Self-adaptive current decoupling control method for sliding mode of permanent magnet synchronous motor

Abstract

The invention discloses an adaptive current decoupling control method for a sliding mode of a permanent magnet synchronous motor, and the method comprises the steps: designing an extended state observer to observe a d-q axis current and a voltage disturbance term, carrying out the difference between a current observation value and a reference current, and inputting the difference into a non-singular integral terminal sliding mode controller, thereby obtaining a d-q axis voltage; and then the observed d-q axis voltage disturbance term is superposed to form a total d-q axis voltage. And then identifying the d-q axis inductance and permanent magnet flux linkage of the permanent magnet synchronous motor by using a recursive least square method with dynamic forgetting and adaptive regularization factors, and sending the d-q axis inductance into the extended state observer to realize a closed-loop adaptive extended state observer. And after coordinate transformation and space vector pulse width modulation are carried out on the d-q axis total voltage, the d-q axis total voltage is used for driving an inverter to control the permanent magnet synchronous motor. The method improves the current decoupling effect and anti-disturbance capability of the permanent magnet synchronous motor, adaptively adjusts the parameters of the controller according to the change of working conditions, and improves the robustness of the system.

Description

Technical Field

[0001] The invention relates to a sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor, belonging to the technical field of motor sliding mode decoupling control. Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM), as a synchronous motor with permanent magnet as excitation source, has significant advantages in energy conversion efficiency, power density, operation reliability and economy, and is widely used in aerospace, national defense, new energy vehicles and industry. However, in PMSM vector control, due to the dynamic coupling phenomenon between the dq axis, when the motor is in a high-speed rotation state, the dq axis currents will interfere with each other, making it impossible for the two to operate independently, resulting in aggravated coupling phenomenon, and even affecting the dynamic performance of the motor in severe cases. Usually, in this case, decoupling control based on motor parameters can be designed to reduce the impact of coupling terms. However, when the external environment and motor operating conditions change, the parameters of PMSM will change, resulting in a decrease in the effect of the decoupling controller designed according to the original motor parameters.

[0003] In order to solve the above problems, there is an urgent need to design a sliding mode decoupling control method that can calculate PMSM parameters in real time to realize the fusion of adaptive extended state observer. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor, which improves the current decoupling effect and anti-disturbance capability of the permanent magnet synchronous motor and can adaptively adjust controller parameters according to changes in operating conditions, thereby improving the robustness of the system.

[0005] The present invention adopts the following technical solutions to solve the above technical problems: A sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor comprises the following steps: Step 1, obtain the dq axis total voltage and dq axis inductance of the permanent magnet synchronous motor at the previous moment, and the dq axis current at the current moment, input the dq axis current at the current moment into the dq axis extended state observer, and obtain the dq axis current observation value at the current moment and the dq axis voltage disturbance term at the previous moment; Step 2, design a non-singular integral terminal sliding mode controller, input the dq axis current observation value and the dq axis reference current at the current moment into the non-singular integral terminal sliding mode controller, and obtain the dq axis voltage at the current moment; superimpose the d axis voltage disturbance term at the previous moment on the d axis voltage at the current moment, and obtain the d axis total voltage at the current moment; at the same time, superimpose the q axis voltage disturbance term at the previous moment on the q axis voltage at the current moment, and obtain the q axis total voltage at the current moment; and send the dq axis total voltage at the current moment into the dq axis extended state observer; Step 3: According to the current dq axis current, dq axis total voltage and motor electrical angular velocity, a recursive least square method with dynamic forgetting and adaptive regularization factor is designed to identify the current dq axis inductance and send it to the dq axis extended state observer to realize an adaptive dq axis extended state observer. Step 4: transform the total voltage of the dq axis at the current moment into the voltage u α and u β , and input into the space vector pulse width modulation to obtain the final PMW signal, which is used to drive the inverter to realize the control of the permanent magnet synchronous motor.

[0006] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects: 1. The NITSMC designed by the present invention not only improves the decoupling effect, but also enhances the anti-disturbance capability of the control system, and does not rely on the mathematical model of the motor. In actual work, the robustness to parameter changes is improved.

[0007] 2. The DFARF-RLS designed in the present invention can improve the algorithm convergence speed and accuracy after being improved by dynamic forgetting and adaptive regularization factors. It can not only provide the required dq-axis inductance for the realization of adaptive ESO, but also obtain the real-time parameters of the motor and observe the use status of the motor. When the working conditions suddenly change, it can also track the parameter changes of the motor well and provide parameter reference for the design of other adaptive control and motor control.

[0008] 3. The adaptive extended observer designed by the present invention can adaptively adjust the parameters of the extended observer according to the changes in the motor parameters and adjust the estimation accuracy of the observed disturbance. It is independent of the motor parameters, mathematical model and working conditions, and adaptively observes the current and disturbance. The decoupling effect and anti-disturbance ability of the system are improved, and the problem of decreased control effect caused by changes in motor parameters is reduced.

[0009] 4. The NITSMC and adaptive expanded observer designed in the present invention can both improve the decoupling effect and anti-disturbance capability of the PMSM control system, and can also be used separately. Both have good effects and are independent of the motor mathematical model. Even if the motor parameters change significantly, the actual motor parameters can be well tracked. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural block diagram of a sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor of the present invention; Figure 2 It is a structural block diagram of the improved decoupling control method of dq axes proposed by the present invention; Figure 3 It is a new nonlinear continuous error function curve diagram designed in the adaptive extended observer proposed by the present invention; Figure 4 It is a continuous function curve diagram under different parameters designed in the NITSMC proposed by the present invention; Figure 5 is the d-axis inductance identification curve of DFARF-RLS when the load torque suddenly rises in the embodiment of the present invention; Figure 6 is the q-axis inductance identification curve of DFARF-RLS when the load torque suddenly rises in the embodiment of the present invention; Figure 7 is the permanent magnet flux linkage identification curve of DFARF-RLS when the load torque suddenly rises in the embodiment of the present invention; Figure 8 is the d-axis inductance identification curve of DFARF-RLS when the load torque suddenly drops in the embodiment of the present invention; Fig. 9 is the q-axis inductance identification curve of DFARF-RLS when the load torque suddenly drops in the embodiment of the present invention; Fig.10 is the permanent magnet flux parameter identification curve of DFARF-RLS when the load torque suddenly drops in the embodiment of the present invention; Fig.11 is a dq axis current diagram under traditional PI control when the load torque suddenly rises in an embodiment of the present invention; Fig.12 is a dq axis current diagram under conventional sliding mode control when load torque suddenly rises in an embodiment of the present invention; Fig.13 is a dq axis current diagram under sliding mode adaptive current decoupling control when load torque suddenly rises in an embodiment of the present invention; Fig.14 is a dq axis current diagram under traditional PI control when the load torque suddenly drops in an embodiment of the present invention; Fig.15is a dq axis current diagram under conventional sliding mode control when the load torque suddenly drops in an embodiment of the present invention; Fig.16 1 is a dq axis current diagram under sliding mode adaptive current decoupling control when load torque suddenly drops in an embodiment of the present invention. DETAILED DESCRIPTION

[0011] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0012] like Figure 1 As shown, the present invention provides a sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor, and the specific steps are as follows: Step 1: Put the PMSM under vector control and set the current dq axis current i d 、i q and the total voltage u of the dq axis at the previous moment d 、u q Input to the Extended State Observer (ESO), the dq axis ESO passes through the dq axis current to obtain the dq axis current observation value , and dq axis voltage disturbance term , ,like Figure 2 shown.

[0013] Among them, since ESO does not depend on the mathematical model of PMSM, the design principles of d-axis and q-axis ESO are the same, except that the design parameters of d-axis and q-axis ESO are different. d 、i q From the collected three-phase current i a 、i b 、i c The results of the coordinate transformation of the electrical angle are calculated. The models of the dq-axis ESO are designed as follows: , , Among them, e id is the error between the output value and the observed value of the d-axis; e iq is the error between the q-axis output value and the observed value; i d and i q are the dq axis currents at the current moment respectively; and are the dq axis current observation values ​​at the current moment respectively; and They are and The derivative of and They are the disturbance term f of the dq-axis extended state observer d and f q Observed value of and They are the total disturbance term g of the dq-axis extended state observer d and g q β1, β2, β3 and β4 are the output error gains; m d and m q They are the inverse of the dq axis inductance at the previous moment respectively; , , and is the nonlinear factor; σ1, σ2, σ3 and σ4 are error gains; and They are and The derivative of ; Unlike traditional discontinuous functions, is a new nonlinear continuous error function designed, such as Figure 3 As shown; the specific formula is: .

[0014] Step 2: Observe the dq axis current , and dq axis reference current and They are input into the designed non-singular integral terminal sliding mode controller (NITSMC) to obtain the dq axis voltage , . The obtained and Superimpose the dq-axis voltage disturbance term observed by ESO , The total dq axis voltage u d and u q Input into the dq axis ESO, and cooperate with step 1 to generate new dq axis current observation values , and dq axis voltage disturbance term , ,like Figure 2 shown.

[0015] The PMSM stator voltage equation used in the designed dq-axis NITSMC is established by ignoring factors such as core eddy current loss and hysteresis loss, as follows: , The designed dq-axis NITSMC takes into account the motor parameter changes, system internal disturbances and external interferences in the PMSM stator voltage as follows: , Among them, f d and f q is the dq axis disturbance term, including the change of motor parameters, the unmodeled part of the system, the internal and external disturbances of the system, as follows: , in, and is the error value of stator resistance, dq axis inductance and flux linkage; and are the dq axis system disturbance terms, including the internal disturbance of the system, external disturbance and other unmodeled parts. d and g q It is regarded as the total disturbance term on the dq axis, including the stator resistance voltage drop, cross-coupling term, internal and external disturbances and equivalent unmodeled components, which can be summarized as follows: , .

[0016] The designed NITSMC model includes a new type of non-singular integral terminal sliding surface and a new type of continuous reaching law. The non-singular integral terminal sliding surface is designed as follows: , in, and are the designed dq axis non-singular integral terminal sliding surface respectively; e d is the d-axis current observation value at the current moment and d-axis reference current The error value, e q is the q-axis current at the current moment and q-axis reference current The error value of and e d and e q The derivative of k d1 , k d2 and k d3 are the weight coefficients of the d-axis sliding surface function, k q1 , k q2 and kq3 All are weight coefficients of the q-axis sliding surface function; and are all power parameters of the d-axis sliding surface function, and All are power parameters of the q-axis sliding surface function; To represent the time variable, used to calculate from 0 to time The integral of Then it satisfies , or , or ; The designed continuous gain function and continuous reaching law are as follows: , , in, is the Laplace operator, for The derivative of; ε and h are the reaching law weight coefficients; w1 and w2 are the nonlinear function control coefficients. The gain comparison under different parameters of the continuous gain function design is as follows Figure 4 shown.

[0017] The dq-axis NITSMC model is designed by combining the non-singular integral terminal sliding surface and the continuous reaching law as follows: , in, and are the dq axis voltages at the current moment respectively; m d and m q are the inverse of the dq axis inductance at the previous moment; ε d , ε q 、h d and h q is the weight coefficient of the dq axis approach law; w d1 、w d2 、w q1 and w q2 is the control coefficient of the dq-axis nonlinear function.

[0018] Step 3: Convert the dq axis current i d 、i q , total voltage of dq axis u d 、u q and the motor electrical angular velocity ω eThe input is used in the designed recursive least squares method with dynamic forgetting and adaptive regularization factor (DFARF-RLS) to calculate the dq axis inductance of the PMSM. and permanent magnet flux Identification is performed to obtain the real-time dq-axis inductance and permanent magnet flux.

[0019] DFARF-RLS is used to identify the dq-axis inductance L of PMSM d , L q and permanent magnet flux The objective function is as follows: , in, For the forgetting factor; is the regularization factor; , , y(k), , The calculation formula is as follows: , , , , , in, and are the weight coefficients of the forgetting factor respectively; and are the dq axis inductance and permanent magnet flux linkage at the current moment respectively; , , are the dq-axis inductance and the nominal value of permanent magnet flux linkage of PMSM respectively; and are the regularization factor weight coefficients respectively; and are k and The forgetting factor of the moment; R s is the nominal value of stator resistance; and are the dq axis currents at time k respectively; and are the total voltages of dq axes at time k respectively; is the electrical angular velocity of the motor at time k.

[0020] Table 1 gives a set of PMSM parameters used as DFARF-RLS to identify the dq-axis inductance of PMSM. and permanent magnet flux For reference, Figure 5-Figure 10 To use the recursive least squares method with forgetting factor and DFARF-RLS in the PMSM working condition with a speed of 1000 r / min, at 1s, the load torque is respectively Increased to and Sudden drop The dq-axis inductance and permanent magnet flux identification curves are shown below.

[0021] Table 1 Basic parameters of PMSM

[0022] from Figure 5 and Figure 8 It can be seen that when the PMSM is running stably, both the Recursive Least Squares Method with Forgetting Factor (FF-RLS) and DFARF-RLS can achieve stable identification of the d-axis inductance parameters, but the FF-RLS with Forgetting Factor has a lower identification accuracy than DFARF-RLS. When the load torque increases and decreases suddenly, the identification curve of DFARF-RLS changes suddenly, but the amplitude is not large and the amplitude is not as large as that of FF-RLS, indicating that after improvement, the algorithm identification accuracy and robustness of DFARF-RLS have been significantly improved.

[0023] from Figure 6 and Fig. 9 It can be seen that when the PMSM is running stably, both FF-RLS and DFARF-RLS can achieve stable identification of the q-axis inductance parameters, but the identification accuracy of DFARF-RLS is high, and the current fluctuation amplitude does not change significantly. When the load torque suddenly increases or decreases, the identification curve of DFARF-RLS also changes suddenly, but the change amplitude is small and is almost unaffected.

[0024] from Figure 7 and Fig.10 It can be seen that when the PMSM is running stably, DFARF-RLS has a faster identification speed and accuracy than FF-RLS, and it still maintains a good identification effect when the load torque suddenly increases or decreases.

[0025] Step 4: Send the real-time dq-axis inductance to the dq-axis ESO, update the ESO originally designed based on fixed dq-axis inductance parameters, and realize closed-loop adaptive ESO and sliding mode decoupling control.

[0026] The dq-axis inductance in step 4 is identified by DFARF-RLS, and the dq-axis inductance in ESO is replaced to achieve adaptive ESO, such as Figure 2 shown.

[0027] Step 5: Perform Clark inverse transformation on the total voltage of the dq axis to obtain u α and u β After the voltage is converted, it is input into the space vector pulse width modulation to obtain the final PMW signal, which is used to drive the inverter to control the PMSM.

[0028] The total dq axis voltage in step 5 includes the dq axis voltage output by NITSMC and the dq axis voltage disturbance term observed by the adaptive extended observer, such as Figure 1 and Figure 2 shown.

[0029] Figure 11-Figure 16 When the PMSM speed is 1000 r / min, the load torque is Increased to and Sudden drop The dq axis current waveforms of PI control, traditional sliding mode control and sliding mode decoupling control fused with adaptive extended observer.

[0030] from Fig.11 and Fig.12 It can be seen that when the load torque suddenly increases, there is still cross-coupling between the d-axis and the q-axis in traditional PI control and sliding mode control. The sudden increase in the current on the q-axis drives the d-axis current to suddenly change upward, which reduces the control effect on the motor. Fig.13 The decoupling control implemented by the strategy of the present invention shows that under the same working conditions, the decoupling control of the present invention has significant improvements in anti-disturbance capability and decoupling effect. The d-axis and q-axis are independent of each other, which is beneficial to the separate implementation of current control and improves the control effect.

[0031] from Fig.14 and Fig.15 It can be seen that when the load torque suddenly drops, in traditional PI control and sliding mode control, the sudden drop in the current of the q-axis drives the d-axis current to suddenly change downward. Similar to when the load torque suddenly increases, the d-axis and q-axis affect each other. Fig.16 The decoupling control is realized when the load torque suddenly drops using the strategy of the present invention. It can be seen that under the same working conditions, the current decoupling effect of the strategy of the present invention is significant, and the anti-disturbance ability is also improved, which proves the superiority of the strategy.

[0032] Based on the same inventive concept, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the aforementioned permanent magnet synchronous motor sliding mode adaptive current decoupling control method are implemented.

[0033] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the aforementioned permanent magnet synchronous motor sliding mode adaptive current decoupling control method are implemented.

[0034] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0035] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0036] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0037] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0038] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor, characterized in that: The steps include: Step 1, obtain the dq axis total voltage and dq axis inductance of the permanent magnet synchronous motor at the previous moment, and the dq axis current at the current moment, input the dq axis current at the current moment into the dq axis extended state observer, and obtain the dq axis current observation value at the current moment and the dq axis voltage disturbance term at the previous moment; Step 2, design a non-singular integral terminal sliding mode controller, input the dq axis current observation value and the dq axis reference current at the current moment into the non-singular integral terminal sliding mode controller, and obtain the dq axis voltage at the current moment; superimpose the d axis voltage disturbance term at the previous moment on the d axis voltage at the current moment, and obtain the d axis total voltage at the current moment; at the same time, superimpose the q axis voltage disturbance term at the previous moment on the q axis voltage at the current moment, and obtain the q axis total voltage at the current moment; and send the dq axis total voltage at the current moment into the dq axis extended state observer; Step 3: According to the current dq axis current, dq axis total voltage and motor electrical angular velocity, a recursive least square method with dynamic forgetting and adaptive regularization factor is designed to identify the current dq axis inductance and send it to the dq axis extended state observer to realize an adaptive dq axis extended state observer. Step 4: transform the total voltage of the dq axis at the current moment into the voltage u α and u β , and input into the space vector pulse width modulation to obtain the final PMW signal, which is used to drive the inverter to realize the control of the permanent magnet synchronous motor.

2. The sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor according to claim 1, characterized in that: In step 1, the model of the dq-axis extended state observer is as follows: ， ， Among them, e id is the error between the output value and the observed value of the d-axis; e iq is the error between the q-axis output value and the observed value; i d and i q are the dq axis currents at the current moment respectively; and are the dq axis current observation values ​​at the current moment respectively; and They are and The derivative of and They are the disturbance term f of the dq-axis extended state observer d and f q Observed value of and They are the total disturbance term g of the dq-axis extended state observer d and g q Observed value; β1, β2, β3 and β4 are all output error gains; m d and m q They are the inverse of the dq axis inductance at the previous moment respectively; and are the total voltages of the dq axes at the previous moment respectively; , , and All are nonlinear factors; σ1, σ2, σ3 and σ4 are error gains; and They are and The derivative of For a nonlinear continuous error function, the formula is designed as follows: ， in, is the inverse hyperbolic sine function, or , or , or .

3. The sliding mode adaptive current decoupling control method of a permanent magnet synchronous motor according to claim 1, characterized in that: In step 2, the design process of the non-singular integral terminal sliding mode controller is as follows: Design the non-singular integral terminal sliding surface as follows: ， in, and are the designed dq axis non-singular integral terminal sliding surface respectively; e d is the d-axis current observation value at the current moment and d-axis reference current The error value, e q is the q-axis current at the current moment and q-axis reference current The error value of and e d and e q The derivative of k d1 , k d2 and k d3 are the weight coefficients of the d-axis sliding surface function, k q1 , k q2 and k q3 All are weight coefficients of the q-axis sliding surface function; and are all power parameters of the d-axis sliding surface function, and All are power parameters of the q-axis sliding surface function; represents the time variable; Then it satisfies , or , or ; The design continuous reaching law is as follows: ， ， in, is the Laplace operator, for The derivative of ; ε and h are both reaching law weight coefficients; is a continuous gain function; w1 and w2 are both nonlinear function control coefficients; The model of designing a non-singular integral terminal sliding mode controller by combining the non-singular integral terminal sliding mode surface and the continuous reaching law is as follows: ， in, and are the dq axis voltages at the current moment respectively; m d and m q are the inverse of the dq axis inductance at the previous moment; ε d and h d are the weight coefficients of the d-axis approach law, ε q and h q are the weight coefficients of the q-axis approach law; w d1 and w d2 are the control coefficients of the d-axis nonlinear function, w q1 and w q2 They are all q-axis nonlinear function control coefficients.

4. The sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor according to claim 3 is characterized in that: The total disturbance term of the dq axis considered by the non-singular integral terminal sliding mode controller is as follows: ， ， in, , are the total disturbance terms of the dq axes considered by the non-singular integral terminal sliding mode controller, including stator resistance voltage drop, cross-coupling terms, internal and external disturbances, and equivalent unmodeled components; R s is the nominal value of stator resistance; i d and i q are the dq axis currents at the current moment respectively; is the electrical angular velocity of the motor at the current moment; L d , L q and are the dq axis inductance and permanent magnet flux at the current moment respectively; ∆R s , ∆L d , ∆L q and ∆ψ f are the error values ​​of stator resistance, dq axis inductance and permanent magnet flux linkage respectively; ξ d and q are the internal and external disturbances of the dq axis and the equivalent unmodeled components, respectively.

5. The sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor according to claim 1, characterized in that: In step 3, the objective function for identifying the dq-axis inductance is as follows: ， in, is the objective function; for The forgetfulness factor of the moment; is the regularization factor; , , y(k), , The calculation formula is as follows: ， ， ， ， ， in, and l3 are both forgetting factor weight coefficients; and are the dq axis inductance and permanent magnet flux linkage at the current moment respectively; , and are the nominal values ​​of dq-axis inductance and permanent magnet flux linkage respectively; and All are regularization factor weight coefficients; and are k and The forgetting factor of the moment; R s is the nominal value of stator resistance; and are the dq axis currents at time k respectively; and are the total voltages of dq axes at time k respectively; is the electrical angular velocity of the motor at time k.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the computer program, the steps of the sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor as described in any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor as claimed in any one of claims 1 to 5 are implemented.

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