Permanent magnet synchronous motor speed control method based on adaptive observer

Abstract

The invention discloses a permanent magnet synchronous motor speed control method based on a self-adaptive observer. The method comprises the following steps: establishing a permanent magnet synchronous motor mathematical model; describing a speed tracking and interference suppression problem of the permanent magnet synchronous motor under the condition that the magnitude and the number of external interference frequencies are unknown as a self-adaptive output adjustment problem; through filtering transformation, the observer standard types of the error system and the transformed external system are converted into a self-adaptive observer type; an error feedback controller is designed to solve the problem of output adjustment; a speed-current loop cascade structure is adopted, a PI controller is constructed for a current loop, and a final controller is provided. According to the permanent magnet synchronous motor speed control method based on the self-adaptive observer, the good speed tracking performance of the permanent magnet synchronous motor is achieved, the speed tracking precision is high, the anti-interference capability is high, the stability is good, and practical application is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of synchronous motors, and in particular to a permanent magnet synchronous motor speed control method based on an adaptive observer. Background Art

[0002] Permanent magnet synchronous motors have been widely used in aerospace, computer numerical control machine tools, robotics, electric vehicles and other industries due to their high reliability, high power density and fast response. The permanent magnet synchronous motor model has the characteristics of multivariable, nonlinear, strong coupling, and is affected by load torque disturbance, so it is often difficult to obtain a good tracking control effect.

[0003] On the other hand, the problem of adaptive output regulation has received extensive attention in the control community in recent decades. The advantage of the adaptive observer method is that it can achieve multiple control objectives such as trajectory tracking and interference suppression when the external system parameters and order are unknown. Applying this method to permanent magnet synchronous motors can solve the tracking control problem of permanent magnet synchronous motor speed servo systems when the load torque interference amplitude, phase, frequency size and number are unknown.

[0004] However, at present, when the output regulation method is used to solve the speed control problem of permanent magnet synchronous motor, the number of load torque disturbances needs to be known, which greatly limits the scope of application of this method. In addition, since the permanent magnet synchronous motor is not only a complex multi-input and multi-output nonlinear control system, but also easily affected by load torque disturbance, it is difficult for traditional PID and other control algorithms to achieve satisfactory control performance. Summary of the invention

[0005] The purpose of the present invention is to provide a permanent magnet synchronous motor speed control method based on an adaptive observer to solve the above defects.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A permanent magnet synchronous motor speed control method based on an adaptive observer comprises the following steps:

[0008] S1. Establish a mathematical model of permanent magnet synchronous motor;

[0009] S2, using the cascade structure of speed-current loop, the speed tracking and interference suppression problem of the permanent magnet synchronous motor under the condition that the magnitude and number of external interference frequencies are unknown is described as an adaptive output regulation problem for the speed loop;

[0010] S3, converting the standard observer type of the error system and the transformed external system into an adaptive observer type through filtering transformation;

[0011] S4, design an adaptive observer to observe the unknown parameters of the external system and the state of the adaptive observer, and design an error feedback controller to solve the above output regulation problem;

[0012] S5. Using the cascade structure of the speed-current loop, a PI controller is constructed for the current loop and the final controller is given.

[0013] Preferably, in step S2, the permanent magnet synchronous motor mathematical model is a permanent magnet synchronous motor mathematical model in a dq coordinate system, specifically:

[0014]

[0015] In the formula, u d 、u q represents the dq-axis component of the stator voltage, i d 、i q represents the dq axis component of the stator current, R s , L is the stator resistance and armature inductance, p is the number of pole pairs, Φ v is the permanent magnet flux, ω r is the rotor angular velocity, T L is the load torque, J is the motor rotor inertia, F v is the coefficient of viscous friction.

[0016] Preferably, the S2 step comprises the following specific steps:

[0017] S21, assuming reference speed ω d and load torque disturbance T L Produced by the following linear external system:

[0018]

[0019] In the formula, R, N1, N2 are three constant matrices, R and N2 are unknown, the upper bound of the order of R is 2n, and the spectrum of R is ±jσ i ,1≤i≤n,where σ i are unknown and distinct numbers, n is a known integer, and i represents σ i The i-th number of ; τ represents the external system state variable, represents the derivative of the external system state variable, ω d represents the reference speed, T L Indicates load torque disturbance;

[0020] S22, replace the i of the speed equation in formula (1) q As the control input u, that is, the reference current of the q-axis current loop, let x = ω r ,d=T L, combined with formula (2), we can get the following formula:

[0021]

[0022] In the formula, And e is the velocity tracking error; It is represented by the rotor angular velocity; u represents the control input;

[0023] S23. At this time, the speed tracking control problem of formula (1) is described as the adaptive output regulation problem of formula (3). Its purpose is to design an error feedback controller based on an adaptive observer when the order of the external system is unknown and contains unknown parameters, so that the state of the closed-loop system is bounded from any initial value and e(t) converges to zero.

[0024] Preferably, the S3 step includes the following specific steps:

[0025] S31. Solve the regulator equation formula (4) to obtain the steady-state solution formula (5) of the state and input:

[0026] XRτ=AXτ+BUτ-J -1 N2τ,

[0027] 0=Xτ-N1τ, (4)

[0028] Xτ=N1τ,Uτ=B -1 [N1R-AN1+J -1 N2]τ. (5)

[0029] Where Xτ and Uτ are the steady-state state and steady-state input, respectively;

[0030] S32. According to formula (5), coordinate transformation is performed on formula (3) to obtain error system formula (6):

[0031]

[0032] In the formula, represents the derivative of the velocity tracking error;

[0033] S33, the steady-state input Uτ can be equivalently generated by the following standard observer:

[0034]

[0035] where det(sI-R c )=s 2n +ψ1s 2(n-1) +…+ψ n , ψ=[ψ1 … ψ n ]· is a frequency σ that is different from the unknown i Related unknown coefficient vector, 1≤i≤n; and They are the state variables and their derivatives of the standard observer formula (7);

[0036] Combining formula (6) and formula (7), we get formula (9), which is as follows:

[0037]

[0038] S34, using the following mapping formula (10):

[0039]

[0040] Where T(ψ) represents a mapping that can transform system (9) into (11);

[0041] Convert formula (9) into the following standard observer form, as shown in formula (11):

[0042]

[0043] In the formula, A c 、c c is the coefficient matrix, a[i], b[i] are the coefficient matrices of the standard observer, i.e., formula (11), 1≤i≤n, and:

[0044] c c =[1 0 … 0]

[0045] a[0]=[a0 0 … 0] ·

[0046] b[0]=[b0 0 … 0] ·

[0047] a[1]=[0 1 a0 0 … 0] ·

[0048] b[1]=[0 0 b0 0 … 0] ·

[0049]

[0050] a[n]=[0 0 … 0 1 a0] ·

[0051] b[n]=[0 0 … 0 0 b0] · (12)

[0052] a0 and b0 are the transfer functions (sI-A) -1 Two known coefficients of B = b0 / (s+a0);

[0053] S35, select any vector d = [1 d 2n-1 … d0] · So that the polynomial s 2n +d 2n-1 s 2n-1 All roots of +…+d0 have negative real parts, and define the Hurwitz matrix and filter transform, the formulas of which are as follows:

[0054]

[0055]

[0056] In the formula, ξ i and Respectively represent the state variables and their derivatives of the ith formula of the filter transformation, μ i Represents ξ i The first element of the vector;

[0057] Formula (11) is converted into the adaptive observer type shown in the following formula (15) using the filter transformation formula (14):

[0058]

[0059] Where z represents the state variable of the adaptive observer type, μ=[μ1 … μ n ] · .

[0060] Preferably, the S4 step comprises the following specific steps:

[0061] S41. For the first formula of formula (15) Construct the error feedback controller of the following formula (16):

[0062] u=(a0e-μ · ψ-z2-ke) / b0, (16)

[0063] In the formula, k is a positive number;

[0064] S42. Since the controller (16) contains the unknown parameters z2 of the adaptive observer type and the unknown parameters ψ of the external system, it is necessary to design an adaptive observer to observe the unknown parameters according to the following formula (17):

[0065]

[0066] Where k0 is the design parameter, and k0 = (A c +λI)d,λ,g i is a positive design parameter, is the observed value of z, is the observed value of ψ;

[0067] S43, according to the adaptive observer, the error feedback controller of formula (18) is obtained as follows:

[0068]

[0069] In the formula, is the observed value of z2;

[0070] S44, obtain the speed loop controller, the specific formula is as follows:

[0071]

[0072] Preferably, the specific steps of step S5 are as follows:

[0073] S51, the current loop adopts PI control method, combined with The vector control strategy is to d The current is adjusted to zero and i q The current is adjusted to the reference current, and the PI controller formula of the current loop is:

[0074]

[0075] In the formula, K P1 , K P2 is the proportionality coefficient, K I1 , K I2 is the integration coefficient; is the reference current, and:

[0076] S52. Combining formula (19) and formula (20), the final controller formula is as follows:

[0077]

[0078] The beneficial effects of the present invention are:

[0079] The present invention discloses a method for controlling the speed of a permanent magnet synchronous motor based on an adaptive observer. The method solves the problem that the tracking performance of a permanent magnet synchronous motor is affected when the amplitude, phase, frequency and number of load torque interference in actual control are unknown through an output feedback controller based on the adaptive observer, thereby achieving good speed tracking performance of the permanent magnet synchronous motor, high speed tracking accuracy and good stability. Since the present invention can suppress load torque interference of unknown number, it has the ability to handle complex interference. At the same time, the speed loop controller in the present invention only needs to be designed based on the speed equation model of the permanent magnet synchronous motor, which simplifies the model and is easy to apply in practice. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 It is a control framework diagram of a permanent magnet synchronous motor in the method of the present invention;

[0081] Figure 2 It is the speed tracking curve of Example 1;

[0082] Figure 3 The speed tracking error curve of Example 1;

[0083] Figure 4 i of Example 1 d Current curve;

[0084] Figure 5 i of Example 1 q Current curve;

[0085] Figure 6 It is the speed tracking curve of Example 2;

[0086] Figure 7 The speed tracking error curve of Example 2;

[0087] Figure 8 i of Example 2 d Current curve;

[0088] Fig. 9 i of Example 2 q Current curve. DETAILED DESCRIPTION

[0089] The present invention is further described below in conjunction with the embodiments. It should be noted that these are merely examples and illustrations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the claims, they should be deemed to fall within the protection scope of the present invention.

[0090] Embodiment 1:

[0091] Figure 1FIG. 1 is a control framework diagram of a permanent magnet synchronous motor in the method of the present invention. Figure 1 As shown, a permanent magnet synchronous motor speed control method based on an adaptive observer comprises the following steps:

[0092] S1. Establish a mathematical model of permanent magnet synchronous motor.

[0093] The mathematical model of the permanent magnet synchronous motor is the mathematical model of the permanent magnet synchronous motor in the dq coordinate system, specifically:

[0094]

[0095] In the formula, u d 、u q represents the dq-axis component of the stator voltage, i d 、i q represents the dq axis component of the stator current, R s , L is the stator resistance and inductance, p is the number of pole pairs, Φ v is the permanent magnet flux, ω r is the rotor angular velocity, T L is the load torque, J is the motor rotor inertia, F v is the coefficient of viscous friction.

[0096] S2. Using the cascade structure of speed-current loop, the speed tracking and interference suppression problem of the permanent magnet synchronous motor under the condition that the frequency and number of external interference are unknown is described as an adaptive output regulation problem for the speed loop. The specific steps are as follows:

[0097] S21, assuming reference speed ω d and load torque disturbance T L Produced by the following linear external system:

[0098]

[0099] In the formula, R, N1, N2 are three constant matrices, R and N2 are unknown, and the upper bound of the order of R is 2n , the spectrum of R is ±jσ i ,1≤i≤n,where σ i are unknown and distinct numbers, n is a known integer, and i represents σ i The i-th number of , τ represents the external system state variable, represents the derivative of the external system state variable, ω d represents the reference speed, T L represents the load torque disturbance. Since no assumption is made about the initial state of the external linear system, its initial state may be zero, which means 2nIn fact, it defines the upper limit of the order of the linear external system. It should be emphasized that system (2) can generate a variety of signal types in practical applications, including constant signals, triangular wave signals, and sine wave signals of different frequencies.

[0100] S22, replace the i of the speed equation in formula (1) q As the control input u, that is, the reference current of the q-axis current loop, let x = ω r ,d=T L , combined with formula (2), we can get the following formula:

[0101]

[0102] In the formula, And e is the velocity tracking error; It is expressed as the rotor angular velocity; u is the control input.

[0103] S23. At this time, the speed tracking control problem of formula (1) can be described as the adaptive output regulation problem of formula (3). Its purpose is to design an error feedback controller based on an adaptive observer when the order of the external system is unknown and contains unknown parameters, so that the state of the closed-loop system is bounded from any initial value and e(t) converges to zero.

[0104] S3. By filtering transformation, the standard observer type of the error system and the transformed external system is converted into an adaptive observer type. The specific steps are as follows:

[0105] S31. In order to convert the system (3) into an error system, the regulator equation formula (4) is solved to obtain the steady-state solution formula (5) of the state and input:

[0106] XRτ=AXτ+BUτ-J -1 N2τ,

[0107] 0=Xτ-N1τ, (4)

[0108] Xτ=N1τ,Uτ=B -1 [N1R-AN1+J -1 N2]τ. (5)

[0109] Where Xτ and Uτ are the steady-state and steady-state input, respectively.

[0110] S32. According to formula (5), coordinate transformation is performed on formula (3) to obtain error system formula (6):

[0111]

[0112] In the formula, Represents the derivative of the velocity tracking error.

[0113] S33, the steady-state input Uτ can be equivalently generated by the following standard observer:

[0114]

[0115] where det(sI-R c )=s 2n +ψ1s 2(n-1) +…+ψ n , ψ=[ψ1…ψ n ] · is a frequency σ that is different from the unknown i Related unknown coefficient vector, 1≤i≤n; and are the state variables and their derivatives of the standard observer (7).

[0116] Combining formula (6) and formula (7), we get formula (9), which is as follows:

[0117]

[0118] S34, using the following mapping formula (10):

[0119]

[0120] Where T(ψ) represents a mapping that can transform system (9) into (11).

[0121] Convert formula (9) into the following standard observer form, as shown in formula (11):

[0122]

[0123] In the formula, A c 、c c is the coefficient matrix, a[i], b[i] are the coefficient matrices of the standard observer, i.e., formula (11), 1≤i≤n, and:

[0124] c c =[1 0 … 0]

[0125] a[0]=[a0 0 … 0] ·

[0126] b[0]=[b0 0 … 0] ·

[0127] a[1]=[0 1 a0 0 … 0] ·

[0128] b[1]=[0 0 b0 0 … 0] ·

[0129]

[0130] a[n]=[0 0 … 0 1 a0] ·

[0131] b[n]=[0 0 … 0 0 b0] · (12)

[0132] a0 and b0 are the transfer functions (sI-A) -1 Two known coefficients of B = b0 / (s+a0).

[0133] S35, select any vector d = [1 d 2n-1 … d0] · So that the polynomial s 2n +d 2n-1 s 2n-1 All roots of +…+d0 have negative real parts, and define the Hurwitz matrix and filter transform, the formulas of which are as follows:

[0134]

[0135]

[0136] In the formula, ξ i and Respectively represent the state variables and their derivatives of the ith formula of the filter transformation, μ i Represents ξ i The first element of the vector;

[0137] Formula (11) is converted into the adaptive observer type shown in the following formula (15) using the filter transformation formula (14):

[0138]

[0139] Where z represents the state variable of the adaptive observer type, μ=[μ1 … μ n ] · .

[0140] S4. Design an adaptive observer to observe the unknown parameters of the external system and the state of the adaptive observer, and design an error feedback controller to solve the above output regulation problem. The specific steps are as follows:

[0141] S41. For the first formula of formula (15) Construct the error feedback controller of the following formula (16):

[0142]

[0143] In the formula, k is a positive number.

[0144] S42. Since the controller (16) contains the unknown parameters z2 of the adaptive observer type and the unknown parameters ψ of the external system, it is necessary to design an adaptive observer to observe the unknown parameters according to the following formula (17):

[0145]

[0146] Where k0 is the design parameter, and k0 = (A c +λI)d,λ,g i is a positive design parameter, is the observed value of z, is the observed value of ψ.

[0147] S43, according to the adaptive observer, the following error feedback controller is obtained:

[0148]

[0149] In the formula, is the observed value of z2.

[0150] S44, obtain the speed loop controller, the specific formula is as follows:

[0151]

[0152] S5. Using the cascade structure of the speed-current loop, a PI controller is constructed for the current loop and the final controller is given. The specific steps are as follows:

[0153] S51, the current loop adopts PI control method, combined with The vector control strategy is to d The current is adjusted to zero and i q The current is adjusted to the reference current, and the PI controller formula of the current loop is:

[0154]

[0155] In the formula, K P1 , K P2 is the proportionality coefficient, K I1 , K I2 is the integration coefficient; is the reference current, and:

[0156] S52. Combining formula (19) and formula (20), the final controller formula is as follows:

[0157]

[0158] In this embodiment, in step S1, the permanent magnet synchronous motor parameters are:

[0159] Stator resistance R s =0.33Ω, stator inductance L = 0.00045H, pole pair number p = 4, permanent magnet flux Φ v =0.01V2s / rad, reference speed ω d =1000sin(t)r / min, load torque T L =0.2sin(2t)N·m, motor rotor moment of inertia J = 0.0000189kgm 2 , viscous friction coefficient F v =0.0001Nms / rad.

[0160] In this embodiment, in step S43, the speed loop controller parameters are selected as follows:

[0161] k=40700, d=[1 5 40 105 110 105 35] · , g i The first to third variables in are g1=10, g2=55, g3=55, k0=(A c +λI)d where λ=3800.

[0162] In this embodiment, in step S51, the parameters of the PI controller of the current loop are:

[0163] K P1 =2, K P2 =2, K I1 =10, K I2 =10.

[0164] Using the above series of parameters, the speed tracking curve, speed tracking error curve, i d Current curve, i q The current curves are as follows Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown. Figure 2-5 It can be seen that when the permanent magnet synchronous motor is affected by a single sinusoidal load torque disturbance, the method of the present invention can achieve a good speed tracking effect and suppress this form of load torque disturbance. d and i q All of them are within the rated current of the permanent magnet synchronous motor, which verifies the practical feasibility of the present invention.

[0165] Embodiment 2:

[0166] Figure 1 for Figure 1 FIG. 1 is a control framework diagram of a permanent magnet synchronous motor in the method of the present invention. Figure 1 As shown, a permanent magnet synchronous motor speed control method based on an adaptive observer is described, and its specific steps are basically the same as those in Example 1, except that:

[0167] In step S1, the permanent magnet synchronous motor parameters are:

[0168] Load torque T L =0.2sin(2t)+0.1sin(3t)N·m.

[0169] In this embodiment, the speed tracking curve, speed tracking error curve, i d Current curve, i q The current curves are as follows Figure 6 , Figure 7 , Figure 8 , Fig. 9 As shown. Figure 2-5 It can be seen that when the permanent magnet synchronous motor is affected by the load torque disturbance of the superposition of two sinusoidal signals, the method of the present invention can achieve a good speed tracking effect and can suppress this form of load torque disturbance. d and i q All of them are within the rated current of the permanent magnet synchronous motor, which verifies the practical feasibility of the present invention.

[0170] It can be seen from Example 1 and Example 2 that the present invention, a permanent magnet synchronous motor speed control method based on an adaptive observer, solves the problem that the tracking performance of the permanent magnet synchronous motor is affected when the load torque interference is unknown in actual control through an output feedback controller based on an adaptive observer, and achieves good speed tracking performance of the permanent magnet synchronous motor, with high speed tracking accuracy and good stability. In combination with Example 1 and Example 2, it can be seen that the method of the present invention does not require the number of known load torque frequencies, and therefore has the ability to handle complex interference. At the same time, the speed loop controller in the present invention only needs to be designed based on the speed equation model of the permanent magnet synchronous motor, which simplifies the model and is easy to apply in practice.

[0171] The above is an exemplary description of the invention. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as such non-substantial improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor speed control method based on an adaptive observer, characterized in that: The following steps are involved: S1. Establish a mathematical model of permanent magnet synchronous motor; S2, using the cascade structure of speed-current loop, the speed tracking and interference suppression problem of the permanent magnet synchronous motor under the condition that the magnitude and number of external interference frequencies are unknown is described as an adaptive output regulation problem for the speed loop; S3, converting the standard observer type of the error system and the transformed external system into an adaptive observer type through filtering transformation; S4, design an adaptive observer to observe the unknown parameters of the external system and the state of the adaptive observer, and design an error feedback controller to solve the above output regulation problem; S5. Using the cascade structure of the speed-current loop, a PI controller is constructed for the current loop and the final controller is given.

2. A permanent magnet synchronous motor speed control method based on adaptive observer according to claim 1, characterized in that: In step S2, the permanent magnet synchronous motor mathematical model is a permanent magnet synchronous motor mathematical model in a dq coordinate system, specifically: In the formula, u d 、u q represents the dq-axis component of the stator voltage, i d 、i q Represents the dq-axis component of the stator current, R s , L is the stator resistance and armature inductance, p is the number of pole pairs, Φ v is the permanent magnet flux, ω r is the rotor angular velocity, T L is the load torque, J is the motor rotor inertia, F v is the coefficient of viscous friction.

3. The method for controlling the speed of a permanent magnet synchronous motor based on an adaptive observer according to claim 1, characterized in that: The specific steps of step S2 are as follows: S21, assuming reference speed ω d and load torque disturbance T L Produced by the following linear external system: In the formula, R, N1, N2 are three constant matrices, R and N2 are unknown, the upper bound of the order of R is 2n, and the spectrum of R is ±jσ i ,1≤i≤n,where σ i are unknown and distinct numbers, n is a known integer, and i represents σ i The i-th number of ; τ represents the external system state variable, represents the derivative of the external system state variable, ω d represents the reference speed, T L Indicates load torque disturbance; S22, replace the i of the speed equation in formula (1) q As the control input u, that is, the reference current of the q-axis current loop, let x = ω r ,d=T L , combined with formula (2), we can get the following formula: In the formula, And e is the velocity tracking error; It is represented by the rotor angular velocity; u represents the control input; S23. At this time, the speed tracking control problem of formula (1) is described as the adaptive output regulation problem of formula (3). Its purpose is to design an error feedback controller based on an adaptive observer when the order of the external system is unknown and contains unknown parameters, so that the state of the closed-loop system is bounded from any initial value and e(t) converges to zero.

4. The method for controlling the speed of a permanent magnet synchronous motor based on an adaptive observer according to claim 1, characterized in that: The specific steps of step S3 are as follows: S31. Solve the regulator equation formula (4) to obtain the steady-state solution formula (5) of the state and input: XRτ=AXτ+BUτ-J -1 N2t, 0=Xτ-N1τ, (4) Xτ=N1τ, Uτ=B -1 [N1R-AN1+J -1 N2]t. (5) Where Xτ and Uτ are the steady-state state and steady-state input, respectively; S32. According to formula (5), coordinate transformation is performed on formula (3) to obtain error system formula (6): In the formula, represents the derivative of the velocity tracking error; S33, the steady-state input Uτ can be equivalently generated by the following standard observer: where det(sI-R c )=s 2n +ψ1s 2(n-1) +…+ψ n , ψ=[ψ1 … ψn]·ψ n ] · is a frequency σ that is different from the unknown i Related unknown coefficient vector, 1≤i≤n; and They are the state variables and their derivatives of the standard observer formula (7); Combining formula (6) and formula (7), we get formula (9), which is as follows: S34, using the following mapping formula (10): Where T(ψ) represents a mapping that can transform system (9) into (11); Convert formula (9) into the following standard observer form, as shown in formula (11): In the formula, A c 、c c is the coefficient matrix, a[i], b[i] are the coefficient matrices of the standard observer, i.e., formula (11), 1≤i≤n, and: a0 and b0 are the transfer functions (sI-A) -1 Two known coefficients of B = b0 / (s+a0); S35, select any vector d = [1 d 2n-1 … d0] · So that the polynomial s 2n +d 2n-1 s 2n-1 All roots of +…+d0 have negative real parts, and define the Hurwitz matrix and filter transform, the formulas of which are as follows: In the formula, ξ i and Respectively represent the state variables and their derivatives of the ith formula of the filter transformation, μ i Represents ξ i The first element of the vector; Formula (11) is converted into the adaptive observer type shown in the following formula (15) using the filter transformation formula (14): Where z represents the state variable of the adaptive observer type, μ=[μ1 … μ n ] · .

5. The method for controlling the speed of a permanent magnet synchronous motor based on an adaptive observer according to claim 4, characterized in that: The specific steps of step S4 are as follows: S41. For the first formula of formula (15) Construct the error feedback controller of the following formula (16): u=(a0e-μ · ψ-z2-ke) / b0,(16) In the formula, k is a positive number; S42. Since the controller (16) contains the unknown parameters z2 of the adaptive observer type and the unknown parameters ψ of the external system, it is necessary to design an adaptive observer to observe the unknown parameters according to the following formula (17): Where k0 is the design parameter, and k0 = (A c +λI)d,λ,g i is a positive design parameter, is the observed value of z, is the observed value of ψ; S43, according to the adaptive observer, the error feedback controller of formula (18) is obtained as follows: In the formula, is the observed value of z2; S44, obtain the speed loop controller, the specific formula is as follows:

6. A permanent magnet synchronous motor speed control method based on adaptive observer according to claim 5, characterized in that: The specific steps of step S5 are as follows: S51, the current loop adopts PI control method, combined with The vector control strategy is to d The current is adjusted to zero and i q The current is adjusted to the reference current, and the PI controller formula of the current loop is: In the formula, K P1 , K P2 is the proportionality coefficient, K I1 , K I2 is the integration coefficient; is the reference current, and: S52. Combining formula (19) and formula (20), the final controller formula is as follows:

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