Extended state type permanent magnet synchronous motor rotor position and speed estimation method

Abstract

The invention relates to an extended state type permanent magnet synchronous motor rotor position and speed estimation method. The invention relates to the technical field of motor control, and provides an extended state type counter electromotive force observer which takes alpha-beta axis current and alpha-beta axis total disturbance of a permanent magnet synchronous motor as system variables, alpha-beta axis actual current and action voltage as given values, and total disturbance of a system as observer output. And the back electromotive force of the permanent magnet synchronous motor is a main component for observing disturbance. The expansion state type phase-locked loop cancels a traditional PI regulator, the observed alpha-beta back electromotive force serves as phase-locked loop input, an observation angle error is obtained through calculation, and then the angle and speed of the motor are obtained and serve as output. In the angle compensation link, the phase difference between the observed counter electromotive force and the actual counter electromotive force is calculated according to the observer bandwidth and the motor rotating speed, a compensation angle is obtained through calculation, and accurate observation within the full-speed range is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of motor control, and is a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motor position sensorless control technology has been widely used in the field of motor control because of its advantages such as saving electric drive system cost and improving system stability. Permanent magnet synchronous motor position sensorless control methods can be divided into two categories: zero-speed and low-speed control methods based on high-frequency signal injection, and medium- and high-speed control methods based on motor fundamental wave model (back electromotive force model or flux linkage model). The method based on high-frequency signal injection uses high-frequency voltage to excite the rotor salient pole effect to obtain a high-frequency current response containing rotor position information, but because it will cause additional losses, it is only suitable for zero-speed and low-speed conditions. The method based on the fundamental wave model requires the design of a flux linkage or back electromotive force observer to estimate the flux linkage or back electromotive force containing rotor position information from the voltage and current signals. Among them, the back electromotive force model method is the main research direction.

[0003] The back-EMF model method mainly includes two steps: constructing an extended state-type back-EMF observer and extracting the angle and speed with the help of a phase-locked loop. The essence of the observer is a filter. The introduction of the filter will produce a phase difference, which will affect the angle tracking performance of the phase-locked loop. At the same time, the traditional phase-locked loop uses a PI regulator to eliminate the angle error. When the motor is ramped up or down, there are problems such as static error in the tracking angle and limited dynamic response.

[0004] The back-EMF model method plays a key role in the field of motor control, and it mainly covers two important links. The first is the construction of an extended state-based back-EMF observer. This construction process requires comprehensive consideration of many motor parameters and operating characteristics, and the use of complex mathematical models and algorithms to accurately observe and estimate the back-EMF. The second is the angle and speed extraction link with the help of the phase-locked loop, which is crucial for accurately controlling the operating state of the motor.

[0005] However, this method also faces some challenges. The observer is essentially a filter, and the introduction of the filter will inevitably produce a phase difference. This phase difference will have an adverse effect on the angle tracking performance of the phase-locked loop, causing the phase-locked loop to deviate when tracking the motor rotor angle, thereby affecting the accuracy and stability of the entire motor control system.

[0006] At the same time, the traditional phase-locked loop uses a PI regulator to eliminate angle errors. When the motor is in a special operating condition such as ramp acceleration and deceleration, it exposes obvious limitations. On the one hand, there will be static errors in its tracking angle, which means that after the motor has been running for a period of time, there is always a fixed deviation between the angle information obtained by the phase-locked loop and the actual motor rotor angle, and accurate angle matching cannot be achieved. On the other hand, its dynamic response is limited. When the motor's operating state changes rapidly, such as during acceleration and deceleration, the phase-locked loop cannot adjust in time and accurately track the changes in the motor angle and speed, resulting in a lag in the response speed of the motor control system, which cannot meet the needs of some application scenarios with high dynamic performance requirements, thereby limiting the application effect and promotion scope of the back-EMF model method in high-performance motor control systems to a certain extent. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention takes disturbance as the system state, improves the traditional phase-locked loop, enhances the dynamic response of angle and speed extraction, and eliminates the static error of angle observation of the motor during acceleration and deceleration. Finally, the phase lag of the observed back electromotive force is derived, and angle compensation is performed to achieve accurate observation within the full speed range. The present invention provides a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor.

[0008] The present invention provides the following technical solutions:

[0009] A method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor comprises the following steps:

[0010] Step 1: The αβ axis current and the total disturbance of the αβ axis of the permanent magnet synchronous motor are used as system variables through the back-electromotive force observer, the actual current and the applied voltage of the αβ axis are given, the total disturbance of the system is the output of the observer, and the back-electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance;

[0011] Step 2: Cancel the traditional PI regulator by extending the state-type phase-locked loop, use the observed αβ back electromotive force as the phase-locked loop input, and calculate the observed angle error, and then obtain the angle and speed of the motor as the output;

[0012] Step 3: The angle compensation link calculates the phase difference between the observed back EMF and the actual back EMF according to the observer bandwidth and the motor speed, and calculates the compensation angle.

[0013] Preferably, the step 1 is specifically:

[0014] The construction of the observer is expressed as follows:

[0015]

[0016] Among them, i αβ 、u αβ is the observer input; is the observer state variable;

[0017] The back electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance, and the observed back electromotive force of the motor is expressed by the following formula:

[0018]

[0019] in, To observe the back electromotive force.

[0020] Preferably, the step 1 is specifically:

[0021] When the observed angle error is the smallest, the observed angle error is calculated using the equivalent infinitesimal of trigonometric functions and the observed back electromotive force, which is expressed by the following formula:

[0022]

[0023] According to the system state equation, the angle and velocity observers are constructed as follows:

[0024]

[0025] in, is the observer state variable;

[0026] The observed angle error is used as the input of the observer, and the motor rotor position and speed are the output of the observer; the parameters of the observer are adjusted according to the bandwidth method as follows:

[0027]

[0028] Among them, ω ESO-QPLL is the observer bandwidth.

[0029] Preferably, the step 3 is specifically:

[0030] The transfer function for deriving the observed back EMF is expressed as follows:

[0031]

[0032] Among them, ω o To expand the bandwidth of the state-based back-EMF observer.

[0033] Preferably, the phase lag caused by the extended state back electromotive force observer at the motor base frequency is calculated according to the transfer function, and the compensation angle is obtained accordingly:

[0034]

[0035] Among them, θ com is the compensation angle; ω e is the motor angular frequency.

[0036] Preferably, the phase difference between the observed back electromotive force and the actual back electromotive force is calculated according to the observer bandwidth and the motor speed, and the angle obtained by the phase-locked loop is compensated to achieve accurate angle estimation in the full speed range of the motor.

[0037] Preferably, it has better dynamic response, achieves zero static error in angle observation when the motor is ramped up or down, and improves accurate angle estimation within the full range of motion.

[0038] An extended state type permanent magnet synchronous motor rotor position and speed estimation system, the system comprising:

[0039] A signal extraction module, wherein the signal extraction module uses the αβ axis current and the αβ axis total disturbance of the permanent magnet synchronous motor as system variables through a back electromotive force observer, the αβ axis actual current and the applied voltage as given, the total disturbance of the system as the observer output, and the back electromotive force of the permanent magnet synchronous motor as the main component of the observed disturbance;

[0040] A calculation module, wherein the calculation module cancels the traditional PI regulator by extending the state-type phase-locked loop, uses the observed αβ back electromotive force as the phase-locked loop input, and calculates the observed angle error, thereby obtaining the angle and speed of the motor as output;

[0041] The compensation module calculates the phase difference between the observed back electromotive force and the actual back electromotive force according to the observer bandwidth and the motor speed through an angle compensation link, and calculates the compensation angle.

[0042] A computer-readable storage medium stores a computer program, which is executed by a processor to implement a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor.

[0043] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor when executing the computer program.

[0044] The present invention has the following beneficial effects:

[0045] Compared with the prior art, the present invention has the following advantages:

[0046] The present invention proposes an extended state type permanent magnet synchronous motor rotor position and speed estimation method. The method includes an extended state type back electromotive force observer, an extended state type phase-locked loop and an angle compensation link. The extended state type back electromotive force observer uses the αβ axis current and the αβ axis total disturbance of the permanent magnet synchronous motor as system variables, the actual current and the applied voltage of the αβ axis as given, the total disturbance of the system as the observer output, and the back electromotive force of the permanent magnet synchronous motor as the main component of the observed disturbance. The extended state type phase-locked loop cancels the traditional PI regulator, uses the observed αβ back electromotive force as the phase-locked loop input, and calculates the observed angle error, thereby obtaining the angle and speed of the motor as output. The angle compensation link calculates the phase difference between the observed back electromotive force and the actual back electromotive force according to the observer bandwidth and the motor speed, and calculates the compensation angle.

[0047] Compared with existing methods, the extended state phase-locked loop has better dynamic response and can achieve zero static error in angle observation during motor ramp acceleration and deceleration, improving the accurate estimation of angles in the full range of motion. At the same time, the phase difference between the observed back-EMF and the actual back-EMF can be calculated based on the observer bandwidth and motor speed, and the angle obtained by the phase-locked loop can be compensated to achieve accurate angle estimation in the full speed range of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 Shown is a block diagram of the extended state type permanent magnet synchronous motor rotor position and speed estimation method of the present invention;

[0050] Figure 2 Shown is a structural block diagram of an extended state phase-locked loop of the present invention;

[0051] Figure 3 The display is a simulation waveform diagram of the motor speed, the angle error of the conventional phase-locked loop, the angle error of the extended state phase-locked loop of the present invention, and the dq axis current of the motor when the motor is ramped up or down by using the angle and speed extraction method of the present invention;

[0052] Figure 4 It shows that the angle and speed extraction method of the present invention is used, and when the motor increases or decreases the load in steps, the motor speed, the traditional phase-locked loop angle error, the extended state phase-locked loop angle error of the present invention and the motor dq axis current. DETAILED DESCRIPTION

[0053] The present invention is described in detail below in conjunction with specific embodiments. Specific embodiment one:

[0055] according to Figures 1 to 4 As shown, the specific optimization technical solution adopted by the present invention to solve the above technical problems is: the present invention relates to a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor.

[0056] A method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor comprises the following steps:

[0057] Step 1: The αβ axis current and the total disturbance of the αβ axis of the permanent magnet synchronous motor are used as system variables through the back-electromotive force observer, the actual current and the applied voltage of the αβ axis are given, the total disturbance of the system is the output of the observer, and the back-electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance;

[0058] Step 2: Cancel the traditional PI regulator by extending the state-type phase-locked loop, use the observed αβ back electromotive force as the phase-locked loop input, and calculate the observed angle error, and then obtain the angle and speed of the motor as the output;

[0059] Step 3: The angle compensation link calculates the phase difference between the observed back EMF and the actual back EMF according to the observer bandwidth and the motor speed, and calculates the compensation angle.

[0060] The present invention proposes an extended state type permanent magnet synchronous motor rotor position and speed estimation method. The method includes an extended state type back electromotive force observer, an extended state type phase-locked loop and an angle compensation link. The extended state type back electromotive force observer uses the αβ axis current and the αβ axis total disturbance of the permanent magnet synchronous motor as system variables, the actual current and the applied voltage of the αβ axis as given, the total disturbance of the system as the observer output, and the back electromotive force of the permanent magnet synchronous motor as the main component of the observed disturbance. The extended state type phase-locked loop cancels the traditional PI regulator, uses the observed αβ back electromotive force as the phase-locked loop input, and calculates the observed angle error, thereby obtaining the angle and speed of the motor as output. The angle compensation link calculates the phase difference between the observed back electromotive force and the actual back electromotive force according to the observer bandwidth and the motor speed, and calculates the compensation angle.

[0061] The present invention has better dynamic response, and realizes zero static error of angle observation during motor ramp acceleration and deceleration, and improves accurate angle estimation in the full range of motion. At the same time, the phase difference between the observed back electromotive force and the actual back electromotive force is calculated according to the observer bandwidth and the motor speed, and the angle obtained by the phase-locked loop is compensated to realize accurate angle estimation in the full speed range of the motor. Specific embodiment 2:

[0063] The difference between the second embodiment of the present application and the first embodiment is that:

[0064] The step 1 is specifically as follows:

[0065] The construction of the observer is expressed as follows:

[0066]

[0067] Among them, i αβ 、u αβ is the observer input; is the observer state variable;

[0068] The back electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance, and the observed back electromotive force of the motor is expressed by the following formula:

[0069]

[0070] in, To observe the back electromotive force. Specific embodiment three:

[0072] The difference between the third embodiment of the present application and the second embodiment is that:

[0073] The step 1 is specifically as follows:

[0074] When the observed angle error is the smallest, the observed angle error is calculated using the equivalent infinitesimal of trigonometric functions and the observed back electromotive force, which is expressed by the following formula:

[0075]

[0076] According to the system state equation, the angle and velocity observers are constructed as follows:

[0077]

[0078] in, is the observer state variable;

[0079] The observed angle error is used as the input of the observer, and the motor rotor position and speed are the output of the observer; the parameters of the observer are adjusted according to the bandwidth method as follows:

[0080]

[0081] Among them, ω ESO-QPLL is the observer bandwidth. Specific embodiment four:

[0083] The difference between the fourth embodiment of the present application and the third embodiment is that:

[0084] The step 3 is specifically as follows:

[0085] The transfer function for deriving the observed back EMF is expressed as follows:

[0086]

[0087] Among them, ω o To expand the bandwidth of the state-based back-EMF observer. Specific embodiment five:

[0089] The difference between the fifth embodiment of the present invention and the fourth embodiment is that:

[0090] The phase lag caused by the extended state back-EMF observer at the motor fundamental frequency is calculated based on the transfer function, and the compensation angle is obtained as follows:

[0091]

[0092] Among them, θ com is the compensation angle; ω e is the motor angular frequency. Specific embodiment six:

[0094] The difference between the sixth embodiment of the present invention and the fifth embodiment is that:

[0095] The phase difference between the observed back-EMF and the actual back-EMF is calculated according to the observer bandwidth and the motor speed, and the angle obtained by the phase-locked loop is compensated to achieve accurate angle estimation in the full speed range of the motor. Specific embodiment seven:

[0097] The difference between the seventh embodiment of the present invention and the sixth embodiment is that:

[0098] It has better dynamic response, achieves zero static error in angle observation when the motor is ramped up or down, and improves accurate angle estimation within the full range of motion.

[0099] The present invention proposes an extended state type permanent magnet synchronous motor rotor position and speed estimation method. The method includes an extended state type back electromotive force observer, an extended state type phase-locked loop and an angle compensation link. The extended state type back electromotive force observer uses the αβ axis current and the αβ axis total disturbance of the permanent magnet synchronous motor as system variables, the actual current and the applied voltage of the αβ axis as given, the total disturbance of the system as the observer output, and the back electromotive force of the permanent magnet synchronous motor as the main component of the observed disturbance. The extended state type phase-locked loop cancels the traditional PI regulator, uses the observed αβ back electromotive force as the phase-locked loop input, and calculates the observed angle error, thereby obtaining the angle and speed of the motor as output. The angle compensation link calculates the phase difference between the observed back electromotive force and the actual back electromotive force according to the observer bandwidth and the motor speed, and calculates the compensation angle. Specific embodiment eight:

[0101] The difference between the eighth embodiment of the present invention and the seventh embodiment is that:

[0102] The present invention provides an extended state type permanent magnet synchronous motor rotor position and speed estimation system, the system comprising:

[0103] A signal extraction module, wherein the signal extraction module uses the αβ axis current and the αβ axis total disturbance of the permanent magnet synchronous motor as system variables through a back electromotive force observer, the αβ axis actual current and the applied voltage as given, the total disturbance of the system as the observer output, and the back electromotive force of the permanent magnet synchronous motor as the main component of the observed disturbance;

[0104] A calculation module, wherein the calculation module cancels the traditional PI regulator by extending the state-type phase-locked loop, uses the observed αβ back electromotive force as the phase-locked loop input, and calculates the observed angle error, thereby obtaining the angle and speed of the motor as output;

[0105] The compensation module calculates the phase difference between the observed back electromotive force and the actual back electromotive force according to the observer bandwidth and the motor speed through an angle compensation link, and calculates the compensation angle.

[0106] The present invention proposes an extended state type permanent magnet synchronous motor rotor position and speed estimation method. The method includes an extended state type back electromotive force observer, an extended state type phase-locked loop and an angle compensation link. The extended state type back electromotive force observer uses the αβ axis current and the αβ axis total disturbance of the permanent magnet synchronous motor as system variables, the actual current and the applied voltage of the αβ axis as given, the total disturbance of the system as the observer output, and the back electromotive force of the permanent magnet synchronous motor as the main component of the observed disturbance. The extended state type phase-locked loop cancels the traditional PI regulator, uses the observed αβ back electromotive force as the phase-locked loop input, and calculates the observed angle error, thereby obtaining the angle and speed of the motor as output. The angle compensation link calculates the phase difference between the observed back electromotive force and the actual back electromotive force according to the observer bandwidth and the motor speed, and calculates the compensation angle. Specific embodiment nine:

[0108] The difference between the ninth embodiment of the present invention and the eighth embodiment is that:

[0109] The present invention provides a computer-readable storage medium on which a computer program is stored. The program is executed by a processor to implement a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor.

[0110] The method comprises the following steps:

[0111] Step 1: The αβ axis current and the total disturbance of the αβ axis of the permanent magnet synchronous motor are used as system variables through the back-electromotive force observer, the actual current and the applied voltage of the αβ axis are given, the total disturbance of the system is the output of the observer, and the back-electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance;

[0112] Step 2: Cancel the traditional PI regulator by extending the state-type phase-locked loop, use the observed αβ back electromotive force as the phase-locked loop input, and calculate the observed angle error, and then obtain the angle and speed of the motor as the output;

[0113] Step 3: The angle compensation link calculates the phase difference between the observed back EMF and the actual back EMF according to the observer bandwidth and the motor speed, and calculates the compensation angle. Specific embodiment ten:

[0115] The difference between the tenth embodiment of the present invention and the ninth embodiment is that:

[0116] The present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor when executing the computer program.

[0117] The method comprises the following steps:

[0118] Step 1: The αβ axis current and the total disturbance of the αβ axis of the permanent magnet synchronous motor are used as system variables through the back-electromotive force observer, the actual current and the applied voltage of the αβ axis are given, the total disturbance of the system is the output of the observer, and the back-electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance;

[0119] Step 2: Cancel the traditional PI regulator by extending the state-type phase-locked loop, use the observed αβ back electromotive force as the phase-locked loop input, and calculate the observed angle error, and then obtain the angle and speed of the motor as the output;

[0120] Step 3: The angle compensation link calculates the phase difference between the observed back EMF and the actual back EMF according to the observer bandwidth and the motor speed, and calculates the compensation angle. Specific embodiment eleven:

[0122] The difference between the eleventh embodiment of the present invention and the tenth embodiment is that:

[0123] Figure 1The implementation mode of the present invention includes an extended state back-electromotive force observer, an extended state phase-locked loop and an angle compensation link. The extended state back-electromotive force observer uses the αβ axis current and the total disturbance of the αβ axis of the permanent magnet synchronous motor as system variables, the actual current and the applied voltage of the αβ axis as givens, the total disturbance of the system as the output of the observer, and the back-electromotive force of the permanent magnet synchronous motor as the main component of the observed disturbance. The extended state phase-locked loop cancels the traditional PI regulator, uses the observed αβ back-electromotive force as the input of the phase-locked loop, and calculates the observed angle error, and then obtains the angle and speed of the motor as the output. The angle compensation link calculates the phase difference between the observed back-electromotive force and the actual back-electromotive force according to the observer bandwidth and the motor speed, and calculates the compensation angle. The specific principles and implementation steps are as follows:

[0124] Construct the observer as follows:

[0125]

[0126] Where i αβ 、u αβ —— observer input;

[0127] ——Observer state variables.

[0128] The back electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance, and the observed back electromotive force of the motor is obtained as follows:

[0129]

[0130] In the formula ——Observe the back EMF.

[0131] Assuming that the observed angle error is small, the observed angle error is calculated using the equivalent infinitesimal of trigonometric functions and the observed back electromotive force as follows:

[0132]

[0133] According to the system state equation, the angle and velocity observers are constructed as follows:

[0134]

[0135] In the formula ——Observer state variables.

[0136] The observed angle error is used as the input of the observer, and the motor rotor position and speed are the output of the observer. The parameters of the observer are adjusted according to the bandwidth method as follows:

[0137]

[0138] Where ω ESO-QPLL——Observer bandwidth.

[0139] The transfer function for observing back EMF is derived as follows:

[0140]

[0141] Where ω o ——Extended bandwidth of state-based back-EMF observer.

[0142] According to the above formula, the phase lag caused by the extended state back-EMF observer at the motor fundamental frequency is calculated, and the compensation angle is obtained accordingly:

[0143]

[0144] Where θ com ——Compensation angle;

[0145] ω e ——Motor angular frequency.

[0146] Figure 2 The extended state phase-locked loop eliminates the traditional PI regulator, uses the observed αβ back electromotive force as the phase-locked loop input, and calculates the observed angle error, thereby obtaining the angle and speed of the motor and outputting it.

[0147] Figure 3 For the angle and speed extraction method of the present invention, when the motor is ramped up and down, the motor speed, the traditional phase-locked loop angle error, the extended state phase-locked loop angle error of the present invention and the simulation waveform of the motor dq axis current;

[0148] Figure 4 In order to adopt the angle and speed extraction method of the present invention, when the motor load is increased or decreased in steps, the motor speed, the angle error of the traditional phase-locked loop, the angle error of the extended state phase-locked loop of the present invention and the dq axis current of the motor are obtained;

[0149] It can be seen from the above simulation waveforms that the extended state permanent magnet synchronous motor rotor position and speed estimation method of the present invention can achieve accurate angle tracking in the full speed range of the motor and during ramp acceleration and deceleration motion, eliminate steady-state errors, and have good dynamic response.

[0150] Compared with existing methods, the extended state phase-locked loop has better dynamic response and can achieve zero static error in angle observation during motor ramp acceleration and deceleration, improving the accurate estimation of angles in the full range of motion. At the same time, the phase difference between the observed back-EMF and the actual back-EMF can be calculated based on the observer bandwidth and motor speed, and the angle obtained by the phase-locked loop can be compensated to achieve accurate angle estimation in the full speed range of the motor.

[0151] The above is only a preferred implementation of a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor. The protection scope of a method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor is not limited to the above embodiment. All technical solutions under this idea belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, several improvements and changes without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for estimating the rotor position and speed of an extended state permanent magnet synchronous motor, characterized in that: The method comprises the following steps: Step 1: The αβ axis current and the total disturbance of the αβ axis of the permanent magnet synchronous motor are used as system variables through the back-electromotive force observer, the actual current and the applied voltage of the αβ axis are given, the total disturbance of the system is the output of the observer, and the back-electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance; Step 2: Cancel the traditional PI regulator by extending the state-type phase-locked loop, use the observed αβ back electromotive force as the phase-locked loop input, and calculate the observed angle error, and then obtain the angle and speed of the motor as the output; Step 3: The angle compensation link calculates the phase difference between the observed back EMF and the actual back EMF according to the observer bandwidth and the motor speed, and calculates the compensation angle.

2. The method according to claim 1, characterized in that: The step 1 is specifically as follows: The construction of the observer is expressed as follows: Among them, i αβ 、u αβ is the observer input; is the observer state variable; The back electromotive force of the permanent magnet synchronous motor is the main component of the observed disturbance, and the observed back electromotive force of the motor is expressed by the following formula: in, To observe the back electromotive force.

3. The method according to claim 2, characterized in that: The step 1 is specifically as follows: When the observed angle error is the smallest, the observed angle error is calculated using the equivalent infinitesimal of trigonometric functions and the observed back electromotive force, which is expressed by the following formula: According to the system state equation, the angle and velocity observers are constructed as follows: in, is the observer state variable; The observed angle error is used as the input of the observer, and the motor rotor position and speed are the output of the observer; the parameters of the observer are adjusted according to the bandwidth method as follows: Among them, ω ESO-QPLL is the observer bandwidth.

4. The method according to claim 1, characterized in that: The step 3 is specifically as follows: The transfer function for deriving the observed back EMF is expressed as follows: Among them, ω o To expand the bandwidth of the state-based back-EMF observer.

5. The method according to claim 4, characterized in that: The phase lag caused by the extended state back-EMF observer at the motor fundamental frequency is calculated based on the transfer function, and the compensation angle is obtained as follows: Among them, θ com is the compensation angle; ω e is the motor angular frequency.

6. The method according to claim 4, characterized in that: The phase difference between the observed back-EMF and the actual back-EMF is calculated according to the observer bandwidth and the motor speed, and the angle obtained by the phase-locked loop is compensated to achieve accurate angle estimation in the full speed range of the motor.

7. The method according to claim 6, characterized in that: It has better dynamic response, achieves zero static error in angle observation when the motor is ramped up or down, and improves accurate angle estimation within the full range of motion.

8. An extended state permanent magnet synchronous motor rotor position and speed estimation system, characterized by: The system comprises: An information extraction module, wherein the information extraction module uses the αβ axis current and the αβ axis total disturbance of the permanent magnet synchronous motor as system variables through a back electromotive force observer, the αβ axis actual current and the applied voltage as given, the total disturbance of the system as the observer output, and the back electromotive force of the permanent magnet synchronous motor as the main component of the observed disturbance; A calculation module, wherein the calculation module cancels the traditional PI regulator by extending the state-type phase-locked loop, uses the observed αβ back electromotive force as the phase-locked loop input, and calculates the observed angle error, thereby obtaining the angle and speed of the motor as output; The compensation module calculates the phase difference between the observed back electromotive force and the actual back electromotive force according to the observer bandwidth and the motor speed through an angle compensation link, and calculates the compensation angle.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method according to claims 1-7.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method of claims 1-7 is implemented.

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