Linear super-spiral sliding mode observer, magnetic suspension motor control system and method

Abstract

The invention belongs to the technical field of permanent magnet synchronous motors, and discloses a linear super-spiral sliding-mode observer and a magnetic suspension motor control system and method. Linear terms of two observation errors are newly added on the basis of a traditional super-spiral sliding-mode observer; the linear terms enable the observer to converge at an exponential velocity rather than only at a finite time velocity, so that the dynamic performance of the system modal approaching process is enhanced. While the strong anti-interference capability of the traditional super-spiral observer at the original point of the system is kept, the strong disturbance far away from the original point can be inhibited, and the anti-interference capability of the system is enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of permanent magnet synchronous motors, and in particular relates to a linear super-helical sliding mode observer, a magnetic suspension motor control system and a method. Background Art

[0002] The high-performance permanent magnet synchronous motor vector control system needs to obtain high-precision rotor position and speed information in real time, so it is necessary to install rotor position sensors such as resolvers and encoders on the motor. However, installing mechanical position sensors will increase the difficulty and cost of motor manufacturing process; at the same time, the position sensor is limited by environmental conditions such as temperature and electromagnetic interference during use, which can easily reduce the reliability of the system. The motor control technology using high-precision position sensorless control algorithm can overcome the above defects and has good application prospects and research value.

[0003] The position sensorless observation technology of permanent magnet synchronous motor can be divided into two categories: the method based on high-frequency signal injection and the method based on fundamental wave model, which are respectively suitable for zero-speed and medium-speed working conditions. Among many control methods, the sliding mode observer method is widely used due to its superior anti-disturbance ability and robustness. However, the traditional sliding mode observer inevitably has the jitter phenomenon, which leads to a high content of high-order harmonics in the observed back-EMF waveform, which will eventually affect the accuracy of rotor position estimation. Therefore, a parameter adaptive adjustment method of the super-helical sliding mode observer is proposed to adjust the observer gain in real time according to the system state variable to avoid system jitter caused by excessive gain or system instability caused by too small gain.

[0004] The Chinese patent publication number is CN119051505A, and the name is a patent application for a dual-winding permanent magnet synchronous motor position sensorless control method. The method includes: when the motor starts from zero speed, one set of windings is dragged by rotating the external synchronous open-loop rotor angle magnetomotive force; the discrete mathematical equation of the Lumberg observer is established, and the order reduction decoupling process is performed to observe the motor rotor position in real time and output the rotor position angle required for the motor operation; when the drag speed frequency is higher than the preset speed frequency threshold, one set of windings is switched from open-loop drag to Lumberg closed-loop control state; the torque required for the motor is calculated according to the target speed command; a two-dimensional system model of the torque distribution of the dual-winding motor under the motor power limit and fault state is established to obtain the output torque required for each set of windings to operate. This patent application can realize the position sensorless control of the dual-winding permanent magnet synchronous motor, but it cannot solve the problem of poor adaptive ability. Summary of the invention

[0005] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a linear super-helical sliding mode observer, a magnetic levitation motor control system and a method. The linear super-helical sliding mode observer of the present invention can observe the back electromotive force of the motor. On the basis of the traditional super-helical sliding mode observer, two linear terms of observation errors are added, which can solve the problems of high harmonic content in the observed back electromotive force, low accuracy of rotor position information, and poor adaptability.

[0006] To achieve the above object, the technical solution adopted by the present invention is: In a first aspect, the present invention provides a linear super-helical sliding mode observer, wherein the operation equation of the linear super-helical sliding mode observer is:

[0007] In the formula is the estimated value of the state variable, is the observation error, is the internal acquisition parameter; is the observer gain parameter, is the external disturbance term, ; F(x) is the sign function; k1, k2 are the observer gain parameters, is the disturbance parameter where All parameters are set by yourself.

[0008] Optionally, the calculation formula of F(x) is: , where , is the observation error.

[0009] Optionally, The calculation formula is:

[0010] is a constant related to the interference boundary, used to determine The upper bound of It is the actual value collected by the system from the output.

[0011] In a second aspect, the present invention provides a magnetic levitation motor control system, comprising the linear super-helical sliding mode observer, which is used to input currents iα and iβ, voltages Uα and Uβ, and output estimated back electromotive forces Eα and Eβ; and: The linear super-helical sliding mode observer is used to input the set three-phase voltages Ua, Ub and Uc; collect the current three-phase currents ia, ib and ic; and the three-phase voltages Ua, Ub and Uc; Clark transformation unit is used to input three-phase voltage Ua, Ub and Uc and three-phase current ia, ib and ic, and output The currents iα and iβ in the coordinate system, and Voltages Uα and Uβ in the coordinate system; A synchronous reference frame filter for inputting back-EMF Eα and Eβ and outputting filtered back-EMF E'α and E'β; Phase-locked loop, used to input back EMF E'α and E'β, output actual phase angle e and estimated angular velocity ; Inverse Park transformation unit, used to input Ud and Uq, and output voltage Uq in dq coordinate system; Park transform unit, used to input , output voltage Uα and Uβ; A three-phase inverter bridge circuit is used to input a space vector pulse width modulation control signal and output three-phase voltages Ua, Ub and Uc in a three-phase coordinate system to a permanent magnet synchronous motor; The space vector pulse width modulation unit is used for inputting voltages Uα and Uβ and outputting space vector pulse width modulation control signals to the three-phase inverter bridge circuit.

[0012] Optionally, the magnetic suspension motor control system further includes: a current loop, the current loop is used to input a current reference and iq after Clark and Park transformation, output .

[0013] Optionally, the magnetic suspension motor control system further includes: a first PI controller, a second PI controller and a third PI controller, wherein the first PI controller is used to input an estimated angular velocity The angular velocity difference between the reference angular velocity ωe* and the output current reference ; The second PI controller is used to input , output voltage Uq in the rotating coordinate system; the third PI controller is used to input , output voltage Ud in dq coordinate system.

[0014] Optionally, the magnetic suspension motor control system further includes: a first speed loop and a second speed loop, wherein the first speed loop is used to input an estimated angular velocity and the reference angular velocity ωe* and calculate the difference between the two; the second speed loop is used to input the reference d-axis current value and the Clark and Park transformed , output .

[0015] Optionally, the magnetic levitation motor control system further includes: a current sensor and a voltage sensor, through which the current three-phase currents ia, ib and ic and the three-phase voltages Ua, Ub and Uc are collected.

[0016] In a third aspect, the present invention provides a magnetic levitation motor control method, using the magnetic levitation motor control system, comprising the following steps: Input the set three-phase voltages Ua, Ub and Uc to the permanent magnet synchronous motor, and collect its current three-phase currents ia, ib and ic; as well as the current three-phase voltages Ua, Ub and Uc; The three-phase voltages Ua, Ub and Uc and the three-phase currents ia, ib and ic are transformed by the Clark transformation unit to output The currents iα and iβ in the coordinate system, and Voltages Uα and Uβ in the coordinate system; Input currents iα and iβ, voltages Uα and Uβ to the linear super-helical sliding mode observer, and output estimated back electromotive forces Eα and Eβ; Input back electromotive force Eα and Eβ to the synchronous reference frame filter, and output filtered back electromotive force E'α and E'β; Input back electromotive force E'α and E'β to the phase-locked loop and output the actual phase angle e and estimated angular velocity ; Through the actual phase angle e and estimated angular velocity ; Calculate the voltage Uα and Uβ; Input voltages Uα and Uβ to a space vector pulse width modulation unit, and output a space vector pulse width modulation control signal to a three-phase inverter bridge circuit; The space vector pulse width modulation control signal is input to the three-phase inverter bridge circuit, and the three-phase voltages Ua, Ub and Uc in the three-phase coordinate system are output to the permanent magnet synchronous motor.

[0017] Optionally, the calculation formula of the estimated back electromotive force is:

[0018] Where: Ls represents the phase inductance, k1, k2, k3 are the observer gain parameters, is the observed value of stator current, and F is the sign function.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a linear super-helical sliding mode observer, a magnetic levitation motor control system and a method. By adding two linear terms of observation errors on the basis of a traditional super-helical sliding mode observer, these linear terms enable the observer to converge at an exponential rate rather than only at a finite time rate, thereby enhancing the dynamic performance of the system's modal approach process. While retaining the strong anti-interference ability of the traditional super-helical observer at the origin of the system, it can also suppress strong disturbances far away from the origin, thereby enhancing the anti-interference ability of the system.

[0020] Furthermore, the magnetic levitation motor control system of the present invention has a synchronous reference system filter, which can filter out the harmonic components of the observed back electromotive force and further reduce the jitter of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are for explanation purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only for illustration purposes to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the components of the present invention. In the drawings: Figure 1 It is a comparison diagram of sliding mode trajectories between LSTA-SMO and STA-SMO of the present invention; Figure 2 It is a block diagram of the magnetic suspension motor control system based on LSTA-SMO of the present invention; Figure 3 It is the STA-SMO observed rotation speed diagram; Figure 4 It is the LSTA-SMO observed speed diagram of the present invention; Figure 5 is the STA-SMO angle error diagram; Figure 6 It is the LSTA-SMO angle error diagram of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0024] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] When an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be a central element. The terms "vertical", "horizontal", "left", "right" and similar expressions used in the present invention are for illustrative purposes only and are not intended to be the only embodiment. If the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but it can be slightly tilted.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further defined and explained in the subsequent figures. In the description of the present invention, it is understood that the terms "include" and "comprise" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections.

[0027] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the present invention in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] The present invention is described in detail below with reference to the accompanying drawings.

[0029] The present invention provides a linear super-helical sliding mode observer, wherein the operation equation of the linear super-helical sliding mode observer is:

[0030] In the formula is the estimated value of the state variable, is the observation error, is the internal acquisition parameter; is the observer gain parameter, is the external disturbance term, ; F(x) is the sign function; k1, k2 are the observer gain parameters, is the disturbance parameter where All parameters are set by yourself.

[0031] The present invention adds two linear terms of observation errors on the basis of the traditional super-helical sliding mode observer. These linear terms make the observer converge at an exponential rate instead of only at a finite time rate, thereby enhancing the dynamic performance of the system modal approach process. While retaining the strong anti-interference ability of the traditional super-helical observer at the origin of the system, it can also suppress strong disturbances far away from the origin, thereby enhancing the anti-interference ability of the system.

[0032] Example 1 like Figure 2 As shown, the magnetic suspension motor control system of the present invention includes: A three-phase inverter bridge circuit is used to input a space vector pulse width modulation control signal and output three-phase voltages Ua, Ub and Uc in a three-phase coordinate system to a permanent magnet synchronous motor; Permanent Magnet Synchronous Motor (PMSM) is used to input three-phase voltages Ua, Ub and Uc; collect its current three-phase currents ia, ib and ic; and three-phase voltages Ua, Ub and Uc through current sensors and voltage sensors; Clark transformation unit is used to input three-phase voltages Ua, Ub and Uc and three-phase currents ia, ib and ic, and output them through Clark transformation, i.e. 3 / 2 coordinate transformation. The currents iα and iβ in the coordinate system (stationary coordinate system), and Voltages Uα and Uβ in the coordinate system; Linear Super-Twisting Sliding Mode Observer (LSTA-SMO), which takes as input currents iα and iβ, voltages Uα and Uβ, and outputs estimated back-EMFs Eα and Eβ; The synchronous reference frame filter is used for inputting the back electromotive force Eα and Eβ and outputting the filtered back electromotive force E'α and E'β; the synchronous reference frame filter can filter out the harmonic components of the observed back electromotive force and further reduce the jitter of the system.

[0033] Phase-locked loop, used to input back EMF E'α and E'β, output actual phase angle e and estimated angular velocity ; is the actual rotor angle of the permanent magnet synchronous motor, and represents the dq coordinate system (also called the rotating coordinate system) and The angle of the coordinate system.

[0034] The first velocity loop is used to input the estimated angular velocity and the reference angular velocity ωe* and calculate the difference; The first PI controller is used to input the angular velocity difference of the speed loop and output the current reference ; Current loop, used to input current reference and iq after Clark and Park transformation, output ; The second PI controller is used to input , output voltage Uq in the rotating coordinate system; The second speed loop is used to input 0 (using the reference d-axis current The control mode of 0, 0 is the reference d-axis current value) and the Clark and Park transformation , output ; The third PI controller is used to input , output voltage Ud in dq coordinate system; Inverse Park transformation unit, used to input Ud and Uq, and output voltage Uq in dq coordinate system; Park transform unit, used to input , output voltage Uα and Uβ; Space vector pulse width modulation (SVM) is used to input voltages Uα and Uβ and output SVM control signals to the three-phase inverter bridge circuit.

[0035] Specifically, in this embodiment, the magnetic levitation motor is a permanent magnet synchronous motor.

[0036] The basic structure of the linear superhelical sliding mode observer is as follows: Formula 1 In the formula is the estimated value of the state variable, is the observation error, is the observer gain parameter, is the external disturbance term, .in All parameters are set by themselves. Collect parameters for the system.

[0037] F(x) is the sign function:

[0038] , is the observation error.

[0039] The expression is:

[0040] is a constant related to the interference boundary, used to determine The upper bound of It is the actual value collected by the system from the output.

[0041] The LSTA-SMO of the present invention adds two linear terms of observation errors based on the traditional Super-Twisting Sliding Mode Observer (STA-SM): ,like Figure 1 As shown, these linear terms make the observer converge at an exponential rate instead of just a finite time rate, which enhances the dynamic performance of the system's modal approach process.

[0042] While retaining the strong anti-interference ability of STA-SMO at the origin of the system, it can also suppress stronger disturbances far away from the origin, greatly enhancing the anti-interference ability of the system.

[0043] It has been proved that in the presence of perturbations, as long as the perturbation satisfies its upper bound: Formula 2 in, is a constant related to the interference boundary, used to determine The upper bound of It is the actual value collected by the system from the output.

[0044] can keep the system stable, and also explain the observer parameters The selection range of is as shown in Equation 3. As long as the observer parameters are large enough, the system can be guaranteed to converge to the sliding surface.

[0045] Formula 3 in:

[0046] In the permanent magnet synchronous motor, the state variable is selected as the stator current, and LSTA-SMO (Linear Super-Twisting Sliding Mode Observer) is established: Formula 4 The observer dynamic error equation is as follows: Formula 5 in is the disturbance term of the system, and its expression is ,in is the linear part of the system disturbance term, are considered as other small disturbances in the system.

[0047] and The introduction of these two items can enhance LSTA-SMO's ability to suppress dynamic errors and improve the convergence speed of the system. For small disturbances caused by cross-coupling effects, motor parameters, and small perturbations during the operation of permanent magnet synchronous motors, LSTA-SMO has strong anti-disturbance capabilities near the sliding surface; for larger disturbances such as sudden load and speed changes during operation, LSTA-SMO can return to the sliding surface faster.

[0048] Therefore, LSTA-SMO can enhance the dynamic performance of the system when the mode approaches the sliding surface and improve the robustness of the system.

[0049] When the system is stable on the sliding surface, the estimated back electromotive force is obtained by the following formula: Formula 6 Where: Ls represents the phase inductance, k1, k2, k3 are the observer gain parameters, is the stator current, and F is the sign function.

[0050] Example 2 This embodiment uses the Simulink graphical programming environment of MATLAB to verify the feasibility and superiority of the proposed LSTA-SMO in the permanent magnet synchronous motor position sensorless control system. In the simulation experiment, the system simulation step size is 1ms, and the control scheme uses the vector control technology based on id=0. The pulse square wave injection method is used in the motor startup phase. When the speed reaches 200, the sliding mode observer algorithm is started, and the switching method adopts a weighted smooth switching strategy. The position sensorless magnetic levitation motor control system based on LSTA-SMO proposed in the present invention is as follows Figure 2 As shown, the parameters of the permanent magnet synchronous motor in the simulation experiment are shown in Table 1.

[0051] Table 1

[0052] The performance of the observers of LSTA-SMO (Linear Super-Twisting Sliding Mode Observer) and traditional STA-SMO (Super-Twisting Sliding Mode Observer) methods is compared through simulation experiments. The performance of the observers of STA-SMO and LSTA-SMO is compared in the experiment. The motor is started without load, and a speed of 0.75 times the rated speed of 800r / min is given. At 0.5s, the speed command is given to the rated speed of 1200r / min, and the speed is reduced to 1000r / min at 1.0s. At 1.5s, the motor is suddenly loaded with a rated load of 2N·m.

[0053] Depend on Figure 3 , Figure 4 It can be seen that the speed estimated by LSTA-SMO is smoother than that of STA-SMO under different working conditions, and the jitter problem is effectively suppressed. From the results of STA-SMO observed speed in Table 2 and the results of LSTA-SMO observed speed in Table 3, it can be seen that the overshoot and speed jitter range of LSTA-SMO are smaller than those of STA-SMO under a given step speed command. In the case of sudden load, the speed jitter range of LSTA-SMO is smaller than that of STA-SMO, and the speed curve is smoother. Therefore, the control system using LSTA-SMO has a faster response speed and stronger anti-interference ability than STA-SMO.

[0054] Table 2

[0055] Table 3

[0056] Figure 5 , Figure 6 The observation angle errors of STA-SMO and LSTA-SMO are shown under the operating conditions of 0.75 times the rated speed, rated speed, sudden drop in rated speed, and sudden load increase at rated speed. It can be seen that the observation angle error using the LSTA-SMO method is smaller. The simulation experiment shows that LSTA-SMO can effectively improve the dynamic performance of the system approaching the sliding surface, thereby suppressing system disturbances and improving system performance.

[0057] Unless otherwise specified, the device elements involved in the above embodiments are all conventional device elements, and the structural settings, working modes or control modes involved are all conventional settings, working modes or control modes in the art unless otherwise specified.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in the field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A linear superhelical sliding mode observer, characterized in that: The operational equation of the linear super-helical sliding mode observer is: In the formula is the estimated value of the state variable, is the observation error, is the internal acquisition parameter; is the observer gain parameter, is the external disturbance term, ; F(x) is the sign function; k1 and k2 are the observer gain parameters, is the disturbance parameter where All parameters are set by yourself.

2. A linear super-helical sliding mode observer according to claim 1, characterized in that: The calculation formula of F(x) is: , where , is the observation error.

3. A linear super-helical sliding mode observer according to claim 1, characterized in that: The calculation formula is: is a constant related to the interference boundary, used to determine The upper bound of It is the actual value collected by the system from the output.

4. A magnetic levitation motor control system, characterized in that: A linear super-helical sliding mode observer comprising any one of claims 1 to 3, used for inputting currents iα and iβ, voltages Uα and Uβ, and outputting estimated back electromotive forces Eα and Eβ; as well as: The linear super-helical sliding mode observer is used to input the set three-phase voltages Ua, Ub and Uc; collect the current three-phase currents ia, ib and ic; and the three-phase voltages Ua, Ub and Uc; Clark transformation unit is used to input three-phase voltage Ua, Ub and Uc and three-phase current ia, ib and ic, and output The currents iα and iβ in the coordinate system, and Voltages Uα and Uβ in the coordinate system; A synchronous reference frame filter for inputting back-EMF Eα and Eβ and outputting filtered back-EMF E'α and E'β; Phase-locked loop, used to input back EMF E'α and E'β, output actual phase angle e and estimated angular velocity ; Inverse Park transformation unit, used to input Ud and Uq, and output voltage Uq in dq coordinate system; Park transform unit, used to input , output voltage Uα and Uβ; A three-phase inverter bridge circuit is used to input a space vector pulse width modulation control signal and output three-phase voltages Ua, Ub and Uc in a three-phase coordinate system to a permanent magnet synchronous motor; The space vector pulse width modulation unit is used for inputting voltages Uα and Uβ and outputting space vector pulse width modulation control signals to the three-phase inverter bridge circuit.

5. A magnetic levitation motor control system according to claim 4, characterized in that: The magnetic suspension motor control system also includes: a current loop, which is used to input a current reference quantity and iq after Clark and Park transformation, output .

6. A magnetic levitation motor control system according to claim 5, characterized in that: The magnetic suspension motor control system further includes: a first PI controller, a second PI controller and a third PI controller, wherein the first PI controller is used to input an estimated angular velocity The angular velocity difference between the reference angular velocity ωe* and the output current reference ; The second PI controller is used to input , output voltage Uq in the rotating coordinate system; the third PI controller is used to input , output voltage Ud in dq coordinate system.

7. A magnetic levitation motor control system according to claim 6, characterized in that: The magnetic suspension motor control system further includes: a first speed loop and a second speed loop, wherein the first speed loop is used to input an estimated angular velocity. and the reference angular velocity ωe* and calculate the difference between the two; the second speed loop is used to input the reference d-axis current value and the Clark and Park transformed , output .

8. A magnetic levitation motor control system according to claim 4, characterized in that: The magnetic levitation motor control system also includes: a current sensor and a voltage sensor, through which the current three-phase currents ia, ib and ic and the three-phase voltages Ua, Ub and Uc are collected.

9. A magnetic levitation motor control method, characterized in that: Using a magnetic levitation motor control system according to any one of claims 4 to 8, comprising the following steps: Input the set three-phase voltages Ua, Ub and Uc to the permanent magnet synchronous motor, and collect its current three-phase currents ia, ib and ic; as well as the current three-phase voltages Ua, Ub and Uc; The three-phase voltages Ua, Ub and Uc and the three-phase currents ia, ib and ic are transformed by the Clark transformation unit to output The currents iα and iβ in the coordinate system, and Voltages Uα and Uβ in the coordinate system; Input currents iα and iβ, voltages Uα and Uβ to the linear super-helical sliding mode observer, and output estimated back electromotive forces Eα and Eβ; Input back electromotive force Eα and Eβ to the synchronous reference system filter, and output filtered back electromotive force E'α and E'β; Input back electromotive force E'α and E'β to the phase-locked loop and output the actual phase angle e and estimated angular velocity ; Through the actual phase angle e and estimated angular velocity ; Calculate the voltage Uα and Uβ; Input voltages Uα and Uβ to a space vector pulse width modulation unit, and output a space vector pulse width modulation control signal to a three-phase inverter bridge circuit; The space vector pulse width modulation control signal is input to the three-phase inverter bridge circuit, and the three-phase voltages Ua, Ub and Uc in the three-phase coordinate system are output to the permanent magnet synchronous motor.

10. A magnetic levitation motor control method according to claim 9, characterized in that: The calculation formula of the estimated back electromotive force is: Where: Ls represents the phase inductance, k1, k2, k3 are the observer gain parameters, is the observed value of stator current, and F is the sign function.

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