Permanent magnet synchronous motor control method based on improved fal function

Abstract

The invention discloses a permanent magnet synchronous motor control method based on an improved fal function, and belongs to the field of permanent magnet synchronous motor control, and the method comprises the steps: obtaining a q-axis reference current through a speed loop controller based on the improved fal function according to a target rotating speed and an actual rotating speed of a motor; obtaining a current component of a d-q axis according to the three-phase current signal of the inverter; obtaining a q-axis current difference according to the q-axis reference current and the q-axis current component; obtaining a d-axis current difference according to the d-axis reference current and the d-axis current component; according to the q-axis current difference and the d-axis current difference, respectively obtaining d-q-axis voltage components by using a current loop controller based on an improved fal function; and obtaining a three-phase current signal required by the permanent magnet synchronous motor according to the d-q axis voltage component. The method solves the problems that an existing method is poor in robustness of external interference and system parameter changes, and the system is likely to be unstable, excessively oscillated and unstable under some conditions.

Description

Technical Field

[0001] The invention belongs to the field of permanent magnet synchronous motor control, and in particular relates to a permanent magnet synchronous motor control method based on an improved fal function. Background Art

[0002] Permanent magnet synchronous motors have outstanding features such as high efficiency, high power density and low loss, and are widely used in the new energy vehicle industry. However, due to the complex nonlinear factors, dynamic load changes and external interference inside the motor system, traditional control strategies (such as PID control, active disturbance rejection control ADRC and sliding mode control SMC) have limitations in dynamic response and anti-interference. In the existing technologies, the control system of PMSM needs to adjust to a new state quickly and stably in scenarios such as sudden load changes and speed demand changes. Traditional PID control has poor adaptability to system nonlinear factors, and may have response lag under dynamic loads, resulting in motor torque control failure or inaccurate speed regulation. Although active disturbance rejection control (ADRC) can estimate and suppress interference, its response speed depends on parameter adjustment, and traditional ADRC has limited performance in high-speed dynamic response scenarios. Secondly, when subjected to external and internal disturbances, PID control and ADRC have limited anti-interference capabilities, especially under sudden interference, the control system is not stable enough, and it is easy to produce large fluctuations, resulting in the inability of the motor system to maintain stable operation.

[0003] As the key direction of current automobile development, new energy vehicles play a significant role in solving environmental pollution and energy shortages. Permanent magnet synchronous motor is one of the core components of the new energy vehicle drive system. The control of the motor speed control system is of great significance to the response performance and anti-interference of high-performance permanent magnet synchronous motor. The double closed-loop sliding mode anti-disturbance control method with improved fal function can take into account factors such as the response speed, anti-interference and jitter of the speed system of the motor. Compared with traditional PID control and ADRC control, the controller reduces its dependence on parameters, and it also has a faster response speed than PID control and better anti-interference ability than ADRC control.

[0004] At present, some scholars use linear anti-disturbance control method to apply to motor speed control loop, which greatly improves dynamic performance and robustness. Another part of scholars adds sliding mode control to the anti-disturbance controller to control the motor position loop. By expanding the observer, the sliding surface is designed to ensure the stability of the motor system. The speed loop control and current loop control of the motor have a great influence on the response speed and anti-interference of the motor. In the previous research of scholars, the control influence of the current loop is rarely considered. Therefore, when performing simulation analysis, the motor current loop also has a great influence on the speed response and anti-interference of the motor. At present, the main control methods are PI control and anti-disturbance control. PI control is proportional integral control. According to the current error (the difference between the set value and the actual value), a control signal proportional to the error is output and the steady-state error is eliminated according to the past error accumulation to ensure that the system outputs zero error in steady state. By setting the parameters of the PI controller, the best response characteristics are achieved. Anti-disturbance control is a new control method. It improves the control performance and robustness of the system by actively estimating and compensating for disturbances in the system, mainly including state estimation, disturbance compensation and dynamic performance.

[0005] The above two control methods require precise adjustment according to the system characteristics, the process is complicated, and the robustness to external interference and system parameter changes is poor. In some cases, they may cause system instability, excessive oscillation and instability.

[0006] Disadvantages of existing technology:

[0007] ① Slow response speed. When the motor is suddenly loaded, PID control and traditional ADRC control respond slowly and take a long time to stabilize, which affects the real-time control effect of the motor.

[0008] ② Insufficient anti-interference ability. Traditional PID control and ADRC will have large system fluctuations under large disturbances and cannot restore steady state instantly, resulting in reduced motor performance.

[0009] ③ The chattering problem is serious. Sliding mode control has a chattering problem under non-ideal working conditions, which makes it difficult for the controller to maintain high-precision output and reduces the robustness of the system.

[0010] ④ Difficulty in adjusting control parameters. ADRC and sliding mode controllers have too many parameters, which are difficult to adjust and have a significant impact on system performance, increasing the complexity of control system design and debugging. Summary of the invention

[0011] In view of the above-mentioned deficiencies in the prior art, the present invention provides a permanent magnet synchronous motor control method based on an improved fal function, which solves the problem that the prior method has poor robustness to external interference and system parameter changes, and may cause system instability, excessive oscillation and instability in some cases.

[0012] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a permanent magnet synchronous motor control method based on an improved fal function, comprising:

[0013] Obtain the target speed, actual motor speed and three-phase current signal of the inverter; according to the target speed and actual motor speed, use the speed loop controller based on the improved fal function to obtain the q-axis reference current The d-axis reference current Set to 0; according to the three-phase current signal of the inverter, use Clark transformation to obtain the stator current component in the stationary coordinate system; use Park transformation to convert the stator current component in the stationary coordinate system into the current component i of the dq axis d and i q ; According to the q-axis reference current and the q-axis current component i q , get the q-axis current difference; according to the d-axis reference current and the d-axis current component i d , and obtain the d-axis current difference; according to the q-axis current difference and the d-axis current difference, the dq-axis voltage components u are obtained respectively by using the current loop controller based on the improved fal function. d and u q ; According to the dq axis voltage component u d and u q , and obtain the three-phase current signal required by the permanent magnet synchronous motor.

[0014] Furthermore, the speed loop controller based on the improved fal function adopts a sliding mode anti-disturbance rejection controller of the improved fal function; the sliding mode anti-disturbance rejection controller of the improved fal function includes a tracking differentiator submodule, an extended state observer submodule and a sliding mode anti-disturbance rejection feedback control law submodule.

[0015] Furthermore, the expressions of the tracking differentiator submodule, the extended state observer submodule and the sliding mode active disturbance rejection feedback control law submodule of the speed loop controller are respectively:

[0016]

[0017] Among them, e 0 is the error signal of the tracking differentiator submodule; 0 is the target speed; v 1 To track the signal of the differentiator submodule; v 1 The first derivative of; r is the speed factor gain adjustment value; IMTfal() is the improved fal function; α 0 To track the adjustable parameters of the differentiator submodule, the value is [0,1]; δ 0is the filter factor of the tracking differentiator submodule; e 1 is the error signal of the extended state observer submodule; 1 is the tracking signal; w 1 is the actual speed of the motor; For z 1 The first derivative of 2 is the disturbance measurement value; β 1 and β 2 are the gain coefficients of the differential component of the tracking signal; α 1 is the adjustable parameter of the extended state observer submodule, and its value is [0,1]; δ 1 is the filter factor of the extended state observer submodule; f s (z 1 ) is the speed change rate characteristic; B is the motor damping friction coefficient; J is the moment of inertia; b 0 is the compensation factor of the extended observer; is the q-axis reference current; For z 2 The first derivative of 2 is the error signal of the sliding mode ADRC control law submodule; i q0 is the output control quantity before compensation; p is the switch adjustment factor after the speed loop sliding mode is improved; sign() is the sign function; q is the tracking signal after the speed loop sliding mode is improved.

[0018] Furthermore, the expression of the improved fal function is:

[0019]

[0020] Among them, IMTfal() is the improved fal function; e is the error signal; α is an adjustable parameter with a value of [0,1]; δ is the filter factor; tanh() is the hyperbolic tangent function.

[0021] Furthermore, the current loop controller based on the improved fal function adopts a sliding mode anti-disturbance control controller of the improved fal function.

[0022] Furthermore, the dq axis voltage component u d and u q The expressions are:

[0023]

[0024] Among them, e d0 is the current error signal of the tracking differentiator submodule of the d-axis in the current loop controller; is the d-axis reference current; v d1 It is the signal of the tracking differentiator submodule of the d-axis in the current loop controller; v d1 The first derivative of d is the d-axis current gain adjustment value; α d0 is the adjustable parameter of the tracking differentiator submodule of the d-axis in the current loop controller, and its value is [0,1]; d0 is the filter factor of the tracking differentiator submodule of the d-axis in the current loop controller; e d1 is the current error signal of the extended state observer submodule of the d-axis in the current loop controller; d1 is the d-axis tracking signal; i d is the d-axis current component; For z d1 The first derivative of d2 is the d-axis disturbance measurement value; β d1 is the gain coefficient of the differential component of the d-axis current tracking signal; IMTfal() is the improved fal function; α d1 is the adjustable parameter of the extended state observer submodule of the d-axis in the current loop controller, and its value is [0,1]; δ d1 is the filter factor of the extended state observer submodule of the d-axis in the current loop controller; f d (z d1 ) is the rate of change of d-axis current; R s is the motor resistance; L d is the d-axis current; b d is the expansion observer compensation factor of the d-axis; u d is the d-axis voltage component; For z d2 The first derivative of d2 is the gain coefficient of d-axis current disturbance error estimation; e d2 is the current error signal of the sliding mode anti-disturbance feedback control law submodule of the d-axis in the current loop controller; u d0 is the output control amount before d-axis compensation; p d is the switch adjustment factor after the d-axis current loop sliding mode is improved; sign() is the sign function; q d The tracking signal after the d-axis current loop sliding mode is improved; e q0 is the current error signal of the tracking differentiator submodule of the q-axis in the current loop controller; is the q-axis reference current; v q1 It is the signal of the tracking differentiator submodule of the q-axis in the current loop controller; v q1 The first derivative of q is the q-axis current gain adjustment value; α q0 is the adjustable parameter of the tracking differentiator submodule of the q-axis in the current loop controller, and its value is [0,1]; q0is the filter factor of the tracking differentiator submodule of the q axis in the current loop controller; e q1 is the error signal of the current of the extended state observer submodule of the q-axis in the current loop controller; q1 is the q-axis tracking signal; i q is the q-axis current component; For z q1 The first derivative of q2 is the q-axis disturbance measurement value; β q1 is the gain coefficient of the differential component of the q-axis current tracking signal; α q1 is the adjustable parameter of the extended state observer submodule of the q-axis in the current loop controller, and its value is [0,1]; δ q1 is the filter factor of the extended state observer submodule of the q-axis in the current loop controller; f q (z q1 ) is the rate of change of q-axis current; L q is the q-axis current; b q is the compensation factor of the extended observer on the q axis; u q is the q-axis voltage component; For z q2 The first derivative of q2 is the gain coefficient of q-axis current disturbance error estimation; e q2 u is the current error signal of the sliding mode anti-disturbance feedback control law submodule of the q-axis in the current loop controller; q0 is the output control value before q-axis compensation; p q is the switch adjustment factor after the q-axis current loop sliding mode is improved; q q It is the tracking signal after the improvement of the sliding mode of the q-axis current loop.

[0025] Further, according to the dq axis voltage component u d and u q , and obtain the three-phase current signal required by the permanent magnet synchronous motor. Specifically, the dq axis voltage component u is transformed by inverse Park transformation. d and u q Converted into stator voltage component in stationary coordinate system;

[0026] The stator voltage component in the stationary coordinate system is converted into a PWM signal through the SVPWM module;

[0027] According to the PWM signal, the inverter is used to generate the three-phase current signal required by the permanent magnet synchronous motor.

[0028] The beneficial effects of the present invention are as follows: the sliding mode self-disturbance rejection feedback control law submodule obtained by optimizing the nonlinear state error feedback control (NLSEF) through sliding mode control proposed in the present invention improves the dynamic response speed of PMSM and significantly shortens the system stabilization time. The improved fal function proposed in the present invention optimizes the NLSEF part in the ADRC control, improves the recovery ability of the motor under interference conditions, and can effectively suppress the impact of load fluctuations on the system. The control method proposed in the present invention uses improved sliding mode control to reduce the jitter phenomenon of the system, so that the system runs more smoothly while maintaining a fast response. The optimized fal function of the present invention reduces the controller's dependence on parameters, reduces the complexity of the control strategy, and facilitates parameter adjustment in practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a control block diagram of the present invention.

[0030] Figure 2 Schematic diagram of the sliding mode active disturbance rejection control (SMC-ADRC) device with improved fal function. DETAILED DESCRIPTION

[0031] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0032] like Figure 1 As shown, in one embodiment of the present invention, a permanent magnet synchronous motor control method based on an improved fal function includes:

[0033] Obtain the target speed, actual motor speed and three-phase current signal of the inverter; according to the target speed and actual motor speed, use the speed loop controller based on the improved fal function to obtain the q-axis reference current The d-axis reference current Set to 0; according to the three-phase current signal of the inverter, use Clark transformation to obtain the stator current component in the stationary coordinate system; use Park transformation to convert the stator current component in the stationary coordinate system into the current component i of the dq axis d and i q ; According to the q-axis reference current and the q-axis current component i q , get the q-axis current difference; according to the d-axis reference current and the d-axis current component i d, and obtain the d-axis current difference; according to the q-axis current difference and the d-axis current difference, the dq-axis voltage components u are obtained respectively by using the current loop controller based on the improved fal function. d and u q ; According to the dq axis voltage component u d and u q , and obtain the three-phase current signal required by the permanent magnet synchronous motor.

[0034] In this embodiment, the method proposed in the present invention mainly solves the following technical problems: improving the dual closed loops of speed loop and current loop; improving the fal function in ADRC self-disturbance rejection control; combining the sliding mode control algorithm; realizing adaptive adjustment of PMSM (permanent magnet synchronous motor) dynamic load and interference, and improving the system's response speed, anti-interference ability and overall control accuracy.

[0035] In this embodiment, Clark transform is Clark transform; Park transform is Park transform; inverse Park transform is Park inverse transform; SVPWM module is space vector pulse width modulation module; PWM signal is pulse width modulation signal.

[0036] The speed loop controller based on the improved fal function adopts a sliding mode anti-disturbance rejection controller of the improved fal function; the sliding mode anti-disturbance rejection controller of the improved fal function includes a tracking differentiator submodule, an extended state observer submodule and a sliding mode anti-disturbance rejection feedback control law submodule.

[0037] In this embodiment, Figure 2 As shown in the figure, it is a sliding mode active disturbance rejection controller (SMC-ADRC) device with improved fal function, TD is the tracking differentiator submodule, ESO is the extended state observer submodule, SMC-NLSEF is the sliding mode active disturbance rejection feedback control law submodule, v(t) is the given reference value input; u(t) is the output control quantity after compensation; b is the system compensation gain coefficient; u 0 (t) is the output after the nonlinear feedback control law; y(t) is the output signal at the current time step t.

[0038] The expressions of the tracking differentiator submodule, the extended state observer submodule and the sliding mode active disturbance rejection feedback control law submodule of the speed loop controller are respectively:

[0039]

[0040] Among them, e 0 is the error signal of the tracking differentiator submodule; 0 is the target speed; v 1 To track the signal of the differentiator submodule; v 1The first derivative of; r is the speed factor gain adjustment value; IMTfal() is the improved fal function; α 0 To track the adjustable parameters of the differentiator submodule, the value is [0,1]; δ 0 is the filter factor of the tracking differentiator submodule; e 1 is the error signal of the extended state observer submodule; 1 is the tracking signal; w 1 is the actual speed of the motor; For z 1 The first derivative of 2 is the disturbance measurement value; β 1 and β 2 are the gain coefficients of the differential component of the tracking signal; α 1 is the adjustable parameter of the extended state observer submodule, and its value is [0,1]; δ 1 is the filter factor of the extended state observer submodule; f s (z 1 ) is the speed change rate characteristic; B is the motor damping friction coefficient; J is the moment of inertia; b 0 is the compensation factor of the extended observer; is the q-axis reference current; For z 2 The first derivative of 2 is the error signal of the sliding mode ADRC control law submodule; i q0 is the output control quantity before compensation; p is the switch adjustment factor after the speed loop sliding mode is improved; sign() is the sign function; q is the tracking signal after the speed loop sliding mode is improved.

[0041] The expression of the improved fal function is:

[0042]

[0043] Among them, IMTfal() is the improved fal function; e is the error signal; α is an adjustable parameter with a value of [0,1]; δ is the filter factor; tanh() is the hyperbolic tangent function.

[0044] In this embodiment, in the nonlinear active disturbance rejection controller, the nonlinear function is very important for ADRC. The ADRC performance depends on the characteristics of the nonlinear function. When designing the nonlinear function, the following characteristics are required:

[0045] 1. Converge before parameter saturation;

[0046] 2. Continuous at the origin;

[0047] 3. Continuous and differentiable at discontinuity points.

[0048] The traditional fall function has the following form:

[0049]

[0050] Improvements are made on this basic nonlinear function to make the adjustment more flexible within the error range, thereby improving the system's response performance and anti-interference ability. When the function |e|≤δ, an exponential nonlinear function is used to process the error signal, and when |e|>δ, a saturation function is introduced. To smooth the transition and reduce the jitter caused by the system. The improved nonlinear function is IMTfal(), then:

[0051]

[0052] In order to ensure the continuity and smoothness of the function at |e| = δ, it is necessary to ensure that the values ​​of the two parts of the function are equal and establish the following equation:

[0053]

[0054] Solving the above equations, we get the following solution:

[0055]

[0056] The improved fal function expression is:

[0057]

[0058] The current loop controller based on the improved fal function adopts a sliding mode anti-disturbance controller of the improved fal function.

[0059] The dq axis voltage component u d and u q The expressions are:

[0060]

[0061]

[0062] Among them, e d0 is the current error signal of the tracking differentiator submodule of the d-axis in the current loop controller; is the d-axis reference current; v d1 It is the signal of the tracking differentiator submodule of the d-axis in the current loop controller; v d1 The first derivative of d is the d-axis current gain adjustment value; α d0 is the adjustable parameter of the tracking differentiator submodule of the d-axis in the current loop controller, and its value is [0,1]; d0is the filter factor of the tracking differentiator submodule of the d-axis in the current loop controller; e d1 is the current error signal of the extended state observer submodule of the d-axis in the current loop controller; d1 is the d-axis tracking signal; i d is the d-axis current component; For z d1 The first derivative of d2 is the d-axis disturbance measurement value; β d1 is the gain coefficient of the differential component of the d-axis current tracking signal; IMTfal() is the improved fal function; α d1 is the adjustable parameter of the extended state observer submodule of the d-axis in the current loop controller, and its value is [0,1]; δ d1 is the filter factor of the extended state observer submodule of the d-axis in the current loop controller; f d (z d1 ) is the rate of change of d-axis current; R s is the motor resistance; L d is the d-axis current; b d is the expansion observer compensation factor of the d-axis; u d is the d-axis voltage component; For z d2 The first derivative of d2 is the gain coefficient of d-axis current disturbance error estimation; e d2 is the current error signal of the sliding mode anti-disturbance feedback control law submodule of the d-axis in the current loop controller; u d0 is the output control amount before d-axis compensation; p d is the switch adjustment factor after the d-axis current loop sliding mode is improved; sign() is the sign function; q d The tracking signal after the d-axis current loop sliding mode is improved; e q0 is the current error signal of the tracking differentiator submodule of the q-axis in the current loop controller; is the q-axis reference current; v q1 It is the signal of the tracking differentiator submodule of the q-axis in the current loop controller; v q1 The first derivative of q is the q-axis current gain adjustment value; α q0 is the adjustable parameter of the tracking differentiator submodule of the q-axis in the current loop controller, and its value is [0,1]; q0 is the filter factor of the tracking differentiator submodule of the q axis in the current loop controller; e q1 is the error signal of the current of the extended state observer submodule of the q-axis in the current loop controller; q1 is the q-axis tracking signal; i q is the q-axis current component; For z q1 The first derivative of q2 is the q-axis disturbance measurement value; β q1 is the gain coefficient of the differential component of the q-axis current tracking signal; α q1 is the adjustable parameter of the extended state observer submodule of the q-axis in the current loop controller, and its value is [0,1]; δ q1 is the filter factor of the extended state observer submodule of the q-axis in the current loop controller; f q (z q1 ) is the rate of change of q-axis current; L q is the q-axis current; b q is the compensation factor of the extended observer on the q axis; u q is the q-axis voltage component; For z q2 The first derivative of q2 is the gain coefficient of q-axis current disturbance error estimation; e q2 u is the current error signal of the sliding mode anti-disturbance feedback control law submodule of the q-axis in the current loop controller; q0 is the output control value before q-axis compensation; p q is the switch adjustment factor after the q-axis current loop sliding mode is improved; q q It is the tracking signal after the improvement of the sliding mode of the q-axis current loop.

[0063] According to the dq axis voltage component u d and u q , and obtain the three-phase current signal required by the permanent magnet synchronous motor. Specifically, the dq axis voltage component u is transformed by inverse Park transformation. d and u q Converted into stator voltage component in stationary coordinate system;

[0064] The stator voltage component in the stationary coordinate system is converted into a PWM signal through the SVPWM module;

[0065] According to the PWM signal, the inverter is used to generate the three-phase current signal required by the permanent magnet synchronous motor.

Claims

1. A permanent magnet synchronous motor control method based on an improved fal function, characterized in that: include: Obtain the target speed, actual motor speed and three-phase current signal of the inverter; According to the target speed and the actual speed of the motor, the q-axis reference current is obtained by using the speed loop controller based on the improved fal function. The d-axis reference current Set to 0; According to the three-phase current signal of the inverter, the stator current component in the stationary coordinate system is obtained by using Clark transformation; The stator current component in the stationary coordinate system is converted into the current component i of the dq axis using Park transformation d and i q ; According to the q-axis reference current and the q-axis current component i q , and obtain the q-axis current difference; According to the d-axis reference current and the d-axis current component i d , get the d-axis current difference; According to the q-axis current difference and the d-axis current difference, the dq-axis voltage components u are obtained respectively by using the current loop controller based on the improved fal function. d and u q ; According to the dq axis voltage component u d and u q , and obtain the three-phase current signal required by the permanent magnet synchronous motor.

2. According to claim 1, the permanent magnet synchronous motor control method based on the improved fal function is characterized in that: The speed loop controller based on the improved fal function adopts a sliding mode anti-disturbance rejection controller of the improved fal function; the sliding mode anti-disturbance rejection controller of the improved fal function includes a tracking differentiator submodule, an extended state observer submodule and a sliding mode anti-disturbance rejection feedback control law submodule.

3. The permanent magnet synchronous motor control method based on the improved fal function according to claim 2 is characterized in that: The expressions of the tracking differentiator submodule, the extended state observer submodule and the sliding mode active disturbance rejection feedback control law submodule of the speed loop controller are respectively: Among them, e0 is the error signal of the tracking differentiator submodule; w0 is the target speed; v1 is the signal of the tracking differentiator submodule; is the first-order derivative of v1; r is the speed factor gain adjustment value; IMTfal() is the improved fal function; α0 is the adjustable parameter of the tracking differentiator submodule, and its value is [0,1]; δ0 is the filter factor of the tracking differentiator submodule; e1 is the error signal of the extended state observer submodule; z1 is the tracking signal; w1 is the actual speed of the motor; is the first-order derivative of z1; z2 is the disturbance measurement value; β1 and β2 are both gain coefficients of the differential component of the tracking signal; α1 is an adjustable parameter of the extended state observer submodule, and its value is [0,1]; δ1 is the filter factor of the extended state observer submodule; f s (z1) is the speed change rate characteristic; B is the motor damping friction coefficient; J is the moment of inertia; b0 is the compensation factor of the extended observer; is the q-axis reference current; is the first-order derivative of z2; e2 is the error signal of the sliding mode anti-disturbance feedback control law submodule; i q0 is the output control quantity before compensation; p is the switch adjustment factor after the speed loop sliding mode is improved; sign() is the sign function; q is the tracking signal after the speed loop sliding mode is improved.

4. According to claim 3, the permanent magnet synchronous motor control method based on the improved fal function is characterized in that: The expression of the improved fal function is: Among them, IMTfal() is the improved fal function; e is the error signal; α is an adjustable parameter with a value of [0,1]; δ is the filter factor; tanh() is the hyperbolic tangent function.

5. The permanent magnet synchronous motor control method based on the improved fal function according to claim 4 is characterized in that: The current loop controller based on the improved fal function adopts a sliding mode anti-disturbance controller of the improved fal function.

6. The permanent magnet synchronous motor control method based on the improved fal function according to claim 5 is characterized in that: The dq axis voltage component u d and u q The expressions are: Among them, e d0 is the current error signal of the tracking differentiator submodule of the d-axis in the current loop controller; is the d-axis reference current; v d1 It is the signal of the tracking differentiator submodule of the d-axis in the current loop controller; v d1 The first derivative of d is the d-axis current gain adjustment value; α d0 is the adjustable parameter of the tracking differentiator submodule of the d-axis in the current loop controller, and its value is [0,1]; d0 is the filter factor of the tracking differentiator submodule of the d-axis in the current loop controller; e d1 is the current error signal of the extended state observer submodule of the d-axis in the current loop controller; d1 is the d-axis tracking signal; i d is the d-axis current component; For z d1 The first derivative of d2 is the d-axis disturbance measurement value; β d1 is the gain coefficient of the differential component of the d-axis current tracking signal; IMTfal() is the improved fal function; α d1 is the adjustable parameter of the extended state observer submodule of the d-axis in the current loop controller, and its value is [0,1]; δ d1 is the filter factor of the extended state observer submodule of the d-axis in the current loop controller; f d (z d1 ) is the rate of change of d-axis current; R s is the motor resistance; L d is the d-axis current; b d is the expansion observer compensation factor of the d-axis; u d is the d-axis voltage component; For z d2 The first derivative of d2 is the gain coefficient of d-axis current disturbance error estimation; e d2 is the current error signal of the sliding mode anti-disturbance feedback control law submodule of the d-axis in the current loop controller; u d0 is the output control amount before d-axis compensation; p d is the switch adjustment factor after the d-axis current loop sliding mode is improved; sign() is the sign function; q d The tracking signal after the d-axis current loop sliding mode is improved; e q0 is the current error signal of the tracking differentiator submodule of the q-axis in the current loop controller; is the q-axis reference current; v q1 It is the signal of the tracking differentiator submodule of the q-axis in the current loop controller; v q1 The first derivative of q is the q-axis current gain adjustment value; α q0 is the adjustable parameter of the tracking differentiator submodule of the q-axis in the current loop controller, and its value is [0,1]; q0 is the filter factor of the tracking differentiator submodule of the q axis in the current loop controller; e q1 is the error signal of the current of the extended state observer submodule of the q-axis in the current loop controller; q1 is the q-axis tracking signal; i q is the q-axis current component; For z q1 The first derivative of q2 is the q-axis disturbance measurement value; β q1 is the gain coefficient of the differential component of the q-axis current tracking signal; α q1 is the adjustable parameter of the extended state observer submodule of the q-axis in the current loop controller, and its value is [0,1]; δ q1 is the filter factor of the extended state observer submodule of the q-axis in the current loop controller; f q (z q1 ) is the rate of change of q-axis current; L q is the q-axis current; b q is the compensation factor of the extended observer on the q axis; u q is the q-axis voltage component; For z q2 The first derivative of q2 is the gain coefficient of q-axis current disturbance error estimation; e q2 u is the current error signal of the sliding mode anti-disturbance feedback control law submodule of the q-axis in the current loop controller; q0 is the output control quantity before q-axis compensation; p q is the switch adjustment factor after the q-axis current loop sliding mode is improved; q q It is the tracking signal after the improvement of the sliding mode of the q-axis current loop.

7. The permanent magnet synchronous motor control method based on the improved fal function according to claim 1 is characterized in that: According to the dq axis voltage component u d and u q , get the three-phase current signal required by the permanent magnet synchronous motor, specifically: The dq axis voltage component u is converted into d and u q Converted into stator voltage component in stationary coordinate system; The stator voltage component in the stationary coordinate system is converted into a PWM signal through the SVPWM module; According to the PWM signal, the inverter is used to generate the three-phase current signal required by the permanent magnet synchronous motor.

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