Model-free deadbeat prediction speed control method and system for permanent magnet synchronous motor

Abstract

The invention relates to the field of motor control, and particularly discloses a model-free deadbeat predictive speed control method and system for a permanent magnet synchronous motor (PMSM), and the method comprises the steps: building a second-order hyperlocal model of the permanent magnet synchronous motor; according to the second-order hyper-local model of the permanent magnet synchronous motor, establishing a third-order linear expansion state observer; based on the second-order hyper-local model of the permanent magnet synchronous motor, establishing a model-free and dead-beat speed control law; and substituting the speed observed by the third-order linear expansion state observer and the observation value of the total disturbance in the next period into a model-free deadbeat speed control law to obtain a reference current. According to the method, the dynamic and steady-state performance of the PMSM driving system can be improved, the system has high robustness, and high-performance safe operation of speed control of the PMSM driving system is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of control of permanent magnet synchronous motors, and in particular to a model-free deadbeat prediction speed control method and system for permanent magnet synchronous motors. Background Art

[0002] Permanent magnet synchronous motor (PMSM) is widely used in robot servo control, electric vehicles, radar, optoelectronics and other fields due to its advantages such as high power density, high efficiency and low maintenance cost. In the permanent magnet synchronous motor drive system, double closed-loop control is usually adopted to combine the outer speed loop and the inner current loop. The reference current of the inner current loop is given by the outer speed control loop, so the speed controller largely determines the speed tracking performance and load disturbance suppression capability. Proportional integral (PI) control based on vector control has been widely used in PMSM drive systems due to its clear function, simple implementation and effectiveness. However, PMSM drive systems involve many uncertainties and unknown disturbances, including load torque, friction torque, parameter uncertainty and non-modeled dynamics, which makes it difficult to obtain satisfactory speed control performance in practice. Deadbeat predictive control has the advantages of easy implementation and fast dynamic response, but it is sensitive to the mathematical model and disturbance of the control system.

[0003] In order to overcome these defects and improve the robustness under various uncertainties and unknown disturbances, the present invention proposes a model-free and deadbeat predictive speed control method and system for a permanent magnet synchronous motor. Summary of the invention

[0004] The present invention provides a permanent magnet synchronous motor model-free deadbeat predictive speed control method and system to solve the problem that the deadbeat predictive control is very sensitive to the mathematical model and disturbance of the control system and has poor robustness.

[0005] To achieve the above tasks, the present invention provides the following technical solutions:

[0006] The present invention provides a model-free deadbeat prediction speed control method for a permanent magnet synchronous motor, comprising:

[0007] Establish a second-order hyperlocal model of a permanent magnet synchronous motor;

[0008] According to the second-order super-local model of the permanent magnet synchronous motor, a third-order linear extended state observer is established;

[0009] Based on the second-order super-local model of the permanent magnet synchronous motor, a model-free deadbeat speed control law is established;

[0010] The next period observation value of the speed and total disturbance observed by the third-order linear extended state observer is substituted into the model-free deadbeat speed control law to obtain the reference current.

[0011] Furthermore, the step of establishing the second-order super-local model of the permanent magnet synchronous motor specifically includes the following steps:

[0012] The initial kinematic equation of the permanent magnet synchronous motor is:

[0013]

[0014] Where θ is the mechanical angle of the permanent magnet synchronous motor; ω m J is the mechanical angular velocity of the permanent magnet synchronous motor; n is the total moment of inertia of the permanent magnet synchronous motor; T e and T L are electromagnetic torque and load torque respectively; B n is the viscous friction coefficient; d n is a constant disturbance; f t It represents the total disturbance caused by parameter mismatch and other unknown disturbances; n p is the number of pole pairs of the permanent magnet synchronous motor; is the magnetic flux of the permanent magnet synchronous motor; i q is the q-axis stator current.

[0015] Based on the hyperlocal model:

[0016]

[0017] The initial kinematic equation of the permanent magnet synchronous motor can be rewritten as the second-order super-local model of the permanent magnet synchronous motor:

[0018]

[0019] Among them, α is the non-physical proportional factor, and F represents the known and unknown parts of the system.

[0020] Furthermore, the step of establishing a third-order linear extended state observer according to the second-order super-local model of the permanent magnet synchronous motor specifically includes the following steps:

[0021] Based on the second-order super-local model of the permanent magnet synchronous motor, θ, ω m , F is the state variable, and the established third-order linear extended state observer is:

[0022]

[0023] in, and is θ, ω m , is the estimated value of F, and β1, β2 and β3 are the error feedback gains of the observer.

[0024] The discrete form of the third-order linear extended state observer is:

[0025]

[0026] Among them, β 01 =T s β1, β 02 =T s β2 and β 03 =T s β3 is the discrete observer gain; T s is the speed loop control period; θ(k), e rr (k) i q (k) represents the value of the corresponding variable in the kth period.

[0027] Furthermore, the step of establishing a model-free deadbeat control law based on the second-order super-local model of the permanent magnet synchronous motor specifically includes the following steps:

[0028] Discretize the second-order hyperlocal model of a permanent magnet synchronous motor:

[0029]

[0030] Definition m (k+1) reaches the desired motor speed The above formula can be changed to:

[0031]

[0032] Taking into account the one-step delay of digital implementation, the above formula can be changed to:

[0033]

[0034] In order to reduce the overshoot of dynamic response, an n T Variable, then the model-free deadbeat speed control law is

[0035]

[0036] in, is the reference current control quantity.

[0037] Furthermore, the next period observation values ​​of the speed and total disturbance observed by the third-order linear extended state observer are substituted into the model-free deadbeat speed control law to obtain the reference current step, which is specifically as follows:

[0038] Since the value of the velocity and total disturbance in the next period is ω m(k+1) and F(k+1) are unknown, so the next observation value of the velocity and total disturbance observed by the established third-order linear extended state observer is and Substitute it into the model-free deadbeat speed control law to realize model-free deadbeat predictive speed control and obtain the final q-axis stator reference current:

[0039]

[0040] The present invention provides a permanent magnet synchronous motor model-free deadbeat prediction speed control system, comprising:

[0041] A model building module is used to establish a second-order super-local model of the permanent magnet synchronous motor; and a third-order linear extended state observer is established based on the second-order super-local model of the permanent magnet synchronous motor;

[0042] An information acquisition module, used to acquire and predict the operating state information of the permanent magnet synchronous motor according to the third-order linear extended state observer;

[0043] A control design template, which establishes a model-free deadbeat speed control law through a second-order super-local model of the permanent magnet synchronous motor;

[0044] The speed control module obtains the operating state information of the permanent magnet synchronous motor from the information acquisition module, predicts the observed values ​​of speed and total disturbance through the third-order linear extended state observer, substitutes them into the model-free deadbeat speed control law, realizes model-free deadbeat prediction speed control, and obtains the reference current.

[0045] The present invention provides a device, which includes a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing a model-free and zero-beat prediction speed control method for a permanent magnet synchronous motor; and the processor is used to execute the program instructions stored in the memory to implement model-free and zero-beat prediction speed control of the permanent magnet synchronous motor.

[0046] The present invention provides a storage medium storing program instructions executable by a processor, wherein the program instructions are used to execute steps of a method for model-free and deadbeat predictive speed control of a permanent magnet synchronous motor.

[0047] The present application provides a method and system for model-free deadbeat prediction speed control of a permanent magnet synchronous motor, which has the following beneficial effects:

[0048] 1. The present invention establishes a second-order hyperlocal model of the PMSM speed control system based on the q-axis current input and angle output of the PMSM speed control system. In the hyperlocal model, the influence of PMSM parameter changes and external disturbances are simultaneously taken into account, and then the hyperlocal model is discretized as a prediction model, avoiding the delay problem caused by using a speed filter for angle differential, realizing model-free and deadbeat predictive speed control, and effectively improving the dynamic and steady-state performance of the PMSM drive system.

[0049] 2. The present invention does not rely on the mathematical model of PMSM speed control. It not only retains the technical advantage of excellent dynamic performance of the deadbeat predictive speed control, but also effectively improves the deficiency of the deadbeat predictive speed control method in terms of sensitive dependence on the mathematical model of the PMSM drive system.

[0050] 3. The present invention solves the problems of long calculation time and large fluctuation of estimated values ​​in traditional disturbance estimation methods by introducing a third-order linear extended state observer into the total disturbance estimation of a super-local model. Secondly, the q-axis reference current control rate is improved and an adjustment factor is introduced to effectively solve the problem of overshoot when the speed error is large, thereby achieving strong robustness and high-precision speed control of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of a model-free and deadbeat predictive speed control method for a permanent magnet synchronous motor according to Embodiment 1 of the present invention.

[0052] Figure 2 This is a schematic diagram of the simulation model structure of a model-free and deadbeat predictive speed control method for a permanent magnet synchronous motor according to Example 1 of the present invention.

[0053] Figure 3 This is a graph showing the step tracking experimental results of the traditional model-free and deadbeat predictive speed control method of Example 1.

[0054] Figure 4 This is a graph of step tracking experimental results of the model-free and deadbeat predictive speed control method provided by the present invention in Example 1.

[0055] Figure 5 This is a graph showing the torque mutation experiment results of the traditional model-free and deadbeat predictive speed control method of Example 1.

[0056] Figure 6 This is a graph showing the torque mutation experimental results of the model-free and zero-beat predictive speed control method provided by the present invention in Example 1.

[0057] Figure 7 This is a structural schematic diagram of a model-free and deadbeat predictive speed control system for a permanent magnet synchronous motor according to embodiment 2 of the present invention.

[0058] Figure 8 This is a schematic diagram of the device structure of Example 3 of the present invention.

[0059] Fig. 9 This is a schematic diagram of the storage medium structure of Example 4 of the present invention. DETAILED DESCRIPTION

[0060] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] Example 1

[0063] Figure 1 This is a flow chart of a method for model-free deadbeat prediction speed control of a permanent magnet synchronous motor according to Embodiment 1 of the present invention, and the steps include:

[0064] S1: Establish a second-order hyperlocal model of a permanent magnet synchronous motor.

[0065] In this embodiment, the initial kinematic equation of the permanent magnet synchronous motor is:

[0066]

[0067] Where θ is the mechanical angle of the permanent magnet synchronous motor; ω m J is the mechanical angular velocity of the permanent magnet synchronous motor; n is the total moment of inertia of the permanent magnet synchronous motor; T e and T L are electromagnetic torque and load torque respectively; B n is the viscous friction coefficient; d n is a constant disturbance; f t It represents the total disturbance caused by parameter mismatch and other unknown disturbances;

[0068] For a surface mounted permanent magnet synchronous motor, the electromagnetic torque equation of the permanent magnet synchronous motor is:

[0069]

[0070] Among them, n p is the number of magnetic pole pairs of the permanent magnet synchronous motor; is the permanent magnet flux of the permanent magnet synchronous motor; i d and i qare the stator currents of the d-axis and q-axis respectively, L d =L q are the stator inductances of the d-axis and q-axis respectively.

[0071] The initial kinematic equation and electromagnetic torque equation are rewritten, and the second-order kinematic equation of the permanent magnet synchronous motor is:

[0072]

[0073] The expression of the hyperlocal model is:

[0074]

[0075] Among them, y is the system output, u is the system control variable, F is the known and unknown parts of the system, and α is the non-physical proportional factor.

[0076] Based on the hyperlocal model, the second-order kinematic equation of the permanent magnet synchronous motor can be rewritten as the second-order hyperlocal model of the permanent magnet synchronous motor:

[0077]

[0078] in, is the non-physical proportional factor of the system, F = (-T L -B n ω m -d n -f t ) / J n Represents the known and unknown parts of the system.

[0079] S2: According to the second-order super-local model of the permanent magnet synchronous motor, a third-order linear extended state observer is established.

[0080] The angle θ and speed ω in the second-order hyperlocal model of permanent magnet synchronous motor m , the total unknown part F is the state variable, and the established third-order extended state observer is:

[0081]

[0082] in, and is θ, ω m , is the estimated value of F, and β1, β2 and β3 are the error feedback gains of the observer.

[0083] According to the established third-order extended state observer, the characteristic equation expression is:

[0084] s 3 +β1s 2 +β2s+β3=0,

[0085] In order to make the root of the characteristic equation fall on -ω0 on the negative semi-axis, the values ​​of β1, β2 and β3 are

[0086]

[0087] Where ω0 is the bandwidth of the extended state observer, which affects the steady-state and dynamic performance of the observer.

[0088] In the designed third-order linear extended state observer, β1, β2 and β3 affect the observer performance, thus affecting the control effect of the method of the present invention. However, the value of ω0 is not very intuitive. Therefore, in order to design the values ​​of these three parameters more intuitively, the established third-order extended state observer is changed to a discrete form.

[0089]

[0090] Among them, β 01 =T s β1, β 02 =T s β2 and β 03 =T s β3 is the discrete observer gain; T s is the speed loop control period; “(k)” represents the value of the variable in the kth period.

[0091] According to the discrete form of the third-order extended state observer, the transfer function of the extended state observer is

[0092]

[0093] The characteristic equation of the transfer function is:

[0094]

[0095] Considering β 01 =3ω0T s , and Then the roots of the characteristic equation are:

[0096] z 123 =1-ω0T s ,

[0097] Then the value of ω0 can be intuitively expressed as:

[0098] Where 0 <z 123 <1.

[0099] S3: Based on the second-order super-local model of the permanent magnet synchronous motor, a model-free and deadbeat speed control law is established.

[0100] Discretize the second-order hyperlocal model of a permanent magnet synchronous motor:

[0101]

[0102] By assuming ω m (k+1) reaches the desired motor speed The above formula can be changed to:

[0103]

[0104] Taking into account the one-step delay of digital implementation, the above formula can be changed to:

[0105]

[0106] In order to reduce the overshoot of dynamic response, an n T Parameters, then the model-free deadbeat speed control law is

[0107]

[0108] in, is the reference current control quantity.

[0109] S4: Substitute the next period observation values ​​of the speed and total disturbance observed by the third-order linear extended state observer into the model-free deadbeat speed control law to obtain a reference current.

[0110] Since the value of the velocity and total disturbance in the next period is ω m (k+1) and F(k+1) are unknown, and F cannot be directly obtained, so the next observation value of the velocity and total disturbance observed by the established third-order linear extended state observer is and Substitute it into the model-free deadbeat speed control law to realize model-free deadbeat predictive speed control and obtain the final q-axis stator reference current:

[0111]

[0112] See also Figure 2 , is a schematic diagram of the simulation model structure of a permanent magnet synchronous motor model-free zero-beat prediction speed control method according to Embodiment 1 of the present application. In the figure, I a , I b and I c are the three-phase currents of the permanent magnet synchronous motor, I d and I q are the actual currents of the permanent magnet synchronous motor d-axis and q-axis respectively, and are the expected currents of the permanent magnet synchronous motor d-axis and q-axis, U d and U qare the d-axis and q-axis voltages of the permanent magnet synchronous motor, U α and U β are the voltages of the α-axis and β-axis of the permanent magnet synchronous motor, S abc is the inverter switching signal state vector modulated by SVPWM.

[0113] In the simulation model, the speed loop controller adopts the model-free deadbeat predictive speed control of the present invention, and the current loop controller adopts the PI controller. First, given the desired mechanical angular velocity of the permanent magnet synchronous motor The encoder is used to collect the mechanical angle θ of the motor, which is used for coordinate transformation and used in the third-order extended state observer to obtain the predicted estimate of the total disturbance. and the predicted estimate of speed The q-axis stator reference current is obtained by the model-free deadbeat predictive speed control law Then, the three-phase current I of the motor is obtained using the current sensor. a , I b and I c , and then the actual current I of the motor d-axis and q-axis is obtained through coordinate transformation d and I q , used for current loop control to obtain the voltage U of the d-axis and q-axis d and U q ; Further, the switching signal state vector S of the inverter is obtained by coordinate transformation and SVPWM pulse width modulation method abc ; Finally, the inverter outputs three-phase current to drive the permanent magnet synchronous motor to operate.

[0114] See also Figure 3 and Figure 4 , respectively, are schematic diagrams of step tracking experimental results of the conventional model-free deadbeat prediction speed control method of Example 1 of the present application and the model-free deadbeat prediction speed control method based on the third-order extended state observer of the present invention. It can be seen from the experimental results in the figure that at the desired mechanical angular velocity When the total disturbance estimate of the present invention is The fluctuation amplitude is significantly smaller than the total disturbance estimated by the conventional model-free deadbeat prediction speed control method, which enables the model-free deadbeat prediction speed control method of the present invention to track the desired speed faster without overshoot. Moreover, when the motor is reversed at a high speed of 90rpm, the adjustment time of the model-free deadbeat prediction speed control method of the present invention is also shorter.

[0115] See also Figure 5 and Figure 6, which are schematic diagrams of torque mutation experimental results of the traditional model-free zero-beat prediction speed control method of Example 1 of the present application and the model-free zero-beat prediction speed control method based on the third-order extended state observer of the present invention. When the motor rotation speed is 60rpm, the load torque of 8Nm applied to the motor suddenly becomes 0 at 1s. It can be seen from the experimental results in the figure that compared with the traditional model-free zero-beat prediction speed control method, the control method of the present invention can significantly reduce the speed fluctuation of the motor, and also reach the steady state faster, thereby improving the anti-external disturbance performance of the permanent magnet synchronous motor speed control. At the same time, it can also be seen that when the load torque of the traditional model-free zero-beat prediction speed control method is large, there is an obvious static difference between the actual speed and the expected speed, and the control method of the present invention solves this problem.

[0116] In summary, the embodiment 1 of the present application embeds the extended observer technology into the design of the model-free deadbeat prediction speed controller, so that it can track the desired speed command faster and effectively suppress the disturbance of the external load torque, thereby solving the problem of long calculation time of the traditional model-free deadbeat prediction speed control method and improving the control accuracy of the permanent magnet synchronous motor speed control. The present invention can improve the dynamic and steady-state performance of the PMSM drive system, and make the system have strong robustness, so as to realize the high-performance and safe operation of the PMSM drive system speed control.

[0117] Example 2

[0118] See also Figure 7 , is a structural diagram of a permanent magnet synchronous motor model-free deadbeat prediction speed control system 400 according to Embodiment 2 of the present application; the specific contents include:

[0119] The model building module 410 is used to establish a second-order super-local model of the permanent magnet synchronous motor; and to establish a third-order linear extended state observer according to the second-order super-local model of the permanent magnet synchronous motor;

[0120] An information acquisition module 420, configured to acquire and predict the operating state information of the permanent magnet synchronous motor according to the third-order linear extended state observer;

[0121] A control design template 430, establishing a model-free deadbeat speed control law through a second-order super-local model of the permanent magnet synchronous motor;

[0122] The speed control module 440 obtains the operating state information of the permanent magnet synchronous motor from the information acquisition module, predicts the observed values ​​of speed and total disturbance through the third-order linear extended state observer, substitutes them into the model-free deadbeat speed control law, realizes model-free deadbeat prediction speed control, and obtains the reference current.

[0123] Example 3

[0124] See also Figure 8 , is a schematic diagram of the device structure of Embodiment 3 of the present application. The device 500 includes a processor 510 and a memory 520 coupled to the processor 510 .

[0125] The memory 520 stores program instructions for implementing the above-mentioned method for model-free deadbeat predictive speed control of a permanent magnet synchronous motor.

[0126] The processor 510 is used to execute program instructions stored in the memory 520 to implement a model-free deadbeat predictive speed control of a permanent magnet synchronous motor.

[0127] The processor 510 may also be referred to as a CPU (Central Processing Unit). The processor 510 may be an integrated circuit chip having signal processing capabilities. The processor 510 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0128] Example 4

[0129] See also Fig. 9 , which is a schematic diagram of the structure of the storage medium of Example 4 of the present application. The storage medium of the embodiment of the present application stores a program file 610 that can implement all the above methods, wherein the program file 610 can be stored in the above storage medium in the form of a software product, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or a computer, a server, a mobile phone, a tablet, and other devices.

[0130] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0131] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

[0132] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

[0133] Of course, the present invention may have many other implementations. Based on this implementation, other implementations obtained by ordinary technicians in this field without any creative work are all within the scope of protection of the present invention.

Claims

1. A model-free deadbeat predictive speed control method for a permanent magnet synchronous motor, characterized in that: include: Establish a second-order hyperlocal model of a permanent magnet synchronous motor; According to the second-order super-local model of the permanent magnet synchronous motor, a third-order linear extended state observer is established; Based on the second-order super-local model of the permanent magnet synchronous motor, a model-free deadbeat speed control law is established; The next period observation value of the speed and total disturbance observed by the third-order linear extended state observer is substituted into the model-free deadbeat speed control law to obtain the reference current.

2. A method for model-free deadbeat prediction speed control of a permanent magnet synchronous motor according to claim 1, characterized in that: The second-order super-local model of the permanent magnet synchronous motor is established, specifically comprising the steps of: Construct the initial kinematic equations of the permanent magnet synchronous motor; Where θ is the mechanical angle of the permanent magnet synchronous motor; ω m J is the mechanical angular velocity of the permanent magnet synchronous motor; n is the total moment of inertia of the permanent magnet synchronous motor; T e and T L are electromagnetic torque and load torque respectively; B n is the viscous friction coefficient; d n is a constant disturbance; f t It represents the total disturbance caused by parameter mismatch and other unknown disturbances; n p is the number of magnetic pole pairs of the permanent magnet synchronous motor; is the permanent magnet flux of the permanent magnet synchronous motor; i q is the q-axis stator current; Based on the hyperlocal model, the second-order hyperlocal model corresponding to the initial kinematic equation of the permanent magnet synchronous motor is constructed as follows: in, is the non-physical proportional factor of the permanent magnet synchronous motor speed control system, It represents the known and unknown parts of the permanent magnet synchronous motor speed control system.

3. A method for model-free deadbeat prediction speed control of a permanent magnet synchronous motor according to claim 1, characterized in that: The hyperlocal model is: Among them, y is the system output, u is the system control variable, F is the known and unknown parts of the system, and α is the non-physical proportional factor.

4. A method for model-free deadbeat prediction speed control of a permanent magnet synchronous motor according to claim 3, characterized in that: The third-order linear extended state observer is: in, and is θ, ω m , is the estimated value of F, and β1, β2 and β3 are the error feedback gains of the observer.

5. A method for model-free deadbeat prediction speed control of a permanent magnet synchronous motor according to claim 4, characterized in that: The discrete form of the third-order linear extended state observer is: Among them, β 01 =T s β1, β 02 =T s β2 and β 03 =T s β3 is the discrete observer gain; T s is the speed loop control period; θ(k), e rr (k) i q (k) represents the value of the corresponding variable in the kth period.

6. A method for model-free deadbeat prediction speed control of a permanent magnet synchronous motor according to claim 1, characterized in that: The establishment of a model-free deadbeat speed control law specifically includes: Discretize the second-order hyperlocal model of a permanent magnet synchronous motor: Definition m (k+1) reaches the desired motor speed The second-order super-local model of the permanent magnet synchronous motor is obtained as: Taking into account the one-step delay of the digital implementation, we obtain: Introducing an n T Variable, then the model-free deadbeat speed control law is: in, is the reference current control quantity.

7. A method for model-free deadbeat prediction speed control of a permanent magnet synchronous motor according to claim 1, characterized in that: The next period observation value of the speed and total disturbance observed by the third-order linear extended state observer is substituted into the model-free speed control law to obtain the reference current step, which is specifically as follows: The next observation value of the velocity and total disturbance observed by the third-order linear extended state observer is and Substitute it into the model-free deadbeat speed control law to realize model-free deadbeat predictive speed control and obtain the final q-axis stator reference current:

8. A model-free deadbeat predictive speed control system for a permanent magnet synchronous motor, characterized in that: include: A model building module is used to establish a second-order super-local model of the permanent magnet synchronous motor; and a third-order linear extended state observer is established based on the second-order super-local model of the permanent magnet synchronous motor; An information acquisition module, used to acquire and predict the operating state information of the permanent magnet synchronous motor according to the third-order linear extended state observer; A control design template, which establishes a model-free deadbeat speed control law through a second-order super-local model of the permanent magnet synchronous motor; The speed control module obtains the operating state information of the permanent magnet synchronous motor from the information acquisition module, predicts the observed values ​​of speed and total disturbance through the third-order linear extended state observer, substitutes them into the model-free deadbeat speed control law, realizes model-free deadbeat prediction speed control, and obtains the reference current.

9. A device, characterized in that: The device includes a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing a model-free and zero-beat predictive speed control method for a permanent magnet synchronous motor as described in any one of claims 1 to 7; and the processor is used to execute the program instructions stored in the memory to implement model-free and zero-beat predictive speed control of the permanent magnet synchronous motor.

10. A storage medium, characterized in that: Program instructions executable by a processor are stored, and the program instructions are used to execute the steps of a model-free and deadbeat predictive speed control method for a permanent magnet synchronous motor as described in any one of claims 1 to 7.

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