Built-in permanent magnet synchronous motor full-order state observation method based on virtual voltage signal injection

Abstract

The invention discloses a built-in permanent magnet synchronous motor full-order state observation method based on virtual voltage signal injection, and belongs to the technical field of motor position sensorless control. The problem that an existing state observation method based on a motor fundamental wave model cannot operate at the zero speed of a motor is solved. Comprising the following steps: establishing an initial full-order state observer based on a built-in permanent magnet synchronous motor voltage equation under an estimated rotating shaft system; establishing a nonlinear equation set of the built-in permanent magnet synchronous motor under the static shaft system, and calculating to obtain a Lie derivative matrix of a motor system state variable; deducing a zero-speed local weak observability criterion of the initial full-order state observer; constructing an observer voltage input model at zero speed by using the criterion; and updating the initial full-order state observer to obtain an updated full-order state observer which is used for state observation of the built-in permanent magnet synchronous motor at the zero synchronous rotating speed. According to the invention, the position of the rotor can be estimated at the zero synchronous rotating speed.

Description

Technical Field

[0001] The invention relates to a full-order state observation method for a built-in permanent magnet synchronous motor based on virtual voltage signal injection, and belongs to the technical field of motor position sensorless control. Background Art

[0002] With the development of industrial electrification, motors have received extensive attention as core equipment in the field of industrial manufacturing and energy conversion. Among them, built-in permanent magnet synchronous motors have been widely used in intelligent manufacturing, transportation, etc. due to their high power density and high reliability. In order to further improve the reliability of motor systems and reduce system costs, position sensorless control solutions have received extensive attention. At the same time, in some industrial applications, the motor system is required to have the ability to operate stably at zero speed and heavy load. Therefore, the position and speed observation technology under zero speed is very important.

[0003] The position sensorless control method can be mainly divided into: motor fundamental wave model method and high-frequency signal injection method. The high-frequency injection method has good performance at zero low speed, but the injection of high-frequency signals will inevitably bring high-frequency noise and vibration, which is unacceptable in some occasions. However, it is a general consensus in the academic community that the motor fundamental wave model method is difficult to use under zero low speed and heavy load operation. The main reason for the instability of the model method under zero low speed operation mode is that the observer has unstable poles at zero low speed and the motor system is unobservable at zero speed.

[0004] In order to expand the extreme operating range of the model method and realize the operation of the model method at zero and low speed, many methods have emerged in the past decade. These methods can be summarized as injecting bias current into the motor d-axis and methods based on optimizing the observer structure. However, these methods cannot currently achieve stable operation at zero speed. Therefore, a built-in permanent magnet synchronous motor position observer based on the motor fundamental wave model suitable for zero speed is of great significance. Summary of the invention

[0005] In view of the problem that the existing state observation method based on the motor fundamental wave model cannot run at zero speed of the motor, the present invention provides a full-order state observation method for a built-in permanent magnet synchronous motor based on virtual voltage signal injection.

[0006] A method for full-order state observation of a built-in permanent magnet synchronous motor based on virtual voltage signal injection of the present invention comprises:

[0007] An initial full-order state observer is established based on the estimated voltage equation of the internal permanent magnet synchronous motor under the rotating shaft system;

[0008] A nonlinear equation group of the built-in permanent magnet synchronous motor under a stationary shaft system is established, and the Lie derivative matrix of the motor system state variables is calculated by the nonlinear equation group; and then the zero-speed local weak energy observability criterion of the initial full-order state observer is derived according to the determinant of the Lie derivative matrix;

[0009] The zero-speed local weak observability criterion is used to construct an observer voltage input model at zero speed; then the initial full-order state observer is updated based on the zero-speed observer voltage input model to obtain an updated full-order state observer for state observation of the built-in permanent magnet synchronous motor at zero synchronous speed.

[0010] According to the full-order state observation method of the interior permanent magnet synchronous motor based on virtual voltage signal injection of the present invention,

[0011] The estimated voltage equation of the internal permanent magnet synchronous motor under the rotating shaft system is:

[0012]

[0013] Where u γδ To estimate the stator voltage of the rotating shaft, u γδ =[u γ u δ ] T , where u γ To estimate the stator voltage of the rotating axis γ, u δ To estimate the stator voltage of the rotating shaft system δ axis, R s is the stator resistance, i γδ To estimate the stator current of the rotating shaft, i γδ =[i γ i δ ] T ,i γ To estimate the stator current of the γ-axis of the rotating shaft system, i δ To estimate the stator current of the rotating shaft system δ axis, ψ s is the stator flux, is the estimated value of electrical angular velocity, J is an orthogonal matrix;

[0014] ψ s =Li γδ +ψ f =[ψ γ ψ δ ] T ,

[0015] Where L is the inductance matrix, ψ f is the permanent magnet flux vector, ψ f =[ψ f1 0] T , ψ f1 is the permanent magnet flux, ψ γTo estimate the stator flux of the rotating axis γ, ψ δ To estimate the stator flux of the rotating axis δ-axis;

[0016] L=[L d ,0;0,L q ] T ,

[0017] Where L d is the d-axis inductance of the actual rotating axis system, L q is the q-axis inductance of the actual rotating axis system;

[0018] J=[0,-1;1,0].

[0019] According to the full-order state observation method of the interior permanent magnet synchronous motor based on virtual voltage signal injection of the present invention,

[0020] The initial full-order state observer is:

[0021]

[0022] In the formula is the estimated value of stator flux, To estimate the stator current of the rotating shaft, λ is the observer gain matrix, To estimate the rotating shaft current error,

[0023]

[0024] Where K is the feedback gain matrix, I is the unit matrix, k is the feedback gain coefficient, K=kI.

[0025] According to the full-order state observation method of the built-in permanent magnet synchronous motor based on virtual voltage signal injection of the present invention, the initial full-order state observer adopts the speed adaptation rate to observe the estimated value of the electrical angular velocity

[0026]

[0027] Where k p is the velocity adaptation rate gain coefficient, ε is the generalized position error, k i is the speed adaptation rate integral coefficient, t is the time;

[0028]

[0029] Where W0 is the generalized error projection vector, is the estimated value of the q-axis inductance of the actual rotating axis system, To estimate the stator current of the δ-axis of the rotating shaft system;

[0030]

[0031] In the formula is the estimated value of permanent magnet flux linkage, σ is the bandwidth coefficient;

[0032] The speed adaptation rate achieves the electrical angular velocity estimation value by making the generalized position error ε reach 0 tracking.

[0033] According to the full-order state observation method of the interior permanent magnet synchronous motor based on virtual voltage signal injection of the present invention, the nonlinear equation group of the interior permanent magnet synchronous motor under the stationary shaft system is:

[0034]

[0035] Where i α is the α-axis current of the stationary shaft system, u α is the voltage of the α-axis of the stationary shaft system, L0 is the mean inductance of the actual rotating shaft system, L0=(L d +L q ) / 2; L1 is the actual rotating shaft system differential inductance, L1=(L d -L q ) / 2;θ e is the true rotor angle, u β is the β-axis voltage of the stationary shaft system, i β is the β-axis current of the stationary shaft system, ω e is the true value of electrical angular velocity;

[0036] The nonlinear equations are simplified as:

[0037]

[0038] Where χ is the state variable of the motor system, χ=[i α i β θ e ω e ] T ;ζ is the system input variable, ζ=[u α u β 00] T ; f is the input nonlinear function, f(χ,ζ)=[di α / dt di β / dtω e 0] T ; η is the system output variable; h is the output nonlinear function, h(χ)=[h1 h2] T =[i α i β ] T , h1=iα , h2=i β .

[0039] According to the full-order state observation method of the interior permanent magnet synchronous motor based on virtual voltage signal injection of the present invention,

[0040] The Lie derivative matrix of the motor system state variables is expressed as s :

[0041]

[0042] In the formula h i k-th order Lie derivative of the input nonlinear function f, i=1,2; k=0,1.

[0043] According to the full-order state observation method of the interior permanent magnet synchronous motor based on virtual voltage signal injection of the present invention,

[0044] According to the Lie derivative matrix s The determinant of derives the zero-speed local weak observability criterion of the initial full-order state observer as follows:

[0045] D=[-ψ f1 ((L0+L1)ψ f1 ω e +2L1(u α sinθ e -u β cosθ e +R s i β cosθ e -R s i α sinθ e ))] / [(L0-L1) 2 (L0+L1)](7),

[0046] Where D is the zero-speed local weak energy observability criterion;

[0047] Convert formula (7) to the actual rotating axis system and express it as:

[0048]

[0049] Where u q is the q-axis voltage of the actual rotating axis system, i q is the q-axis current of the actual rotating axis system.

[0050] According to the full-order state observation method of the interior permanent magnet synchronous motor based on virtual voltage signal injection of the present invention,

[0051] The zero-speed local weak observability criterion D is used to construct the zero-speed observer voltage input model:

[0052] ζ1=[u γ +u γ_vir u δ +u δ_vir 0 0] T =[(1+M)u γ (1+M)u δ 0 0] T (9)

[0053] Where ζ1 is the updated system input variable, u γ_vir To estimate the virtual voltage injected into the observer along the γ axis of the rotating axis system, u δ_vir is to estimate the virtual voltage injected into the observer of the rotating axis system δ axis, and M is the coefficient of the virtual voltage injection.

[0054] According to the full-order state observation method of the interior permanent magnet synchronous motor based on virtual voltage signal injection of the present invention,

[0055] The zero-speed local weak observability criterion D is obtained from the zero-speed observer voltage input model:

[0056]

[0057] According to the full-order state observation method of the interior permanent magnet synchronous motor based on virtual voltage signal injection of the present invention,

[0058] Based on the zero-speed local weak observability criterion D, the initial full-order state observer is updated to obtain the updated full-order state observer:

[0059]

[0060] Where (1+M)u γδ =u γδ_act ,u γδ_act To estimate the synthetic virtual voltage of the rotating shaft system.

[0061] The beneficial effects of the present invention are as follows: the present invention is used for estimating the position of a motor rotor. Compared with the traditional permanent magnet synchronous motor zero-speed position sensorless estimation method, the full-order state observer based on virtual voltage signal injection designed in the present invention can realize the estimation of the rotor position at zero synchronous speed. At the same time, there is no need to inject additional real signals to ensure the observation stability, which reduces the operating noise and improves the practical value of the built-in permanent magnet synchronous motor position observer technology based on the motor fundamental wave model.

[0062] The method of the present invention is used for zero-speed position observation of a built-in permanent magnet synchronous motor based on a motor fundamental wave model. The method greatly broadens the application scenarios and application scope of the position sensorless system based on the motor fundamental wave model observation method. The observation method can ensure that the position error converges and stably runs at zero speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 Schematic diagram of the reference coordinate system of the full-order state observation method of the built-in permanent magnet synchronous motor based on virtual voltage signal injection according to the present invention; is the estimated angle of the rotor, is the rotor angle estimation error,

[0064] Figure 2 It is a control block diagram of the full-order state observation method of the built-in permanent magnet synchronous motor based on virtual voltage signal injection according to the present invention; in the figure, C1 is the projection coefficient, C1=

[01] T ;ω e * is the given speed of the outer speed loop, To estimate the given value of the stator current of the rotating shaft system δ axis, i a is the current value of phase a, i b is the current value of phase b, i c is the c-phase current value, Inverter represents the inverter, To estimate the given value of the stator current of the γ-axis of the rotating shaft system;

[0065] Figure 3 This is the experimental result diagram without injecting virtual voltage signal under full load;

[0066] Figure 4 This is the experimental result diagram of injecting virtual voltage signal under full load;

[0067] Figure 5 Schematic diagram of the control of the present invention method applied to a permanent magnet synchronous motor to estimate the motor rotor position; To estimate the given value of the stator voltage of the rotating shaft system δ axis, To estimate the given value of the stator voltage of the γ-axis of the rotating shaft system, is the given value of the voltage of the α-axis of the stationary shaft system, is the given value of the β-axis voltage of the stationary shaft system, t d is the dead time, u αβ is the static shaft voltage, i αβ is the stationary shaft current. DETAILED DESCRIPTION

[0068] 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.

[0069] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0070] The present invention will be further described below in conjunction with the accompanying drawings, but is not intended to be a limitation of the present invention.

[0071] Specific implementation method 1. Combination Figure 1 and Figure 2 As shown, the present invention provides a full-order state observation method for a built-in permanent magnet synchronous motor based on virtual voltage signal injection, comprising:

[0072] An initial full-order state observer is established based on the estimated voltage equation of the internal permanent magnet synchronous motor under the rotating shaft system to estimate the motor rotor position.

[0073] A nonlinear equation group of the built-in permanent magnet synchronous motor under a stationary shaft system is established, and the Lie derivative matrix of the motor system state variables is calculated by the nonlinear equation group; and then the zero-speed local weak energy observability criterion of the initial full-order state observer is derived according to the determinant of the Lie derivative matrix;

[0074] The zero-speed local weak energy observability criterion is used to construct an observer voltage input model at zero speed; then the initial full-order state observer is updated based on the zero-speed observer voltage input model to obtain an updated full-order state observer, which is used for state observation of the built-in permanent magnet synchronous motor at zero synchronous speed, thereby achieving stable operation of the built-in permanent magnet synchronous motor at zero synchronous speed.

[0075] In this implementation, the voltage equation of the permanent magnet synchronous motor is analyzed, and a full-order state observer of the built-in permanent magnet synchronous motor based on virtual voltage signal injection is designed to achieve zero-speed operation of the built-in permanent magnet synchronous motor.

[0076] Combination Figure 1 and Figure 2 , define the observer output position to be aligned with the γ axis.

[0077] Figure 2It includes dual closed-loop control and full-order state observer based on virtual voltage signal injection. When the system is in dual closed-loop vector control, the speed outer loop outputs the current given current by comparing the given speed with the estimated speed, and the current inner loop obtains the voltage control signal required by SVPWM by comparing the given current with the real current collected. The voltage signal is modulated by the SVPWM module and sent to the inverter to realize motor control, realizing the observation of rotor position and speed information, and using the estimated rotor position and speed information to complete closed-loop control without position sensor.

[0078] Furthermore, the voltage equation of the built-in permanent magnet synchronous motor under the rotating shaft system is estimated to be:

[0079]

[0080] Where u γδ To estimate the stator voltage of the rotating shaft, u γδ =[u γ u δ ] T , where u γ To estimate the stator voltage of the rotating axis γ, u δ To estimate the stator voltage of the rotating shaft system δ axis, R s is the stator resistance, i γδ To estimate the stator current of the rotating shaft, i γδ =[i γ i δ ] T ,i γ To estimate the stator current of the γ-axis of the rotating shaft system, i δ To estimate the stator current of the rotating shaft system δ axis, ψ s is the stator flux, is the estimated value of electrical angular velocity, J is an orthogonal matrix;

[0081] ψ s =Li γδ +ψ f =[ψ γ ψ δ ] T ,

[0082] Where L is the inductance matrix, ψ f is the permanent magnet flux vector, ψ f =[ψ f1 0] T , ψ f1 is the permanent magnet flux, ψ γ To estimate the stator flux of the rotating axis γ, ψ δ To estimate the stator flux of the rotating axis δ-axis;

[0083] L=[L d,0;0,L q ] T ,

[0084] Where L d is the d-axis inductance of the actual rotating axis system, L q is the q-axis inductance of the actual rotating axis system;

[0085] J=[0,-1;1,0].

[0086] The initial full-order state observer is:

[0087]

[0088] In the formula is the estimated value of stator flux, To estimate the stator current of the rotating shaft, λ is the observer gain matrix, To estimate the rotating shaft current error,

[0089]

[0090] Where K is the feedback gain matrix, I is the unit matrix, k is the feedback gain coefficient, K=kI.

[0091] The initial full-order state observer uses the velocity adaptation rate to observe the electrical angular velocity estimate

[0092]

[0093] Where k p is the velocity adaptation rate gain coefficient, ε is the generalized position error, k i is the speed adaptation rate integral coefficient, t is the time;

[0094]

[0095] Where W0 is the generalized error projection vector, is the estimated value of the q-axis inductance of the actual rotating axis system, To estimate the stator current of the δ-axis of the rotating shaft system;

[0096]

[0097] In the formula is the estimated value of permanent magnet flux linkage, σ is the bandwidth coefficient;

[0098] The speed adaptation rate achieves the electrical angular velocity estimation value by making the generalized position error ε reach 0 Precise tracking.

[0099] Furthermore, the nonlinear equations of the interior permanent magnet synchronous motor under the stationary shaft system are:

[0100]

[0101] Where i α is the α-axis current of the stationary shaft system, u α is the voltage of the α-axis of the stationary shaft system, L0 is the mean inductance of the actual rotating shaft system, L0=(L d +L q ) / 2; L1 is the actual rotating shaft system differential inductance, L1=(L d -L q ) / 2;θ e is the true rotor angle, u β is the β-axis voltage of the stationary shaft system, i β is the β-axis current of the stationary shaft system, ω e is the true value of electrical angular velocity;

[0102] The nonlinear equations are simplified as:

[0103]

[0104] Where χ is the state variable of the motor system, χ=[i α i β θ e ω e ] T ;ζ is the system input variable, ζ=[u α u β 00] T ; f is the input nonlinear function, f(χ,ζ)=[di α / dt di β / dtω e 0] T ; η is the system output variable; h is the output nonlinear function, h(χ)=[h1 h2] T =[i α i β ] T , h1=i α , h2=i β .

[0105] In this implementation, the Lie derivative matrix of the motor system state variables is represented as: s :

[0106]

[0107] In the formula h ik-th order Lie derivative of the input nonlinear function f, i=1,2; k=0,1.

[0108] Further, according to the Lie derivative matrix s The determinant of derives the zero-speed local weak observability criterion of the initial full-order state observer as follows:

[0109] D=[-ψ f1 ((L0+L1)ψ f1 ω e +2L1(u α sinθ e -u β cosθ e +R s i β cosθ e -R s i α sinθ e ))] / [(L0-L1) 2 (L0+L1)] (7),

[0110] Where D is the zero-speed local weak energy observability criterion;

[0111] Convert formula (7) to the actual rotating axis system and express it as:

[0112]

[0113] Where u q is the q-axis voltage of the actual rotating axis system, i q is the q-axis current of the actual rotating shaft system. At this time, if the system meets the criterion, the state variables of the position sensorless system are observable again.

[0114] The zero-speed local weak observability criterion D is used to construct the zero-speed observer voltage input model:

[0115] ζ1=[u γ +u γ_vir u δ +u δ_vir 0 0] T =[(1+M)u γ (1+M)u δ 0 0] T (9)

[0116] Where ζ1 is the updated system input variable, u γ_vir To estimate the virtual voltage injected into the observer along the γ axis of the rotating axis system, u δ_vir is to estimate the virtual voltage injected into the observer of the rotating axis system δ axis, and M is the coefficient of the virtual voltage injection.

[0117] Because the position estimation error is small, the estimated rotating axis system and the actual rotating axis system can be considered to coincide. At this time, the zero-speed local weak observability criterion D is obtained from the zero-speed observer voltage input model:

[0118]

[0119] It can be observed that at this time the state variables of the observer regain local weak observability at zero speed.

[0120] Finally, the initial full-order state observer is updated based on the zero-speed local weak energy observability criterion D, and the updated full-order state observer is obtained as follows:

[0121]

[0122] Where (1+M)u γδ =u γδ_act ,u γδ_act To estimate the synthetic virtual voltage of the rotating shaft system.

[0123] This enables the stable operation of the built-in permanent magnet synchronous motor at zero synchronous speed.

[0124] Verification test:

[0125] This experiment was verified on a permanent magnet assisted synchronous reluctance motor towing test platform. The 2.2kW built-in permanent magnet synchronous motor and the induction motor are coaxially connected through a coupling, where the built-in permanent magnet synchronous motor is used as the control motor and the induction motor is used as the loading motor. The two inverters are connected in a common DC bus mode. The vector control algorithm is implemented by STM32F103VCT6 ARM to control the permanent magnet assisted synchronous reluctance motor. The inverter switching frequency is 6kHz.

[0126] The main parameters of the permanent magnet synchronous motor used are: rated power 2.2kW, rated current 4.4A, rated speed 1500r / min, L d =35mH, L q =64mH, pole pair number P=3, R=2.75Ω.

[0127] Figure 3 and Figure 4 The following is the experimental result of injecting virtual voltage signal under full load. The motor load is set to rated load, and the motor is decelerated from 200r / min to zero speed. Figure 3 It can be observed that if the virtual voltage signal is not injected, when the motor runs near zero speed, the observer position estimation error will diverge quickly, causing the motor to lose control and eventually trigger the overcurrent protection. Figure 4It can be observed that when the injection of the virtual voltage signal is enabled, the observer can be stabilized at zero speed. It can be seen that the method of the present invention can achieve zero-speed operation.

[0128] Figure 5 As shown, the method of the present invention is applied to motor rotor position estimation, the system is controlled through a speed and current double closed loop, and provides position and speed information at zero speed through a full-order state observer based on virtual voltage signal injection.

[0129] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. A full-order state observation method for an interior permanent magnet synchronous motor based on virtual voltage signal injection, characterized in that: include: An initial full-order state observer is established based on the estimated voltage equation of the internal permanent magnet synchronous motor under the rotating shaft system; A nonlinear equation group of the built-in permanent magnet synchronous motor under a stationary shaft system is established, and the Lie derivative matrix of the motor system state variables is calculated by the nonlinear equation group; and then the zero-speed local weak energy observability criterion of the initial full-order state observer is derived according to the determinant of the Lie derivative matrix; The zero-speed local weak observability criterion is used to construct an observer voltage input model at zero speed; then the initial full-order state observer is updated based on the zero-speed observer voltage input model to obtain an updated full-order state observer for state observation of the built-in permanent magnet synchronous motor at zero synchronous speed.

2. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 1, characterized in that: The estimated voltage equation of the internal permanent magnet synchronous motor under the rotating shaft system is: Where u γδ To estimate the stator voltage of the rotating shaft, u γδ =[u γ u δ ] T , where u γ To estimate the stator voltage of the rotating axis γ, u δ To estimate the stator voltage of the rotating shaft system δ axis, R s is the stator resistance, i γδ To estimate the stator current of the rotating shaft, i γδ =[i γ i δ ] T ,i γ To estimate the stator current of the γ-axis of the rotating shaft system, i δ To estimate the stator current of the rotating shaft system δ axis, ψ s is the stator flux, is the estimated value of electrical angular velocity, J is an orthogonal matrix; ψ s =It γδ +ψ f =[ψ γ ψ δ ] T , Where L is the inductance matrix, ψ f is the permanent magnet flux vector, ψ f =[ψ f1 0] T , ψ f1 is the permanent magnet flux, ψ γ To estimate the stator flux of the rotating axis γ, ψ δ To estimate the stator flux of the rotating axis δ-axis; L=[L d ,0;0,L q ] T , Where L d is the d-axis inductance of the actual rotating axis system, L q is the q-axis inductance of the actual rotating axis system; J＝[0,-1；1,0]。 3. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 2, characterized in that: The initial full-order state observer is: In the formula is the estimated value of stator flux, To estimate the stator current of the rotating shaft, λ is the observer gain matrix, To estimate the rotating shaft current error, Where K is the feedback gain matrix, I is the unit matrix, k is the feedback gain coefficient, K=kI.

4. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 3, characterized in that: The initial full-order state observer uses the velocity adaptation rate to observe the electrical angular velocity estimate Where k p is the velocity adaptation rate gain coefficient, ε is the generalized position error, k i is the speed adaptation rate integral coefficient, t is the time; Where W0 is the generalized error projection vector, is the estimated value of the q-axis inductance of the actual rotating axis system, To estimate the stator current of the rotating shaft system δ axis; In the formula is the estimated value of permanent magnet flux linkage, σ is the bandwidth coefficient; The speed adaptation rate achieves the electrical angular velocity estimation value by making the generalized position error ε reach 0 tracking.

5. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 4, characterized in that: The nonlinear equations of the interior permanent magnet synchronous motor under the stationary shaft system are: Where i α is the α-axis current of the stationary shaft system, u α is the voltage of the α-axis of the stationary shaft system, L0 is the mean inductance of the actual rotating shaft system, L0=(L d +L q ) / 2; L1 is the actual rotating shaft system differential inductance, L1=(L d -L q ) / 2;θ e is the true rotor angle, u β is the β-axis voltage of the stationary shaft system, i β is the β-axis current of the stationary shaft system, ω e is the true value of electrical angular velocity; The nonlinear equations are simplified as: Where χ is the state variable of the motor system, χ=[i α i β θ e ω e ] T ;ζ is the system input variable, ζ=[u α u β 0 0] T ; f is the input nonlinear function, f(χ,ζ)=[di α / dt di β / dtω e 0] T ; η is the system output variable; h is the output nonlinear function, h(χ)=[h1 h2] T =[i α i β ] T , h1=i α , h2=i β .

6. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 5, characterized in that: The Lie derivative matrix of the motor system state variables is expressed as s : In the formula h i k-th order Lie derivative of the input nonlinear function f, i=1,2; k=0,1.

7. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 6, characterized in that: According to the Lie derivative matrix s The determinant of derives the zero-speed local weak observability criterion of the initial full-order state observer as follows: D=[-ψ f1 ((L0+L1)ψ f1 oh e +2L1(u α sinth e -u β cosθ e +R s I β cosθ e -R s I α sinth e ))] / [(L0-L1) 2 (L0+L1)](7), Where D is the zero-speed local weak energy observability criterion; Convert formula (7) to the actual rotating axis system and express it as: Where u q is the q-axis voltage of the actual rotating axis system, i q is the q-axis current of the actual rotating axis system.

8. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 7, characterized in that: The zero-speed local weak observability criterion D is used to construct the zero-speed observer voltage input model: ζ1=[u γ +u γ_vir u δ +u δ_vir 00] T =[(1+M)u γ (1+M)u δ 00] T (9), Where ζ1 is the updated system input variable, u γ_vir To estimate the virtual voltage injected into the observer along the γ axis of the rotating axis system, u δ_vir is to estimate the virtual voltage injected into the observer of the rotating axis system δ axis, and M is the coefficient of the virtual voltage injection.

9. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 8, characterized in that: The zero-speed local weak observability criterion D is obtained from the zero-speed observer voltage input model:

10. The method for full-order state observation of an interior permanent magnet synchronous motor based on virtual voltage signal injection according to claim 9, characterized in that: Based on the zero-speed local weak observability criterion D, the initial full-order state observer is updated to obtain the updated full-order state observer: Where (1+M)u γδ =u γδ_act ,u γδ_act To estimate the synthetic virtual voltage of the rotating shaft system.

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