A model-free deadbeat predictive speed control method and system for permanent magnet synchronous motor

Abstract

The application 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), which comprises the following steps: establishing a second-order hyper-local model of the PMSM; establishing a third-order linear extended state observer according to the second-order hyper-local model of the PMSM; establishing a model-free deadbeat speed control law based on the second-order hyper-local model of the PMSM; and substituting the speed observed by the third-order linear extended state observer and the next-period observation value of the total disturbance into the model-free deadbeat speed control law to obtain a reference current. The application can improve the dynamic and steady-state performance of the PMSM driving system, and makes the system have strong robustness, so that high-performance safe operation of the PMSM driving system speed control is realized.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of control of permanent magnet synchronous motors, and in particular to a model-free deadbeat predictive speed control method and system for a permanent magnet synchronous motor. BACKGROUND

[0002] Due to the advantages of high power density, high efficiency and low maintenance cost, permanent magnet synchronous motors (PMSMs) are widely used in robot servo control, electric vehicles, radars, photoelectricity and other fields. In a PMSM drive system, a double closed-loop control is usually adopted to combine a speed outer loop and a current inner loop. The reference current of the internal current loop is given by the external speed control loop, and therefore, the speed controller determines the speed tracking performance and the load disturbance rejection capability to a great extent. Due to its clear function, simplicity and effectiveness, proportional integral (PI) control based on vector control has been widely applied in PMSM drive systems. However, PMSM drive systems involve many uncertainties and unknown disturbances, including load torque, friction torque, parameter uncertainty and non-modeling 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 very 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 application provides a model-free deadbeat predictive speed control method and system for a permanent magnet synchronous motor. SUMMARY

[0004] The application provides a model-free deadbeat predictive speed control method and system for a permanent magnet synchronous motor to solve the problem that 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-mentioned tasks, the application provides the technical solutions as follows:

[0006] The application provides a model-free deadbeat predictive speed control method for a permanent magnet synchronous motor, which comprises the following steps:

[0007] A second-order hyper-local model of the permanent magnet synchronous motor is established;

[0008] A third-order linear extended state observer is established according to the second-order hyper-local model of the permanent magnet synchronous motor;

[0009] A model-free deadbeat speed control law is established based on the second-order hyper-local model of the permanent magnet synchronous motor;

[0010] The next period observation value of the speed and the 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] Further, the step of establishing the second-order hyper-local model of the permanent magnet synchronous motor specifically comprises the following steps:

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

[0013]

[0014] Wherein, θ is the mechanical angle of the permanent magnet synchronous motor; ω m is the mechanical angular velocity of the permanent magnet synchronous motor; J n is the total rotational inertia of the permanent magnet synchronous motor; T e and T L are the electromagnetic torque and the load torque, respectively; B n is the viscous friction coefficient; d n is a constant disturbance; f t represents the total disturbance caused by parameter mismatch and other unknown disturbances; n p is the pole pair number 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 hyper-local model:

[0016]

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

[0018]

[0019] Wherein, α is a non-physical scale factor, and F represents the known and unknown parts of the system.

[0020] Further, the step of establishing a third-order linear extended state observer based on the second-order hyper-local model of the permanent magnet synchronous motor specifically comprises the following steps:

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

[0022]

[0023] Wherein, and are the estimated values of θ, ω m , and 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] Where β 01 = T s β1, β 02 = T s β2 and β 03 = T s β3 are the discrete observer gains; T s is the speed loop control period; θ(k), e rr (k) and ω q (k) represent the value of the corresponding variable in the kth period.

[0027] Further, the second-order hyper-local model based on the permanent magnet synchronous motor is discretized as follows:

[0028]

[0029]

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

[0031]

[0032] Considering 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 is introduced, and the model-free deadbeat speed control law is

[0035]

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

[0037] Further, in the step of substituting the next period observation values of speed and total disturbance observed by the third-order linear extended state observer into the model-free deadbeat speed control law to obtain the reference current, the specific steps are as follows:

[0038] Since the next period values of speed and total disturbance ω m ​​(k+1) and F(k+1) are unknown, so the next period observation value of the speed and total disturbance observed by the established third-order linear extended state observer and Into the model-free deadbeat speed control law, the model-free deadbeat predictive speed control is realized, and the final q-axis stator reference current is obtained:

[0039]

[0040] The application provides a model-free deadbeat predictive speed control system of a permanent magnet synchronous motor, comprising:

[0041] A model construction module is configured to establish a second-order hyper-local model of the permanent magnet synchronous motor, and establish a third-order linear extended state observer according to the second-order hyper-local model of the permanent magnet synchronous motor.

[0042] An information acquisition module is configured 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 is configured to establish a model-free deadbeat speed control law through the second-order hyper-local model of the permanent magnet synchronous motor.

[0044] A speed control module is configured to acquire the operating state information of the permanent magnet synchronous motor from the information acquisition module, predict the observation value of the speed and total disturbance through the third-order linear extended state observer, and substitute the observation value into the model-free deadbeat speed control law to realize the model-free deadbeat predictive speed control and obtain the reference current.

[0045] The application provides a device comprising a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing a model-free deadbeat predictive speed control method of a permanent magnet synchronous motor; and the processor is configured to execute the program instructions stored in the memory to implement the model-free deadbeat predictive speed control of the permanent magnet synchronous motor.

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

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

[0048] 1. The application is based on the q-axis current input and angle output of the PMSM speed control system to establish a second-order hyperlocal model of the PMSM speed control system, the influence of PMSM parameter changes and external disturbances is considered in the hyperlocal model, and the hyperlocal model is discretized as a prediction model, which avoids the delay problem caused by using a speed filter for angle differentiation, realizes model-free and deadbeat prediction speed control, and effectively improves the dynamic and steady-state performance of the PMSM driving system.

[0049] 2. The application does not depend on the mathematical model of the PMSM speed control, not only retains the technical advantages of the dynamic performance of the deadbeat prediction speed control, but also effectively improves the deficiency of the deadbeat prediction speed control method for the sensitive dependence of the PMSM driving system mathematical model.

[0050] 3. The application introduces a third-order linear extended state observer into the total disturbance estimation of the hyperlocal model, solves the problem of long calculation time and large fluctuation of the estimated value of the traditional disturbance estimation method, and improves the q-axis reference current control rate by introducing an adjustment factor, effectively solves the problem of overshoot when the speed error is large, and realizes the strong robustness and high precision of the speed control of the permanent magnet synchronous motor. DETAILED DESCRIPTION

[0051] Figure 1 It is a flowchart of a model-free and deadbeat prediction speed control method for a permanent magnet synchronous motor of the application embodiment 1.

[0052] Figure 2 It is a simulation model structure diagram of a model-free and deadbeat prediction speed control method for a permanent magnet synchronous motor of the application embodiment 1.

[0053] Figure 3 It is a step tracking experimental result diagram of the traditional model-free and deadbeat prediction speed control method of the application embodiment 1.

[0054] Figure 4 It is a step tracking experimental result diagram of the model-free and deadbeat prediction speed control method provided by the application of the application embodiment 1.

[0055] Figure 5 It is a torque mutation experimental result diagram of the traditional model-free and deadbeat prediction speed control method of the application embodiment 1.

[0056] Figure 6 It is a torque mutation experimental result diagram of the model-free and deadbeat prediction speed control method provided by the application of the application embodiment 1.

[0057] Figure 7 It is a structure diagram of a model-free and deadbeat prediction speed control system for a permanent magnet synchronous motor of the application embodiment 2.

[0058] Figure 8 Figure 3 is a structural schematic diagram of an apparatus according to an embodiment of the present application.

[0059] Figure 9 Figure 4 is a structural schematic diagram of a storage medium according to an embodiment of the present application. DETAILED DESCRIPTION

[0060] It should be understood that the specific embodiments described herein merely exemplify the application and do not limit the application.

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0062] Embodiment 1

[0063] Figure 1 Figure 1 is a flow schematic diagram of a model-free deadbeat predictive speed control method for a permanent magnet synchronous motor according to an embodiment of the present application, and the steps include:

[0064] S1: establishing a second-order hyper-local model of the 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 is the mechanical angular velocity of the permanent magnet synchronous motor; J n is the total rotational inertia of the permanent magnet synchronous motor; T e and T L are the electromagnetic torque and the load torque, respectively; B n is the viscous friction coefficient; d n is a constant disturbance; f t 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] where n p is the number of magnetic pole pairs of the permanent magnet synchronous motor; is the permanent magnet flux linkage of the permanent magnet synchronous motor; i d and i qStator currents in d and q axes, respectively, L d = L q Stator inductances in d and q axes, respectively.

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

[0072]

[0073] The expression of the superlocal model is:

[0074]

[0075] Wherein, y is the system output, u is the system control variable, F is the known and unknown part of the system, and alpha is a non-physical proportional factor.

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

[0077]

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

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

[0080] Taking the angle theta, the speed omega m in the second-order superlocal model of the permanent magnet synchronous motor and the total unknown part F as state variables, the third-order extended state observer established is:

[0081]

[0082] Wherein, and are the estimated values of theta, omega m , F, and beta1, beta2 and beta3 are the error feedback gains of the observer.

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

[0084] s 3 + beta1s 2 + beta2s + beta3 = 0,

[0085] To make the roots of the characteristic equation fall on -ω0 on the negative half-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, and thus affect the control effect of the method of the application, however, the value of ω0 is not very intuitive, therefore, in order to more intuitively design the values of the three parameters, the established third-order extended state observer is changed into a discrete form

[0089]

[0090] where β 01 = T s β1, β 02 = T s β2 and β 03 = T s β3 are the gains of the discrete observer; T s is the speed loop control period; and "(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 that β 01 = 3ω0T s , and 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 hyper-local model of the permanent magnet synchronous motor, a model-free deadbeat speed control law is established.

[0100] Discretize the second-order hyper-local model of PMSM:

[0101]

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

[0103]

[0104] Considering 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 Parameter is introduced, and the model-free deadbeat speed control law is:

[0107]

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

[0109] S4: The next period observation values of 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.

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

[0111]

[0112] Please refer to Figure 2 , which is a simulation model structure diagram of a model-free deadbeat predictive speed control method of a PMSM according to Embodiment 1 of the present application. In the diagram, I a , I b and I c are three-phase currents of the PMSM, I d and I q are actual d-axis and q-axis currents of the PMSM, and are desired d-axis and q-axis currents of the PMSM, U d and U q ​​respectively are the d-axis and q-axis voltages of the permanent magnet synchronous motor, U α and U β respectively are the α-axis and β-axis voltages of the permanent magnet synchronous motor, S abc is the inverter switching signal state vector of the SVPWM modulation.

[0113] In the simulation model, the speed loop controller adopts the model-free deadbeat predictive speed control of the application, and the current loop controller adopts a PI controller. First, the desired mechanical angular velocity of the permanent magnet synchronous motor is given The mechanical angle θ of the motor is collected by the encoder, which is used for coordinate conversion and for obtaining the predicted estimation value of the total disturbance and the predicted estimation value of the speed The q-axis stator reference current is obtained by the model-free deadbeat predictive speed control law Then, the three-phase currents I a , I b and I c of the motor are obtained by the current sensor, and the actual currents I d and I q of the d-axis and q-axis of the motor are obtained by coordinate transformation, which are used for current loop control to obtain the voltages U d and U q of the d-axis and q-axis; further, the switching signal state vector S abc of the inverter is obtained by coordinate transformation and SVPWM pulse width modulation method; finally, the inverter outputs three-phase currents to drive the permanent magnet synchronous motor to run.

[0114] Please refer to Figure 3 and Figure 4 , which are respectively the step tracking experimental results of the conventional model-free deadbeat predictive speed control method of Embodiment 1 of the application and the model-free deadbeat predictive speed control method based on the third-order extended state observer of the application. From the experimental results in the figures, it can be seen that when the desired mechanical angular velocity , the fluctuation amplitude of the total disturbance estimation value of the application is obviously smaller than that of the conventional model-free deadbeat predictive speed control method, which makes the model-free deadbeat predictive speed control method of the application be able to track the desired speed more quickly and without overshoot. Moreover, when the motor is high-speed reversed at 90 rpm, the adjustment time of the model-free deadbeat predictive speed control method of the application is also shorter.

[0115] Please refer to Figure 5 and Figure 6, respectively, are schematic diagrams of torque jump experimental results of the conventional model-free deadbeat predictive speed control method of Embodiment 1 of the present application and the model-free deadbeat predictive speed control method based on a third-order extended state observer of the present application. When the motor rotation speed is 60 rpm, the load torque 8 Nm applied to the motor is suddenly changed to 0 at 1 s. As can be seen from the experimental results in the figure, compared with the conventional model-free deadbeat predictive speed control method, the speed fluctuation of the motor is obviously smaller and the motor reaches the steady state faster by using the control method of the present application, which improves the anti-external disturbance performance of the permanent magnet synchronous motor speed control. At the same time, it can also be seen that the conventional model-free deadbeat predictive speed control method has an obvious static error between the actual speed and the expected speed when the load torque is large, while the control method of the present application solves this problem.

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

[0117] Embodiment 2

[0118] Please refer to Figure 7 , is a structural schematic diagram of a model-free deadbeat predictive speed control system 400 of a permanent magnet synchronous motor according to Embodiment 2 of the present application; the specific content includes:

[0119] A model construction module 410 is configured to establish a second-order hyper-local model of the permanent magnet synchronous motor; and a third-order linear extended state observer is established according to the second-order hyper-local model of the permanent magnet synchronous motor.

[0120] An information acquisition module 420 is 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 is configured to establish a model-free deadbeat speed control law through the second-order hyper-local model of the permanent magnet synchronous motor.

[0122] A speed control module 440 is configured to acquire the operating state information of the permanent magnet synchronous motor from the information acquisition module, predict the observation values of the speed and total disturbance through the third-order linear extended state observer, and substitute them into the model-free deadbeat speed control law to realize model-free deadbeat predictive speed control and obtain the reference current.

[0123] Embodiment 3

[0124] Referring to Figure 8 Fig. 5 is a schematic diagram of the device structure of Embodiment 3 of the present application. The device 500 comprises a processor 510 and a memory 520 coupled to the processor 510.

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

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

[0127] The processor 510 can also be referred to as a CPU (Central Processing Unit). The processor 510 can be an integrated circuit chip having a processing capability. The processor 510 can also be a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application-Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0128] Embodiment 4

[0129] Referring to Figure 9 Fig. 6 is a schematic diagram of the structure of the storage medium of Embodiment 4 of the present application. The storage medium of the present application stores a program file 610 capable of implementing all the above-mentioned methods. The program file 610 can be stored in the above-mentioned storage medium in the form of a software product, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method of each embodiment of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk or an optical disk, and various media capable of storing program codes, or a computer, a server, a mobile phone, a tablet, etc.

[0130] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "includes" does not, without further qualification, preclude the existence of additional identical elements, additional similar elements, or additional different elements, whether or not the additional identical, similar, or different elements are expressly stated in the specification.

[0131] The preferred embodiments of the present application have been described above with the intent to enable those skilled in the art to make and use it. Various modifications to the embodiments described in this document will be apparent to those skilled in the art, and the generic principles defined herein are intended to be broad and encom¬ pass new technologies other than the specific embodiments described. It is not intended that the application be limited to the embodiments shown herein but to be accorded the widest scope consistent with the principles and novel features disclosed herein and modified to a

[0132] Although the embodiments of the present application have been shown and described, it is to be understood that for the purpose of the present application, the embodiments can be substantially modified without departing from the spirit and the scope of the present application, which can be limited only by the claims and equivalents thereof.

[0133] Of course, the present application also can have other various embodiments based on the embodiments described above, and other embodiments obtained by those skilled in the art without any creative effort based on the embodiments described above, all of which belong to the scope of the present application.

Claims

1. A model-free deadbeat predictive speed control method for permanent magnet synchronous motor, characterized in that, The method comprises the following steps: establishing a second-order hyper-local model of a permanent magnet synchronous motor; establishing a third-order linear extended state observer according to the second-order hyper-local model of the permanent magnet synchronous motor; establishing a model-free deadbeat speed control law based on the second-order hyper-local model of the permanent magnet synchronous motor; substituting the next period observation value 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; The step of establishing a model-free deadbeat speed control law comprises the following steps: discretizing the second-order hyper-local model of the permanent magnet synchronous motor; where ω m is the mechanical angular velocity of the PMSM, α is the non-physical proportional factor of the PMSM speed control system, T s is the speed loop control period, F is the known part and unknown part of the PMSM speed control system, and k represents the kth period; ω m (k+1) is defined as the desired motor speed The second-order hyperlocal model of the PMSM is obtained as follows: considering a one-step delay in digital implementation, obtaining: Introducing an n T variable, the model-free deadbeat speed control law is: wherein, is a reference current control quantity.

2. The model-free deadbeat predictive speed control method of a permanent magnet synchronous motor according to claim 1, characterized in that, The step of establishing a second-order hyper-local model of a permanent magnet synchronous motor comprises the following steps: constructing an initial kinematic equation of the permanent magnet synchronous motor; where θ is the mechanical angle of the permanent magnet synchronous motor; ω m is the mechanical angular velocity of the permanent magnet synchronous motor; J n is the total rotational inertia of the permanent magnet synchronous motor; T e and T L are the electromagnetic torque and the load torque, respectively; B n is the viscous friction coefficient; d n is the constant disturbance; f t 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 permanent magnet flux linkage of the permanent magnet synchronous motor; i q is the q-axis stator current; based on the hyper-local model, constructing a second-order hyper-local model corresponding to the initial kinematic equation of the permanent magnet synchronous motor as: wherein, is a non-physical proportionality factor of the permanent magnet synchronous motor speed control system, represents the known part and the unknown part of the permanent magnet synchronous motor speed control system.

3. The model-free deadbeat predictive speed control method of a permanent magnet synchronous motor according to claim 1, characterized in that, The hyper-local model is: where y is the system output, u is the system control variable, F is the known and unknown part of the system, and α is a non-physical scaling factor.

4. The model-free deadbeat predictive speed control method of a permanent magnet synchronous motor according to claim 2, characterized in that, The third-order linear extended state observer is: wherein and are estimates of θ, ω, F, and β1, β2, and β3 are error feedback gains of the observer.

5. The model-free deadbeat predictive speed control method 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: where β 01 = T s β1, β 02 = T s β2, and β 03 = T s β3are the discrete observer gains; T s is the speed loop control period; θ(k), e rr (k), and i (k) represent the value of the corresponding variable at the kth period. q (k) represents the value of the corresponding variable at the kth period.

6. The model-free deadbeat predictive speed control method of a permanent magnet synchronous motor according to claim 1, characterized in that, In the step of substituting the next period observation value of the speed and total disturbance observed by the third-order linear extended state observer into the model-free speed control law to obtain a reference current, the following steps are included: the next period observation value of the speed and total disturbance observed by the third order linear extended state observer and into the model-free dead-beat speed control law, model-free dead-beat predictive speed control is realized, and the final q-axis stator reference current is obtained:

7. A model-free deadbeat predictive speed control system for permanent magnet synchronous motor implementing the method of any one of claims 1-6, characterized in that, The method comprises the following steps: a model construction module for establishing a second-order hyper-local model of a permanent magnet synchronous motor and establishing a third-order linear extended state observer according to the second-order hyper-local model of the permanent magnet synchronous motor; an information acquisition module for acquiring and predicting the operating state information of the permanent magnet synchronous motor according to the third-order linear extended state observer; a control design template for establishing a model-free deadbeat speed control law based on the second-order hyper-local model of the permanent magnet synchronous motor; a speed control module for acquiring the operating state information of the permanent magnet synchronous motor from the information acquisition module, predicting the observation value of the speed and total disturbance by the third-order linear extended state observer, and substituting it into the model-free deadbeat speed control law to realize model-free deadbeat predictive speed control and obtain a reference current.

8. An apparatus, comprising: The device comprises a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing the method of claim 1-6; the processor is configured to execute the program instructions stored in the memory to implement the model-free deadbeat predictive speed control of the permanent magnet synchronous motor.

9. A storage medium, characterized by The memory stores processor-executable program instructions for executing the steps of the method of claim 1-6.

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