A speed control method of permanent magnet synchronous motor based on adaptive observer

Abstract

The application discloses a permanent magnet synchronous motor speed control method based on an adaptive observer, and comprises the following steps: establishing a permanent magnet synchronous motor mathematical model; describing a permanent magnet synchronous motor speed tracking and disturbance suppression problem under the condition that the external disturbance frequency size and number are unknown as an adaptive output regulation problem; converting an error system and an observer standard type of a transformed external system into an adaptive observer type through filtering transformation; designing an error feedback controller to solve the output regulation problem; adopting a cascade structure of a speed-current loop, constructing a PI controller for the current loop, and giving a final controller. The permanent magnet synchronous motor speed control method based on the adaptive observer realizes good speed tracking performance of the permanent magnet synchronous motor, has high speed tracking precision, strong anti-interference capability, good stability, and is easy to be applied in practice.

Description

Technical Field

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

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in industries such as aerospace, computer numerical control (CNC) machine tools, robotics, and electric vehicles due to their high reliability, high power density, and fast response. However, PMSM models are characterized by multivariable, nonlinear, and strongly coupled characteristics, and are susceptible to load torque disturbances. Therefore, achieving effective tracking control is often difficult.

[0003] On the other hand, the problem of adaptive output regulation has garnered extensive attention in the control community in recent decades. The advantage of the adaptive observer approach lies in its ability to achieve various control objectives, such as trajectory tracking and disturbance rejection, even when external system parameters and order are unknown. Applying this approach to permanent magnet synchronous motors (PMSMs) can solve the tracking control problem of PMSM speed servo systems when the magnitude, phase, frequency, and number of load torque disturbances are unknown.

[0004] However, current output regulation methods for solving permanent magnet synchronous motor speed control problems require a known number of load torque disturbances, which significantly limits their applicability. Furthermore, because permanent magnet synchronous motors are complex, multi-input, multi-output, nonlinear control systems and are susceptible to load torque disturbances, traditional control algorithms such as PID struggle 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 a cascaded speed-current loop structure, the speed tracking and interference suppression problem of a permanent magnet synchronous motor with unknown external interference frequency and number is described as an adaptive output regulation problem.

[0010] S3, converting the standard observer form of the error system and the transformed external system into an adaptive observer form 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] Where u d 、u q Represents the dq-axis component of the stator voltage, i d 、i q Represents the dq axis components 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 specific steps of step S2 are as follows:

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

[0018] ω d =N1τ, T L =N2τ, (2)

[0019] Where 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 is an unknown and distinct number, 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 Indicates the reference speed, T L Indicates load torque interference;

[0020] S22, the speed equation in formula (1) is i qAs 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] Where, And e is the velocity tracking error; It is represented by the rotor angular acceleration; 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 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 e=x-N1τ is performed on formula (3) to obtain error system formula (6):

[0031]

[0032] Where, 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 +ψ1s2(n-1) +…+ψ n , ψ=[ψ1…ψ n ] T 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 formula (7);

[0036] Combining formula (6) and formula (7), we can 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 the system (9) into (11);

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

[0042]

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

[0044] c c =[1 0…0]

[0045]

[0046] a0 and b0 are the transfer functions (sI-A) -1 Two known coefficients of B = b0 / (s+a0);

[0047] S35. Select any vector d = [1 d 2n-1 …d0] T 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, which are as follows:

[0048]

[0049]

[0050] Where, 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;

[0051] Formula (11) is converted into the adaptive observer type shown in the following formula (15) using the filter transformation formula (14):

[0052]

[0053] Where z represents the state variable of the adaptive observer type, μ=[μ1…μ n ] T .

[0054] Preferably, the S4 step includes the following steps:

[0055] S41. For the first formula of formula (15) Construct the error feedback controller as follows:

[0056] u=(a0e-μ T ψ-z2-ke) / b0, (16)

[0057] Where k is a positive number;

[0058] S42. Since the controller (16) contains the unknown parameter z2 of the adaptive observer type and the unknown parameter ψ of the external system, it is necessary to design an adaptive observer to observe the unknown parameters as follows:

[0059]

[0060] 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;

[0061] S43. According to the adaptive observer, the error feedback controller of formula (18) is obtained as follows:

[0062]

[0063] Where, is the observed value of z2;

[0064] S44. Obtain the speed loop controller. The specific formula is as follows:

[0065]

[0066] Preferably, the S5 step includes the following steps:

[0067] 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:

[0068]

[0069] Where K P1 , K P2 is the proportionality coefficient, K I1 , K I2 is the integration coefficient; is the reference current, and:

[0070] S52. Combining formula (19) and formula (20), the final controller formula is as follows:

[0071]

[0072] The beneficial effects of the present invention are:

[0073] The present invention discloses a method for controlling a permanent magnet synchronous motor speed based on an adaptive observer. This method, through an output feedback controller based on the adaptive observer, addresses the problem of a permanent magnet synchronous motor's tracking performance being affected when the amplitude, phase, frequency, and number of load torque disturbances are unknown in actual control. This method achieves excellent speed tracking performance for the permanent magnet synchronous motor, with high speed tracking accuracy and good stability. Because the method can suppress unknown load torque disturbances, it is capable of handling complex disturbances. Furthermore, the speed loop controller in the present invention is designed solely based on the speed equation model of the permanent magnet synchronous motor, simplifying the model and facilitating practical application. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 This is a control framework diagram of a permanent magnet synchronous motor in the method of the present invention;

[0075] Figure 2 This is the speed tracking curve of Example 1;

[0076] Figure 3 This is the speed tracking error curve of Example 1;

[0077] Figure 4 i of Example 1 d Current curve;

[0078] Figure 5 i of Example 1 q Current curve;

[0079] Figure 6 This is the speed tracking curve of Example 2;

[0080] Figure 7 This is the speed tracking error curve of Example 2;

[0081] Figure 8 i of Example 2 d Current curve;

[0082] Figure 9 i of Example 2 q Current curve. DETAILED DESCRIPTION

[0083] The present invention is further described below with reference to 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 scope of protection of the present invention.

[0084] Example 1:

[0085] Figure 1 Figure 1 is a control framework diagram of the 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 includes the following steps:

[0086] S1. Establish a mathematical model of permanent magnet synchronous motor.

[0087] 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:

[0088]

[0089] Where u d 、u q Represents the dq-axis component of the stator voltage, i d 、i q Represents the dq axis components 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.

[0090] S2. Using a cascaded speed-current loop structure, the speed tracking and interference suppression problem of a permanent magnet synchronous motor with unknown external interference frequency and number is described as an adaptive output regulation problem. The specific steps are as follows:

[0091] S21, assuming reference speed ω d and load torque disturbance T L Produced by the following linear external system:

[0092]

[0093] Where 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 is an unknown and distinct number, 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 Indicates 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 that 2n actually 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.

[0094] S22, the speed equation in formula (1) is i 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:

[0095]

[0096] Where, And e is the velocity tracking error; It is represented as the rotor angular acceleration; u is the control input.

[0097] 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.

[0098] S3. Convert the standard observer form of the error system and the transformed external system into an adaptive observer form through filtering transformation. The specific steps are as follows:

[0099] 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:

[0100] XRτ=AXτ+BUτ-J -1 N2τ,

[0101] 0=Xτ-N1τ, (4)

[0102] Xτ=N1τ,Uτ=B -1 [N1R-AN1+J -1 N2]τ. (5)

[0103] Where Xτ and Uτ are the steady-state and steady-state input, respectively.

[0104] S32. According to formula (5), coordinate transformation e=x-N1τ is performed on formula (3) to obtain error system formula (6):

[0105]

[0106] Where, Represents the derivative of the velocity tracking error.

[0107] S33, the steady-state input Uτ can be equivalently generated by the following standard observer:

[0108]

[0109] where det(sI-R c )=s 2n +ψ1s 2(n-1) +…+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).

[0110] Combining formula (6) and formula (7), we can get formula (9), which is as follows:

[0111]

[0112] S34, using the following mapping formula (10):

[0113]

[0114] Where T(ψ) represents a mapping that can transform the system (9) into (11).

[0115] Convert formula (9) into the following standard observer form, as shown in formula (11):

[0116]

[0117] Where A c 、c c is the coefficient matrix, a[i], b[i] are the coefficient matrices of the standard observer, i.e., the coefficient matrix of formula (11), 1≤i≤n, and:

[0118] c c =[1 0…0]

[0119] a0 and b0 are the transfer functions (sI-A) -1 Two known coefficients of B = b0 / (s+a0).

[0120] S35. Select any vector d = [1 d 2n-1 …d0] T 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, which are as follows:

[0121]

[0122]

[0123] μ i =[1 0…0]ξ i ,1≤i≤n, (14)

[0124]

[0125] Where, 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;

[0126] Formula (11) is converted into the adaptive observer type shown in the following formula (15) using the filter transformation formula (14):

[0127]

[0128] Where z represents the state variable of the adaptive observer type, μ=[μ1…μ n ] T .

[0129] 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:

[0130] S41. For the first formula of formula (15) Construct the error feedback controller as follows:

[0131]

[0132] Where k is a positive number.

[0133] S42. Since the controller (16) contains the unknown parameter z2 of the adaptive observer type and the unknown parameter ψ of the external system, it is necessary to design an adaptive observer to observe the unknown parameters as follows:

[0134]

[0135] 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.

[0136] S43. According to the adaptive observer, the following error feedback controller is obtained:

[0137]

[0138] Where, is the observed value of z2.

[0139] S44. Obtain the speed loop controller. The specific formula is as follows:

[0140]

[0141] S5. Use the cascade structure of the speed-current loop to build a PI controller for the current loop and give the final controller. The specific steps are as follows:

[0142] 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:

[0143]

[0144] Where K P1 , K P2 is the proportionality coefficient, K I1 , K I2 is the integration coefficient; is the reference current, and:

[0145] S52. Combining formula (19) and formula (20), the final controller formula is as follows:

[0146]

[0147] In this embodiment, in step S1, the permanent magnet synchronous motor parameters are:

[0148] Stator resistance R s =0.33Ω, stator inductance L = 0.00045H, pole pair number p = 4, permanent magnet flux Φ v =0.012Vs / 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.

[0149] In this embodiment, in step S43, the speed loop controller parameters are selected as follows:

[0150] k=40700, d=[154010511010535] T , g i The first to third variables are g1=10, g2=55, g3=55, k0=(A c +λI)d where λ=3800.

[0151] In this embodiment, in step S51, the parameters of the PI controller of the current loop are:

[0152] K P1 =2,K P2 =2,K I1 =10,K I2 =10.

[0153] 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 the load torque disturbance of this form. d and i q All of them are within the rated current of the permanent magnet synchronous motor, verifying the practical feasibility of the present invention.

[0154] Example 2:

[0155] Figure 1 for Figure 1 Figure 1 is a control framework diagram of the permanent magnet synchronous motor in the method of the present invention. Figure 1 As shown in FIG, a permanent magnet synchronous motor speed control method based on an adaptive observer is provided, wherein the specific steps are substantially the same as those in Example 1, except that:

[0156] In step S1, the permanent magnet synchronous motor parameters are:

[0157] Load torque T L =0.2sin(2t)+0.1sin(3t)N·m.

[0158] 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 、 Figure 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 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, verifying the practical feasibility of the present invention.

[0159] As can be seen from Examples 1 and 2, the present invention provides a method for controlling the speed of a permanent magnet synchronous motor based on an adaptive observer. This method, through an output feedback controller based on the adaptive observer, solves the problem of the permanent magnet synchronous motor's tracking performance being affected when the load torque interference is unknown in actual control, thereby achieving excellent speed tracking performance for the permanent magnet synchronous motor, with high speed tracking accuracy and good stability. In conjunction with Examples 1 and 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 interferences. Furthermore, the speed loop controller of the present invention only needs to be designed based on the speed equation model of the permanent magnet synchronous motor, simplifying the model and facilitating practical application.

[0160] 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 scope of protection 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 a cascaded speed-current loop structure, the speed tracking and interference suppression problem of a permanent magnet synchronous motor with unknown external interference frequency and number is described as an adaptive output regulation problem. S3, converting the standard observer form of the error system and the transformed external system into an adaptive observer form 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; In step S1, the permanent magnet synchronous motor mathematical model is a permanent magnet synchronous motor mathematical model in a dq coordinate system, specifically: Where u d 、u q Represents the dq-axis component of the stator voltage, i d 、i q Represents the dq axis components 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; The specific steps of the S2 step are as follows: S21, assuming reference speed ω d and load torque disturbance T L Produced by the following linear external system: Where 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 is an unknown and distinct number, 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 Indicates the reference speed, T L Indicates load torque interference; S22, the speed equation in formula (1) is i 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: Where, And e is the velocity tracking error; It is represented by the rotor angular acceleration; u represents the control input; S23. The speed tracking control problem of formula (1) is now described as the adaptive output regulation problem of formula (3). The 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; The specific steps of the S3 step 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 N2τ,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 e=x-N1τ is performed on formula (3) to obtain error system formula (6): Where, 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…ψ n ] T 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 formula (7); Combining formula (6) and formula (7), we can get formula (9), which is as follows: S34, using the following mapping formula (10): Where T(ψ) represents a mapping that can transform the system (9) into (11); Convert formula (9) into the following standard observer form, as shown in formula (11): Where A c 、c c is the coefficient matrix, a[i], b[i] are the coefficient matrices of the standard observer, i.e., the coefficient matrix of 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 = [1d 2n-1 …d0] T 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, which are as follows: m i =[1 0 … 0]ξ i ,1≤i≤n, (14) Where, 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 ] T .

2. The method for controlling the speed of a permanent magnet synchronous motor based on an adaptive observer according to claim 1, wherein: The specific steps of the S4 step are as follows: S41. For the first formula of formula (15) Construct the error feedback controller as follows: u=(a0e-μ T ψ-z2-ke) / b0, (16) Where k is a positive number; S42. Since the controller (16) contains the unknown parameter z2 of the adaptive observer type and the unknown parameter ψ of the external system, it is necessary to design an adaptive observer to observe the unknown parameters as follows: 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: Where, is the observed value of z2; S44. Obtain the speed loop controller. The specific formula is as follows:

3. The method for controlling the speed of a permanent magnet synchronous motor based on an adaptive observer according to claim 2, wherein: 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: Where 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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