0120] in, To extend the time-varying disturbance of the super-helical sliding mode disturbance observer; , are the parameters to be designed, and , .

[0121] Similarly, when satisfied When, the unknown part , For a positive constant that is large enough, the control law of the designed extended super-helical sliding mode disturbance observer converges in finite time.

[0122] When the system state moves to the sliding surface, we have , , this time becomes

[0123]

[0124] By transforming the above formula:

[0125]

[0126] Pair Solved

[0127]

[0128] In the formula, is a constant; when hour converges to zero.

[0129] When the extended super-helical sliding mode disturbance observer is stable, we can obtain ,Right now ,in, is the integral symbol, is the integration variable.

[0130] Next, the permanent magnet synchronous motor vector control system was modeled and simulated. The system model is as follows: Figure 1 ,The speed loop of the permanent magnet synchronous motor control system is controlled by a model-free super-helical fast terminal sliding mode controller. The simulation parameters of the permanent magnet synchronous motor are shown in Table 1:

[0131] Table 1 Permanent magnet synchronous motor parameters

[0132] Motor parameters Numeric <![CDATA[Number of pole pairs n p > 2 <![CDATA[Stator winding phase resistance R so (Ω)]]> 2 <![CDATA[Stator d-axis inductance L do (mH)]]> 4 <![CDATA[Stator q-axis inductance L qo (mH)]]> 9 <![CDATA[Rotor permanent magnet flux linkage ψ ro (Wb)]]> 0.12 <![CDATA[Motor moment of inertia J (kg.m 2 )]]> 0.029 <![CDATA[Coefficient of friction B m (N.m.s / rad)]]> 0.001

[0133] The simulation settings are as follows: the initial value of the motor speed is 1000 r / min, which increases to 2000 r / min at 1s; the initial load torque of the motor is 15 N m, add to 25 N in 1 s m; the permanent magnet flux increases to 0.144Wb at 0.8 s, an increase of about 40%. Motor resistance It increases to 2.8 Ω at 2 s, an increase of about 40%; the motor d-axis inductance increases to 5 mH at 2.2 s, an increase of 20%; the q-axis inductance increases to 10.8 mH at 1.6 s, an increase of about 20%. The other parameters are nominal values.

[0134] Figure 2 The simulation waveforms of the speed response of PI control, MFC method and MFSTFTSMC method under parameter perturbation are given.

[0135] Figure 3 The torque response simulation waveforms of PI control, MFC method and MFSTFTSMC method under parameter perturbation are given.

[0136] Figure 4 The quadrature-axis (q-axis) current simulation waveforms of PI control, MFC method and MFSTFTSMC method under parameter perturbation are given.

[0137] Figure 5 The direct axis (d-axis) current simulation waveforms of PI control, MFC method and MFSTFTSMC method under parameter perturbation are given.

[0138] Figure 6 The simulation waveforms of velocity tracking errors of the extended super spiral sliding mode disturbance observer (ESTSMDO) and the sliding mode observer under parameter perturbation are given.

[0139] Depend on Figure 2 It can be seen that the tracking accuracy of the MFSTFTSMC method is higher than that of the PI control and MFC methods.

[0140] Depend on Figure 3 and Figure 4 It can be seen that the MFSTFTSMC controlled The shaft current waveform is more stable and has less pulsation than that of PI control and MFC methods.

[0141] from Figure 5 It can be seen that the torque response controlled by the MFSTFTSMC algorithm is faster than that of the PI control and MFC methods, the torque steady-state error is relatively small, and the torque pulsation suppression effect is better.

[0142] Depend on Figure 6 It can be seen that since SMO can only achieve asymptotic convergence, there is a steady-state error with the given speed, while ESTSMDO has a very small overshoot and can converge in a finite time.

[0143] From the above analysis, it can be seen that the model-free super-helical fast terminal sliding mode control (MFSTFTSMC) method can effectively improve the fault-tolerant control capability under parameter perturbation compared with the PI control and MFC control methods, and the motor response speed is faster and more robust; it has excellent dynamic steady-state performance and can effectively suppress the current harmonics and torque pulsation generated by parameter perturbation, thereby improving the control performance of the traction system under complex working conditions.

[0144] 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 model-free super-helical fast terminal sliding mode control method for a permanent magnet synchronous motor, characterized in that: The following steps are involved: Step 1: Establish a new hyperlocal model of the speed loop of the permanent magnet synchronous motor control system, which is specifically expressed as ； In the formula, is the electrical angular velocity; is the q-axis current; and is the state gain of the system to be designed; For the unknown part; Step 2: The current sensor (5) detects the stator current and Send it to the Clarke transformation module (6) to get Shaft current , Shaft current The position and speed detection module (13) detects the electrical position angle and electrical angular velocity ; Then the current , and electrical position angle Send it to the Park transformation module (7) to get Shaft current , Shaft current ; Electrical angular velocity , q-axis current Transmitted to the extended super-helical sliding mode disturbance observer module (11), we get Observed value ; The specific process of designing the extended super-helical sliding mode disturbance observer module (11) in step 2 is as follows: Step 2.1, define the state error of the extended super-helical sliding mode disturbance observer as ,in, is the observed value of electrical angular velocity; the sliding surface is selected as ; Step 2.2, the unknown disturbance Expanded into state variables, a new hyperlocal model of the speed loop is obtained ； In the formula, For unknown disturbance The rate of change of The specific expression of the extended super-helical sliding mode disturbance observer module (11) is: ； In the formula, is the observed value of electrical angular velocity; is the unknown part of the observation value; for The rate of change of is the observer gain; is the sliding mode control rate; The observer error equation is: ; In the formula, is the observation error of the unknown part; Step 2.3, select the sliding mode reaching law as ,in, is the coefficient of the sliding mode reaching law; is a symbolic function; the control law of the extended super-helical sliding mode disturbance observer is designed as ； in, , are the parameters to be designed, and , ; To extend the time-varying disturbance of the super-helical sliding mode disturbance observer; Step 2.4, when the gain , satisfy When, among them, , is a sufficiently large positive constant; the designed extended super-helical sliding mode disturbance observer module (11) converges, so we get ,Right now ,in, is the integral symbol, is the integral variable; Step 3: Reference electrical angular velocity With electrical angular velocity The output of the differential and extended super-helical sliding mode disturbance observer module (11) , transmitted to the model-free super-helical fast terminal sliding mode controller module (10), and the q-axis current reference value is obtained ; The specific process of designing the model-free superhelical fast terminal sliding mode controller module (10) in step 3 is as follows: Step 3.1, define the state error of the controller as ; In the formula, is the reference electrical angular velocity; the state variable of the controller is selected as ; Step 3.2: Select the second-order fast terminal sliding surface ； In the formula, is the second-order fast terminal sliding surface; , is the sliding mode gain, and both are positive; , is a positive odd number and ; for The first derivative of ; Step 3.3, design the specific expression of the model-free superhelical fast terminal sliding mode controller module (10) as follows: ; In the formula, is the control law of the model-free superhelical fast terminal sliding mode controller module (10); for The equivalent control component of for The switching control component; for The second derivative of is a symbolic function; , are the parameters to be designed, and , ; is the integral symbol, is the integral variable; when , satisfy When, the unknown part , is a sufficiently large constant, the state error of the model-free superhelical fast terminal sliding mode controller module (10) It will converge in finite time, and the designed model-free superhelical fast terminal sliding mode controller is stable; Step 4: The q-axis current reference value output by the model-free super-helical fast terminal sliding mode controller module (10) Transmitted to the MTPA module (12), the Axis reference current value ; 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) 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), which outputs a three-phase voltage to drive the permanent magnet synchronous motor (1).

2. A model-free super-helical fast terminal sliding mode control system for a permanent magnet synchronous motor, characterized in that: It comprises an extended super-helical sliding mode disturbance observer module (11) and a speed loop model-free super-helical fast terminal sliding mode controller module (10), wherein: The extended superhelical sliding mode disturbance observer module (11) is respectively connected to the Park transformation module (7), the position and speed detection module (13), and the model-free superhelical fast terminal sliding mode controller module (10), and the output of the Park transformation module (7) is used to generate a superhelical sliding mode disturbance observer module (11). Shaft current , electrical angular velocity Observed Observed value , and Output to the speed loop model-free super-helical fast terminal sliding mode controller module (10); The speed loop model-free super-helical fast terminal sliding mode controller module (10) is respectively connected to the position and speed detection module (13) and the extended super-helical sliding mode disturbance observer module (11), and outputs Shaft current reference value ; The permanent magnet synchronous motor model-free super-helical fast terminal sliding mode control system adopts the permanent magnet synchronous motor model-free super-helical fast terminal sliding mode control method described in claim 1.

3. A permanent magnet synchronous motor model-free super-helical fast terminal sliding mode control system according to claim 2, characterized in that: Using the vector control strategy of MTPA, the model-free super-helical fast terminal sliding mode controller module (10) outputs Shaft current reference value ; sent to the MTPA module (12), and obtained Axis reference current value ; 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) 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), which outputs a three-phase voltage to drive the permanent magnet synchronous motor (1).

4. A permanent magnet synchronous motor model-free super-helical fast terminal sliding mode control system according to any one of claims 2-3, characterized in that: The current sensor (5) detects the permanent magnet synchronous motor current and ; Current and Input to Clark transform module (6) to get Shaft current , Shaft current The position and speed detection module (13) detects the electrical position angle ; Current , and electrical position angle Transmitted to the Park transformation module (7), the d-axis current is obtained , q-axis current .

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