A super-spiral sliding mode based LADRC permanent magnet synchronous motor control system and method

Abstract

This invention relates to the field of motor control technology and discloses a LADRC permanent magnet synchronous motor control system and method based on superspiral sliding mode. The system includes: a motor control inverter system for receiving the dq-axis stator voltage components and generating three-phase current signals for the permanent magnet synchronous motor; a current acquisition subsystem for receiving the three-phase current signals and generating dq-axis stator current components through Clark transformation and Park transformation; a first speed loop controller for designing an adaptive bandwidth function and introducing a superspiral sliding mode algorithm based on the target and actual speeds of the motor, generating corrected q-axis stator current components by performing error correction on the control system; a second current loop controller for performing q-axis PI control to obtain the q-axis stator voltage components; and a third current loop controller for performing d-axis PI control to obtain the d-axis stator voltage components. This invention effectively reduces chattering in the control system and improves the anti-interference capability and control performance of the control system under different operating conditions.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to a LADRC permanent magnet synchronous motor control system and method based on super-helical sliding mode. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in the new energy vehicle field due to their significant advantages such as high efficiency, high power density, and low energy consumption. However, in actual operation, motor control systems are affected by complex nonlinear factors, load fluctuations, and external disturbances. Traditional control methods, such as PID control, active disturbance rejection control (ADRC), and sliding mode control, have certain shortcomings in terms of rapid response and anti-interference. Currently, in the face of sudden load changes or speed demand changes, the PMSM control system needs to stably adjust to the new operating state in a short time. However, traditional PID control has poor adaptability to nonlinearity of the control system, especially under dynamic load changes, often exhibiting response delay, which may lead to motor torque control failure or decreased speed regulation accuracy. Active disturbance rejection control is divided into linear active disturbance rejection control (LADRC) and nonlinear active disturbance rejection control (ADRC). Although nonlinear ADRC can estimate and suppress disturbances, its response speed depends on parameter adjustment and has limited performance in high-speed dynamic response scenarios. Secondly, when subjected to external and internal disturbances, PID control and nonlinear ADRC have limited anti-interference capabilities, especially under sudden disturbances, the stability of the control system is insufficient, and it is prone to large fluctuations, causing the motor system to fail to maintain stable operation. Summary of the Invention

[0003] To address the aforementioned shortcomings in the existing technology, this invention provides a LADRC permanent magnet synchronous motor control system and method based on super-helical sliding mode. By improving the speed loop controller of the permanent magnet synchronous motor, the problem of interference and rotational performance of traditional permanent magnet synchronous motors under complex and variable operating conditions is solved, thereby improving the system's response speed, anti-interference ability, and overall control accuracy.

[0004] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0005] A control system for a LADRC permanent magnet synchronous motor based on superhelical sliding mode includes:

[0006] The motor control inverter system is used to receive the d-axis stator voltage component. With q-axis stator voltage components And convert it into a three-phase current signal for a permanent magnet synchronous motor;

[0007] The current acquisition subsystem receives the three-phase current signal from the permanent magnet synchronous motor and generates the d-axis stator current component through Clark and Park transforms. With q-axis stator current components ;

[0008] The first speed loop controller is used to design an adaptive bandwidth function and introduce a super-spiral sliding mode algorithm based on the target speed and actual speed of the motor. By correcting the error of the control system, it generates the corrected q-axis stator current component. ;

[0009] The second current loop controller is used to receive the corrected q-axis stator current component. With q-axis stator current components q-axis PI control is performed to obtain the q-axis stator voltage component. ;

[0010] The third current loop controller is used to receive the second input parameter. With d-axis stator current components Perform d-axis PI control to obtain the d-axis stator voltage component. .

[0011] Furthermore, the motor control inverter system includes an inverse Park conversion module, an SVPWM module, and an inverter module;

[0012] The inverse Park transform module is used to receive the d-axis stator voltage component. With q-axis stator voltage components By using the inverse Park transformation, the d-axis stator voltage components are... With q-axis stator voltage components Converted to stator voltage components in a stationary coordinate system;

[0013] The SVPWM module is used to receive the stator voltage components in the stationary coordinate system and convert them into PWM signals.

[0014] The inverter module is used to receive PWM signals and generate three-phase current signals for the permanent magnet synchronous motor.

[0015] Furthermore, the current acquisition subsystem includes a Clark transformation module and a Park transformation module;

[0016] The Clark transform module is used to receive the three-phase current signal of the permanent magnet synchronous motor and convert it into the stator current component in stationary coordinates through the Clark transform.

[0017] The Park transform module receives the stator current component in stationary coordinates and converts it into the d-axis stator current component through the Park transform. With q-axis stator current components .

[0018] Furthermore, the first speed loop controller includes a linear tracking differentiator, a linear state error feedback module, and an improved extended state observer;

[0019] The linear tracking differentiator is used to receive the target speed of the motor, extract the tracking signal and arrange the transition process, and also acts as a filter.

[0020] The linear state error feedback module is used to design an adaptive bandwidth function using the softsign function, and the adaptive bandwidth function is used to control the control system to automatically adjust the bandwidth according to the actual speed change of the motor.

[0021] An improved extended state observer is used to introduce a super-helical sliding mode algorithm to track the error signal of the extended state observer and to optimize the control of the extended state observer.

[0022] Furthermore, the formula for calculating the tracking signal is:

[0023] ;

[0024] in, Indicates tracking error. The tracking signal represents the actual speed of the motor, that is, the observed value of the actual speed of the motor. Indicates the target speed of the motor. Tracking signal indicating the actual speed of the motor The first derivative, This represents the speed factor of the linear tracking differentiator.

[0025] Furthermore, the adaptive bandwidth function is:

[0026]

[0027] in, Represents the adaptive bandwidth function. This represents the initial value of the current error term. This represents the speed error of the motor, that is, the difference between the actual speed of the motor and the target speed. This indicates the speed error of the motor after adjustment and updating. This represents the adjustment coefficient. Indicates the gain coefficient. Represents the dynamic gain coefficient. Represents a non-linear activation function. This represents the first intermediate variable.

[0028] Furthermore, the specific process for introducing the superspiral sliding mode algorithm to track the error signal of the extended state observer and to optimize the control of the extended state observer is as follows:

[0029] Obtain the relationship between the state variables and output quantities of the control system, i.e.:

[0030]

[0031] in, Represents the state variables of the control system. Indicates time, , Both represent unknown continuous sliding mode variable structure functions. Indicates the input quantity. Indicates the output quantity. Represents sliding mode variables;

[0032] set up Then the expression for the superspiral sliding mode algorithm is:

[0033]

[0034] in, Indicates the reference signal. This represents the state variables of the control system after the sliding mode control algorithm is added. This represents the first derivative of the state variables after the sliding mode control algorithm is applied to the control system. , Both represent gain terms. Indicate design parameters;

[0035] Obtain the sliding surface function expression for the definition error of the improved extended state observer, i.e.:

[0036]

[0037] in, Indicates the actual speed of the motor The observed values, Indicates the actual speed of the motor Observations The observation error, , All represent the actual speed of the motor. Observations The first derivative of the observation error, Indicates the actual speed of the motor The first derivative of the observed value, Indicates the actual speed of the motor The first derivative;

[0038] Based on the relationship between the state variables and output of the control system, the expression of the super-spiral sliding mode algorithm, and the sliding surface function expression of the defined error of the improved extended state observer, the linear extended state observer relationship of the first velocity loop controller is obtained, namely:

[0039]

[0040] in, This represents the ideal speed signal of the motor. This represents the rate of dynamic change of the motor system's status indicators. Indicates the actual speed of the motor Observations The second derivative of the observation error, Represents a symbolic function;

[0041] Based on the linear extended state observer relation of the first velocity loop controller, the improved extended state observer expression is obtained, namely:

[0042]

[0043] in, This represents the observed value of the disturbance term in the control system. , Both represent the gain term of the first speed loop controller. Indicates the second intermediate variable. Indicates the number of pole pairs of the motor. This represents the moment of inertia of the motor. Indicates permanent magnet flux linkage;

[0044] The control optimization of the extended state observer is performed using an improved extended state observer expression.

[0045] A control method for a LADRC permanent magnet synchronous motor based on a super-helical sliding mode control system includes the following steps:

[0046] S1. Construct a vector control model for a permanent magnet synchronous motor, and input the three-phase current signal of the permanent magnet synchronous motor into the current acquisition subsystem to obtain the d-axis stator current component and the q-axis stator current component;

[0047] S2. Input the target speed and actual speed of the motor into the first speed loop controller. Utilize the designed adaptive bandwidth function and the introduced super spiral sliding mode algorithm to generate the corrected q-axis stator current component by performing error correction on the control system.

[0048] S3. Input the corrected q-axis stator current component and the q-axis stator current component into the second current loop controller for q-axis PI control to obtain the q-axis stator voltage component;

[0049] S4. Input the second input parameter and the d-axis stator current component into the third current loop controller for d-axis PI control to obtain the d-axis stator voltage component.

[0050] S5. Input the d-axis stator voltage component and the q-axis stator voltage component into the motor control inverter system to generate the three-phase current signal of the permanent magnet synchronous motor and realize the control of the permanent magnet synchronous motor.

[0051] Furthermore, the vector control model for the permanent magnet synchronous motor in step S1 is as follows:

[0052]

[0053] in, , These represent the d-axis stator voltage component and the q-axis stator voltage component, respectively. Indicates stator resistance. , These represent the d-axis stator current component and the q-axis stator current component, respectively. , These represent the d-axis inductance component and the q-axis inductance component, respectively. Represents electric angular velocity. Represents mechanical angular velocity. Indicates permanent magnet flux linkage. , The load torque representing electromagnetic torque, and the load torque of the motor. Indicates the number of pole pairs of the motor. This represents the moment of inertia of the motor. This represents the damping friction coefficient.

[0054] The present invention has the following beneficial effects:

[0055] 1. The LADRC permanent magnet synchronous motor control system proposed in this invention is based on super-helical sliding mode. An adaptive bandwidth function is designed in the first speed loop controller and a super-helical sliding mode algorithm is introduced to solve the performance instability problem of permanent magnet synchronous motor under complex environment and different speed conditions. It effectively reduces the chattering of permanent magnet synchronous motor control system, improves the anti-interference ability of permanent magnet synchronous motor control system under different conditions, and enhances its control performance.

[0056] 2. The introduction of adaptive bandwidth improves the stability of the permanent magnet synchronous motor control system under multiple operating conditions;

[0057] 3. The super-helical sliding mode algorithm is introduced to optimize the control of the extended state observer, thereby improving the dynamic response speed of the permanent magnet synchronous motor, enhancing the anti-interference capability of the permanent magnet synchronous motor control system, and significantly shortening the settling time of the permanent magnet synchronous motor control system.

[0058] 4. The LADRC permanent magnet synchronous motor control method based on super-helical sliding mode proposed in this invention reduces the dependence of the permanent magnet synchronous motor control system on parameters, lowers the uncertainty of the control system, and improves the stability of the control system compared with the traditional nonlinear active disturbance rejection control. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the LADRC permanent magnet synchronous motor control system based on super-helical sliding mode proposed in this invention;

[0060] Figure 2 This is a schematic diagram of the first speed loop controller;

[0061] Figure 3 This is a flowchart illustrating a control method for a LADRC permanent magnet synchronous motor based on super-helical sliding mode proposed in this invention. Detailed Implementation

[0062] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0063] like Figure 1 As shown, a LADRC permanent magnet synchronous motor control system based on superhelical sliding mode includes:

[0064] The motor control inverter system is used to receive the d-axis stator voltage component. With q-axis stator voltage components It is then converted into a three-phase current signal for a permanent magnet synchronous motor.

[0065] Specifically, the motor control inverter system includes an inverse Park conversion module, an SVPWM module, and an inverter module; the inverse Park conversion module is used to receive the d-axis stator voltage component. With q-axis stator voltage components By using the inverse Park transformation, the d-axis stator voltage components are... With q-axis stator voltage components The stator voltage component is converted to a stationary coordinate system; the SVPWM module receives the stator voltage component in the stationary coordinate system and converts it into a PWM signal; the inverter module receives the PWM signal and generates the three-phase current signal of the permanent magnet synchronous motor.

[0066] In this embodiment, the stator voltage components in the stationary coordinate system include Figure 1 The d-axis stator voltage components of the inverse Park transform are shown. q-axis stator voltage component of inverse Park transform Furthermore, the three-phase current signal of the permanent magnet synchronous motor includes the A-phase current. Phase B current C-phase current .

[0067] The current acquisition subsystem receives the three-phase current signal from the permanent magnet synchronous motor and generates the d-axis stator current component through Clark and Park transforms. With q-axis stator current components .

[0068] Specifically, the current acquisition subsystem includes a Clark transformation module and a Park transformation module;

[0069] The Clark transform module receives the three-phase current signal from the permanent magnet synchronous motor and converts it into stator current components in stationary coordinates using the Clark transform. The Park transform module receives the stator current components in stationary coordinates and converts them into d-axis stator current components using the Park transform. With q-axis stator current components .

[0070] In this embodiment, by constructing a vector control model of the entire permanent magnet synchronous motor and obtaining the three-phase current signal of the permanent magnet synchronous motor of the subsystem based on the input current, the d-axis stator current component of the permanent magnet synchronous motor in the dq-axis coordinate system is obtained. With q-axis stator current components The vector control model for the permanent magnet synchronous motor is as follows:

[0071]

[0072] in, , These represent the d-axis stator voltage component and the q-axis stator voltage component, respectively. Indicates stator resistance. , These represent the d-axis stator current component and the q-axis stator current component, respectively. , These represent the d-axis inductance component and the q-axis inductance component, respectively. Represents electric angular velocity. Represents mechanical angular velocity. , The load torque representing electromagnetic torque, and the load torque of the motor. This represents the damping friction coefficient.

[0073] In addition, the stator current components in stationary coordinates include Figure 1 The d-axis stator current components of the motor shown in the stationary coordinate system q-axis stator current component of the motor in stationary coordinate system .

[0074] The first speed loop controller is used to design an adaptive bandwidth function and introduce a super-spiral sliding mode algorithm based on the target speed and actual speed of the motor. By correcting the error of the control system, it generates the corrected q-axis stator current component. .

[0075] In this embodiment, the first speed loop controller is essentially a superspiral sliding mode active disturbance rejection controller based on adaptive bandwidth design. That is, by improving the speed loop controller of the traditional permanent magnet synchronous motor control system, not only is an adaptive bandwidth function designed to control the permanent magnet synchronous motor control system to automatically adjust the bandwidth according to the actual speed change of the motor, but also a superspiral sliding mode algorithm (STSM) is introduced. By improving the extended state observer (LESO) in linear active disturbance rejection control (LADRC), an improved extended state observer (STSM-LESO) is designed. That is, the superspiral sliding mode algorithm is used to track the error signal in the extended state observer, so that it can quickly converge to zero, thereby improving the tracking performance of the extended state observer and further improving the disturbance rejection performance of the system.

[0076] The structural principle of the first speed loop controller is as follows: Figure 2 As shown: It includes a linear tracking differentiator (LTD), a linear state error feedback module (i.e., an adaptive bandwidth design module), and an improved extended state observer (STSM-LESO), the specific functions of which are as follows:

[0077] The linear tracking differentiator is used to receive the target speed of the motor, extract the tracking signal and arrange the transition process, and also acts as a filter.

[0078] Specifically, the formula for calculating the tracking signal is:

[0079] ;

[0080] in, Indicates tracking error. The tracking signal represents the actual speed of the motor, that is, the observed value of the actual speed of the motor. Indicates the target speed of the motor. Tracking signal indicating the actual speed of the motor The first derivative, This represents the speed factor of the linear tracking differentiator.

[0081] The linear state error feedback module is used to design an adaptive bandwidth function using the softsign function. The adaptive bandwidth function is then used to control the control system to automatically adjust the bandwidth according to the actual speed changes of the motor.

[0082] Specifically, the adaptive bandwidth function is:

[0083]

[0084] in, Represents the adaptive bandwidth function. This represents the initial value of the current error term. This represents the speed error of the motor, that is, the difference between the actual speed of the motor and the target speed. This indicates the speed error of the motor after adjustment and updating. This represents the adjustment coefficient. Indicates the gain coefficient. Represents the dynamic gain coefficient. Represents a non-linear activation function. This represents the first intermediate variable.

[0085] In this embodiment, although Linear Active Disturbance Rejection Control (LADRC) has advantages such as simple structure and excellent control performance, its fixed bandwidth is still limited in the face of complex environmental conditions and scenarios with different speed ranges. Therefore, based on the limitation of the fixed bandwidth of the permanent magnet synchronous motor control system, this invention designs an adaptive bandwidth linear active disturbance rejection control method. Specifically, it proposes to use the Softsign function to design an adaptive bandwidth function, enabling the permanent magnet synchronous motor control system to automatically adjust the bandwidth according to changes in motor speed. This effectively copes with the interference experienced by the permanent magnet synchronous motor in complex and variable environments, improves the stability and dynamic response performance of the motor, and further enhances the robustness and anti-interference capability of the permanent magnet synchronous motor control system. Therefore, based on the good robustness of the permanent magnet synchronous motor control system at low speeds, the bandwidth can be reduced to improve the stability of the control system, while the bandwidth can be increased at high speeds to improve the robustness of the system. Thus, the adaptive bandwidth function is designed as follows: , , , Among them, the gain coefficient The dynamic gain coefficient can be adjusted according to the magnitude of the error. The system can adjust the magnitude of the error value to cope with different working conditions. This allows the first speed loop controller to increase the feedback strength when the error is large, enabling the permanent magnet synchronous motor control system to converge quickly. Conversely, it reduces feedback, avoids system oscillation, and improves system stability.

[0086] An improved extended state observer is used to introduce a super-helical sliding mode algorithm to track the error signal of the extended state observer, and the control of the extended state observer is optimized to improve the tracking performance of the extended state observer.

[0087] In this embodiment, the improved extended state observer functions by treating both internal and external disturbances of the control system as a total disturbance, and observing this total disturbance as a new state variable, thus expanding the state variable. Specifically, the design involves introducing a superspiral sliding mode algorithm (STSM) into the extended state observer for control optimization. By improving the extended state observer (LESO) in linear active disturbance rejection control, an improved extended state observer (STSM-LESO) is designed. The superspiral sliding mode algorithm is used to track the error signal in the extended state observer, enabling it to converge quickly to zero, thereby improving the tracking performance of the extended state observer and further enhancing the system's disturbance rejection performance. Therefore, the improved extended state observer, which introduces the superspiral sliding mode algorithm to track the error signal and optimizes the control of the extended state observer, is described below in detail:

[0088] Obtain the relationship between the state variables and output quantities of the control system, i.e.:

[0089]

[0090] in, Represents the state variables of the control system. Indicates time, , Both represent unknown continuous sliding mode variable structure functions. Indicates the input quantity. Indicates the output quantity. Represents sliding mode variables.

[0091] set up Then the expression for the superspiral sliding mode algorithm is:

[0092]

[0093] in, Indicates the reference signal. This represents the state variables of the control system after the sliding mode control algorithm is added. This represents the first derivative of the state variables after the sliding mode control algorithm is applied to the control system. , Both represent gain terms. Indicates design parameters.

[0094] In this embodiment, the design parameters The typical value is 0.5.

[0095] Obtain the sliding surface function expression for the definition error of the improved extended state observer, i.e.:

[0096]

[0097] in, Indicates the actual speed of the motor The observed values, Indicates the actual speed of the motor Observations The observation error, , All represent the actual speed of the motor. Observations The first derivative of the observation error, Indicates the actual speed of the motor The first derivative of the observed value, Indicates the actual speed of the motor The first derivative.

[0098] Based on the relationship between the state variables and output of the control system, the expression of the super-spiral sliding mode algorithm, and the sliding surface function expression of the defined error of the improved extended state observer, the linear extended state observer relationship of the first velocity loop controller is obtained, namely:

[0099]

[0100] in, This represents the ideal speed signal of the motor. This represents the rate of dynamic change of the motor system's status indicators. Indicates the actual speed of the motor Observations The second derivative of the observation error, Represents a symbolic function.

[0101] Based on the linear extended state observer relation of the first velocity loop controller, the improved extended state observer expression is obtained, namely:

[0102]

[0103] in, This represents the observed value of the disturbance term in the control system. , Both represent the gain term of the first speed loop controller. Indicates the second intermediate variable. Indicates the number of pole pairs of the motor. This represents the moment of inertia of the motor. This indicates the magnetic flux linkage of a permanent magnet.

[0104] The control optimization of the extended state observer is performed using an improved extended state observer expression to improve its tracking performance.

[0105] The second current loop controller is used to receive the corrected q-axis stator current component. With q-axis stator current components q-axis PI control is performed to obtain the q-axis stator voltage component. .

[0106] The third current loop controller is used to receive the second input parameter. With d-axis stator current components Perform d-axis PI control to obtain the d-axis stator voltage component. .

[0107] like Figure 3 As shown, a control method for a LADRC permanent magnet synchronous motor based on a super-helical sliding mode control system is presented, comprising the following steps S1-S5:

[0108] S1. Construct a vector control model for the permanent magnet synchronous motor and input the three-phase current signal of the permanent magnet synchronous motor into the current acquisition subsystem to obtain the d-axis stator current component and the q-axis stator current component.

[0109] Specifically, the vector control model for the permanent magnet synchronous motor in step S1 is as follows:

[0110]

[0111] in, , These represent the d-axis stator voltage component and the q-axis stator voltage component, respectively. Indicates stator resistance. , These represent the d-axis stator current component and the q-axis stator current component, respectively. , These represent the d-axis inductance component and the q-axis inductance component, respectively. Represents electric angular velocity. Represents mechanical angular velocity. Indicates permanent magnet flux linkage. , The load torque representing electromagnetic torque, and the load torque of the motor. Indicates the number of pole pairs of the motor. This represents the moment of inertia of the motor. Indicates the coefficient of friction.

[0112] S2. Input the target speed and actual speed of the motor into the first speed loop controller. Utilize the designed adaptive bandwidth function and the introduced super-spiral sliding mode algorithm to perform error correction on the control system and generate the corrected q-axis stator current component.

[0113] S3. Input the corrected q-axis stator current component and the q-axis stator current component into the second current loop controller for q-axis PI control to obtain the q-axis stator voltage component.

[0114] S4. Input the second input parameter and the d-axis stator current component into the third current loop controller for d-axis PI control to obtain the d-axis stator voltage component.

[0115] S5. Input the d-axis stator voltage component and the q-axis stator voltage component into the motor control inverter system to generate the three-phase current signal of the permanent magnet synchronous motor and realize the control of the permanent magnet synchronous motor.

[0116] In summary, the LADRC permanent magnet synchronous motor control system and method based on superhelical sliding mode proposed in this invention solves the performance instability problem of permanent magnet synchronous motors in complex environments and different speed conditions by designing an adaptive bandwidth function and introducing a superhelical sliding mode algorithm in the first speed loop controller. This effectively reduces chattering in the control system, improves the anti-interference capability of the control system under different operating conditions, and enhances control performance. At the same time, the introduction of adaptive bandwidth improves the stability of the control system under multiple operating conditions, and the introduction of the superhelical sliding mode algorithm improves the anti-interference capability of the control system.

[0117] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

[0118] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A control system for a LADRC permanent magnet synchronous motor based on superhelical sliding mode, characterized in that, include: The motor control inverter system is used to receive the d-axis stator voltage component. With q-axis stator voltage components And convert it into a three-phase current signal for a permanent magnet synchronous motor; The motor control inverter system includes an inverse Park conversion module, an SVPWM module, and an inverter module. The inverse Park transform module is used to receive the d-axis stator voltage component. With q-axis stator voltage components By using the inverse Park transformation, the d-axis stator voltage components are... With q-axis stator voltage components Converted to stator voltage components in a stationary coordinate system; The SVPWM module is used to receive the stator voltage components in the stationary coordinate system and convert them into PWM signals. The inverter module is used to receive PWM signals and generate three-phase current signals for the permanent magnet synchronous motor. The current acquisition subsystem receives the three-phase current signal from the permanent magnet synchronous motor and generates the d-axis stator current component through Clark and Park transforms. With q-axis stator current components ; The current acquisition subsystem includes a Clark transformation module and a Park transformation module. The Clark transform module is used to receive the three-phase current signal of the permanent magnet synchronous motor and convert it into the stator current component in stationary coordinates through the Clark transform. The Park transform module receives the stator current component in stationary coordinates and converts it into the d-axis stator current component through the Park transform. With q-axis stator current components ; The first speed loop controller is used to design an adaptive bandwidth function and introduce a super-spiral sliding mode algorithm based on the target speed and actual speed of the motor. By correcting the error of the control system, it generates the corrected q-axis stator current component. ; The first speed loop controller includes a linear tracking differentiator, a linear state error feedback module, and an improved extended state observer. The linear tracking differentiator is used to receive the target speed of the motor, extract the tracking signal and arrange the transition process, and also acts as a filter. The linear state error feedback module is used to design an adaptive bandwidth function using the softsign function, and the adaptive bandwidth function is used to control the control system to automatically adjust the bandwidth according to the actual speed change of the motor. An improved extended state observer is used to introduce a super-helical sliding mode algorithm to track the error signal of the extended state observer and to optimize the control of the extended state observer; The second current loop controller is used to receive the corrected q-axis stator current component. With q-axis stator current components q-axis PI control is performed to obtain the q-axis stator voltage component. ; The third current loop controller is used to receive the second input parameter. With d-axis stator current components Perform d-axis PI control to obtain the d-axis stator voltage component. .

2. The LADRC permanent magnet synchronous motor control system based on superhelical sliding mode according to claim 1, characterized in that, The formula for calculating the tracking signal is: ； in, Indicates tracking error. The tracking signal represents the actual speed of the motor, that is, the observed value of the actual speed of the motor. Indicates the target speed of the motor. Tracking signal indicating the actual speed of the motor The first derivative, This represents the speed factor of the linear tracking differentiator.

3. The LADRC permanent magnet synchronous motor control system based on superhelical sliding mode according to claim 2, characterized in that, The adaptive bandwidth function is: in, Represents the adaptive bandwidth function. This represents the initial value of the current error term. This represents the speed error of the motor, that is, the difference between the actual speed of the motor and the target speed. This indicates the speed error of the motor after adjustment and updating. This represents the adjustment coefficient. Indicates the gain coefficient. Represents the dynamic gain coefficient. Represents a non-linear activation function. This represents the first intermediate variable.

4. The LADRC permanent magnet synchronous motor control system based on superhelical sliding mode according to claim 3, characterized in that, The specific process for introducing the superspiral sliding mode algorithm to track the error signal of the extended state observer and to optimize the control of the extended state observer is as follows: Obtain the relationship between the state variables and output quantities of the control system, i.e.: in, Represents the state variables of the control system. Indicates time, , Both represent unknown continuous sliding mode variable structure functions. Indicates the input quantity. Indicates the output quantity. Represents sliding mode variables; set up Then the expression for the superspiral sliding mode algorithm is: in, Indicates the reference signal. This represents the state variables of the control system after the sliding mode control algorithm is added. This represents the first derivative of the state variables after the sliding mode control algorithm is applied to the control system. , Both represent gain terms. Indicate design parameters; Obtain the sliding surface function expression for the definition error of the improved extended state observer, i.e.: in, Indicates the actual speed of the motor The observed values, Indicates the actual speed of the motor Observations The observation error, , All represent the actual speed of the motor. Observations The first derivative of the observation error, Indicates the actual speed of the motor The first derivative of the observed value, Indicates the actual speed of the motor The first derivative; Based on the relationship between the state variables and output of the control system, the expression of the super-spiral sliding mode algorithm, and the sliding surface function expression of the defined error of the improved extended state observer, the linear extended state observer relationship of the first velocity loop controller is obtained, namely: in, This represents the ideal speed signal of the motor. This represents the rate of change of the motor system's status indicators. Indicates the actual speed of the motor Observations The second derivative of the observation error, Represents a symbolic function; Based on the linear extended state observer relation of the first velocity loop controller, the improved extended state observer expression is obtained, namely: in, This represents the observed value of the disturbance term in the control system. , Both represent the gain term of the first speed loop controller. Indicates the second intermediate variable. Indicates the number of pole pairs of the motor. This represents the moment of inertia of the motor. Indicates permanent magnet flux linkage; The control optimization of the extended state observer is performed using an improved extended state observer expression.

5. A control method for a LADRC permanent magnet synchronous motor based on super-helical sliding mode, characterized in that, The LADRC permanent magnet synchronous motor control system based on superhelical sliding mode, as described in any one of claims 1-4, includes the following steps: S1. Construct a vector control model for a permanent magnet synchronous motor, and input the three-phase current signal of the permanent magnet synchronous motor into the current acquisition subsystem to obtain the d-axis stator current component and the q-axis stator current component; S2. Input the target speed and actual speed of the motor into the first speed loop controller. Utilize the designed adaptive bandwidth function and the introduced super spiral sliding mode algorithm to generate the corrected q-axis stator current component by performing error correction on the control system. S3. Input the corrected q-axis stator current component and the q-axis stator current component into the second current loop controller for q-axis PI control to obtain the q-axis stator voltage component; S4. Input the second input parameter and the d-axis stator current component into the third current loop controller to perform d-axis PI control and obtain the d-axis stator voltage component. S5. Input the d-axis stator voltage component and the q-axis stator voltage component into the motor control inverter system to generate the three-phase current signal of the permanent magnet synchronous motor and realize the control of the permanent magnet synchronous motor.

6. The LADRC permanent magnet synchronous motor control method according to claim 5, characterized in that, The vector control model for the permanent magnet synchronous motor in step S1 is as follows: in, , These represent the d-axis stator voltage component and the q-axis stator voltage component, respectively. Indicates stator resistance. , These represent the d-axis stator current component and the q-axis stator current component, respectively. , These represent the d-axis inductance component and the q-axis inductance component, respectively. Represents electric angular velocity. Represents mechanical angular velocity. Indicates permanent magnet flux linkage. , The load torque representing electromagnetic torque, and the load torque of the motor. Indicates the number of pole pairs of the motor. This represents the moment of inertia of the motor. This represents the damping friction coefficient.

Images