A Sliding Mode Adaptive Current Decoupling Control Method for Permanent Magnet Synchronous Motor

Abstract

The present invention discloses a sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor. An extended state observer is designed to observe the d-q axis current and voltage disturbance terms. The difference between the current observation value and the reference current is input into a non-singular integral terminal sliding mode controller to obtain the d-q axis voltage. Then, the observed d-q axis voltage disturbance terms are superimposed to form the total d-q axis voltage. Next, the recursive least squares method with dynamic forgetting and an adaptive regularization factor is used to identify the d-q axis inductance and the permanent magnet flux linkage of the permanent magnet synchronous motor, and the d-q axis inductance is fed into the extended state observer to implement a closed-loop adaptive extended state observer. After coordinate transformation and space vector pulse width modulation of the d-q axis total voltage, it is used to drive the inverter to achieve the control of the permanent magnet synchronous motor. The current decoupling effect and anti-disturbance ability of the permanent magnet synchronous motor are improved, and the controller parameters are adaptively adjusted according to the working conditions, improving the system robustness.

Description

Technical Field

[0001] The present 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 Technique

[0002] As a synchronous motor with a permanent magnet as the excitation source, the permanent magnet synchronous motor (PMSM) has significant advantages in terms of energy conversion efficiency, power density, operation reliability, and economy, and is widely used in fields such as aerospace, national defense, new energy vehicles, and industry. However, in the vector control of PMSM, due to the dynamic coupling phenomenon between the d-q axes, when the motor is in a high-speed rotation state, the d-q axis currents will interfere with each other, making them unable to operate independently, resulting in an exacerbation of the coupling phenomenon, and in severe cases, even affecting the dynamic performance of the motor. Usually, this situation can be designed with a decoupling control based on the motor parameters to reduce the influence brought by the coupling term. However, when the external environment and the motor operating conditions change, the parameters of the PMSM will change, resulting in a decline in the effect of the decoupling controller designed according to the original motor parameters.

[0003] To solve the above problems, there is an urgent need to design a sliding mode decoupling control method that can calculate the PMSM parameters in real time to implement a fusion 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 ability of the permanent magnet synchronous motor, can adaptively adjust the controller parameters according to the change of the operating conditions, and improves the robustness of the system.

[0005] The present invention adopts the following technical solutions to solve the above technical problems:

[0006] A sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor includes the following steps:

[0007] Step 1, obtain the total d-q axis voltages and d-q axis inductances of the permanent magnet synchronous motor at the previous moment, and the d-q axis currents at the current moment, input the d-q axis currents at the current moment into the d-q axis extended state observer, and obtain the d-q axis current observation values at the current moment and the d-q axis voltage disturbance terms at the previous moment;

[0008] Step 2: Design a nonsingular integral terminal sliding mode controller. Input the d-q axis current observation values and d-q axis reference currents at the current moment into the nonsingular integral terminal sliding mode controller to obtain the d-q axis voltages at the current moment. Add the d-axis voltage disturbance term at the previous moment to the d-axis voltage at the current moment to obtain the total d-axis voltage at the current moment. At the same time, add the q-axis voltage disturbance term at the previous moment to the q-axis voltage at the current moment to obtain the total q-axis voltage at the current moment. Feed the d-q axis total voltages at the current moment into the d-q axis extended state observer;

[0009] Step 3: According to the d-q axis currents, d-q axis total voltages, and motor electrical angular velocity at the current moment, design a recursive least squares method with dynamic forgetting and adaptive regularization factor to identify the d-q axis inductances at the current moment and feed them into the d-q axis extended state observer to implement an adaptive d-q axis extended state observer;

[0010] Step 4: Perform coordinate transformation on the d-q axis total voltages at the current moment to obtain voltages u α and u β , and input them into space vector pulse width modulation to obtain the final PMW signal for driving the inverter to achieve the control of the permanent magnet synchronous motor.

[0011] Compared with the prior art, the present invention adopts the above technical solutions and has the following technical effects:

[0012] 1. The NITSMC designed by the present invention not only improves the decoupling effect but also enhances the anti-disturbance ability of the control system. It can be independent of the mathematical model of the motor, and in actual operation, the robustness to parameter changes is improved.

[0013] 2. After being improved by dynamic forgetting and adaptive regularization factor, the DFARF-RLS designed by the present invention can improve the algorithm convergence speed and accuracy. It can not only provide the required d-q axis inductances for the implementation of the adaptive ESO but also obtain the real-time parameters of the motor and observe the usage status of the motor. When the working conditions change suddenly, it can also well track the parameter changes of the motor and provide parameter references for the design of other adaptive controls and motor controls.

[0014] 3. The adaptive extended observer designed by the present invention can adaptively adjust the parameters of the extended observer according to the changes of 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 can adaptively observe the current and disturbance. The decoupling effect and anti-disturbance ability of the system are improved, and at the same time, the problem of the control effect degradation caused by the change of the motor parameters in the system is reduced.

[0015] 4. Both the NITSMC and the adaptive extended observer designed in the present invention can improve the decoupling effect and disturbance rejection ability of the PMSM control system, and can also be used separately, both having good effects, and are independent of the motor mathematical model. Even if the motor parameters change greatly, the actual motor parameters can be well tracked. Description of the Drawings

[0016] Figure 1 is the structural block diagram of a sliding mode adaptive current decoupling control method for a permanent magnet synchronous motor according to the present invention;

[0017] Figure 2 is the structural block diagram of the d-q axis improved decoupling control method proposed by the present invention;

[0018] Figure 3 is the curve graph of the novel non-linear continuous error function designed in the adaptive extended observer proposed by the present invention;

[0019] Figure 4 is the curve graph of the continuous function under different parameters designed in the NITSMC proposed by the present invention;

[0020] 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;

[0021] 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;

[0022] 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;

[0023] 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;

[0024] Figure 9 is the q-axis inductance identification curve of DFARF-RLS when the load torque suddenly drops in the embodiment of the present invention;

[0025] Figure 10 is the permanent magnet flux linkage parameter identification curve of DFARF-RLS when the load torque suddenly drops in the embodiment of the present invention;

[0026] Figure 11 is the d-q axis current graph under the traditional PI control when the load torque suddenly rises in the embodiment of the present invention;

[0027] Figure 12 is the d-q axis current graph under the traditional sliding mode control when the load torque suddenly rises in the embodiment of the present invention;

[0028] Figure 13 It is the d-q axis current diagram under the sudden increase of load torque and the sliding mode adaptive current decoupling control in the embodiment of the present invention;

[0029] Figure 14 It is the d-q axis current diagram under the sudden decrease of load torque and the traditional PI control in the embodiment of the present invention;

[0030] Figure 15 It is the d-q axis current diagram under the sudden decrease of load torque and the traditional sliding mode control in the embodiment of the present invention;

[0031] Figure 16 It is the d-q axis current diagram under the sudden decrease of load torque and the sliding mode adaptive current decoupling control in the embodiment of the present invention. Specific Embodiment

[0032] The following details the embodiments of the present invention, and the examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention, and should not be construed as a limitation to the present invention.

[0033] As Figure 1 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:

[0034] Step 1: Under the PMSM vector control, input the d-q axis currents i d 、i q at the current moment and the d-q axis total voltages u d 、u q at the previous moment into the Extended State Observer (ESO). After passing through the d-q axis currents, the d-q axis ESO obtains the d-q axis current observed values 、 and the d-q axis voltage disturbance terms 、 , as Figure 2 shown.

[0035] Among them, since the ESO does not depend on the PMSM mathematical model, the design principles of the d-axis and q-axis ESOs are the same. The difference is that the design parameters in the d-axis and q-axis ESOs are different. The d-q axis currents i d 、i q come from the results calculated by coordinate transformation of the collected three-phase currents i a 、i b 、i c and the electrical angle. The models of the d-q axis ESOs are designed as follows:

[0036] ,

[0037] ,

[0038] where e id is the error between the d-axis output value and the observed value; e iq is the error between the q-axis output value and the observed value; i d and i q are the d-q axis currents at the current moment respectively; and are the observed values of the d-q axis currents at the current moment respectively; and are respectively and derivatives; and are the observed values of the disturbance terms f d and f q by the d-q axis extended state observers respectively; and are the observed values of the total disturbance terms g d and g q by the d-q axis extended state observers respectively; β1, β2, β3 and β4 are output error gains; m d and m q are the reciprocals of the d-q axis inductances at the previous moment respectively; , , and are non-linear factors; σ1, σ2, σ3 and σ4 are error gains; and are respectively and derivatives; Different from the traditional discontinuous function, is a designed new non-linear continuous error function, as shown in Figure 3 ; The specific formula is:

[0039] .

[0040] Step 2: Input the observed values of the d-q axis currents , and the reference currents of the d-q axis and into the designed Nonsingular Integral Terminal Sliding Mode Controller (NITSMC) respectively to obtain the d-q axis voltages , . The obtained and Superimpose the d-q axis voltage disturbance terms observed by the ESO and to form the total d-q axis voltages u d and u q which are input into the d-q axis ESO. Together with Step 1, new d-q axis current observation values and and the d-q axis voltage disturbance terms and are produced, as shown in Figure 2 .

[0041] In the designed d-q axis NITSMC, the stator voltage equation of the PMSM used is established by neglecting factors such as core eddy current loss and hysteresis loss, as follows:

[0042] ,

[0043] The designed d-q axis NITSMC takes into account motor parameter variations, system internal disturbances, and external disturbances in the PMSM stator voltage, as follows:

[0044] ,

[0045] where f d and f q are the d-q axis disturbance terms, including motor parameter variations, unmodeled parts of the system, internal and external system disturbances, etc., as follows:

[0046] ,

[0047] where and are the error values of the stator resistance, d-q axis inductance, and magnetic flux linkage; and are the d-q axis system disturbance terms, including the values of system internal disturbances, external disturbances, and other unmodeled parts respectively. g d and g q are regarded as the total disturbance terms on the d-q axis, including stator resistance voltage drop, cross-coupling terms, internal and external disturbances, and equivalent unmodeled components, and are sorted as follows:

[0048] ,

[0049] .

[0050] The designed NITSMC model includes a designed novel non-singular integral terminal sliding surface and a novel continuous reaching law. The non-singular integral terminal sliding surface is designed as follows:

[0051] ,

[0052] Among them, and are respectively the non-singular integral terminal sliding mode surfaces of the designed d-q axes; e d is the observed value of the d-axis current at the current moment and the reference current of the d-axis The error value of, e q is the q-axis current at the current moment and the reference current of the q-axis The error value of; and are respectively the derivatives of e d and e q ; k d1 , k d2 and k d3 are all weight coefficients of the d-axis sliding mode surface function, k q1 , k q2 and k q3 are all weight coefficients of the q-axis sliding mode surface function; and are both power parameters of the d-axis sliding mode surface function, and are both power parameters of the q-axis sliding mode surface function; is a time variable used to calculate the integral from 0 to the moment ; Then it satisfies , or , or ;

[0053] The designed continuous gain function and continuous reaching law are as follows:

[0054] ,

[0055] ,

[0056] Among them, is the Laplace operator, is The derivative of; ε and h are reaching law weight coefficients; w1 and w2 are non-linear function control coefficients. The gain comparisons under different parameters of the designed continuous gain function are as Figure 4 shown.

[0057] Combining the non-singular integral terminal sliding mode surface and the continuous reaching law, the d-q axis NITSMC model is designed as follows:

[0058] ,

[0059] Among them, and are the d-q axis voltages at the current moment; m d and m q are the reciprocals of the d-q axis inductances at the previous moment; ε d 、ε q 、h d and h q are the d-q axis reaching law weight coefficients; w d1 、w d2 、w q1 and w q2 are the d-q axis nonlinear function control coefficients.

[0060] Step 3: Input the d-q axis currents i d 、i q , the total d-q axis voltages u d 、u q and the electrical angular velocity ω of the motor e into the designed new Recursive Least Squares Method with Dynamic Forgetting and Adaptive Regularization Factor (DFARF-RLS) to identify the d-q axis inductances and the permanent magnet flux linkage of the PMSM, and obtain the real-time d-q axis inductances and permanent magnet flux linkage.

[0061] DFARF-RLS is used to identify the d-q axis inductances L d 、L q and the permanent magnet flux linkage The objective function is as follows:

[0062] ,

[0063] where, is the forgetting factor; is the regularization factor; 、 、y(k)、 、 The calculation formulas are as follows:

[0064] ,

[0065] ,

[0066] ,

[0067] ,

[0068] ,

[0069] wherein, and are the forgetting factor weight coefficients respectively; and are the d-q axis inductance and the permanent magnet flux linkage at the current moment respectively; , , are the nominal values of the d-q axis inductance and the permanent magnet flux linkage of the PMSM respectively; and are the regularization factor weight coefficients respectively; and are the forgetting factors at the k and moments respectively; R s is the nominal value of the stator resistance; and are the d-q axis currents at the k moment respectively; and are the total d-q axis voltages at the k moment respectively; is the electrical angular velocity of the motor at the k moment.

[0070] Table 1 gives a set of PMSM parameters, which are used as references for identifying the d-q axis inductance and the permanent magnet flux linkage of the PMSM by DFARF-RLS, Figures 5 - 10 is the identification curve of the d-q axis inductance and the permanent magnet flux linkage when using the recursive least squares method with forgetting factor and DFARF-RLS under the condition that the operating speed of the PMSM is 1000 r / min and at 1 s, and the load torque suddenly increases from to and suddenly decreases from to .

[0071] Table 1 Basic Parameters of PMSM

[0072]

[0073] From Figure 5 and Figure 8It can be seen from [relevant content] that when the PMSM operates stably, both the Recursive Least Squares Method with Forgetting Factor (FF-RLS) and DFARF-RLS can achieve stable identification of the d-axis inductance parameter. However, the identification accuracy of the recursive least squares method with forgetting factor is not as high as that of DFARF-RLS. When the load torque suddenly increases and decreases, the identification curve of DFARF-RLS shows a mutation phenomenon, but the amplitude is not large and 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.

[0074] From Figure 6 and Figure 9 It can be seen that when the PMSM operates stably, both FF-RLS and DFARF-RLS can achieve stable identification of the q-axis inductance parameter. However, DFARF-RLS has a higher identification accuracy, and the amplitude of current fluctuation does not change significantly. When the load torque suddenly increases and decreases, the identification curve of DFARF-RLS also shows a mutation phenomenon, and the change amplitude is small and almost unaffected.

[0075] From Figure 7 and Figure 10 It can be seen that when the PMSM operates stably, DFARF-RLS has a faster identification speed and accuracy compared to FF-RLS, and still maintains a good identification effect when the load torque suddenly increases and decreases.

[0076] Step 4: Send the real-time obtained d-q axis inductances into the d-q axis ESO to update the originally designed ESO based on fixed d-q axis inductance parameters, and achieve closed-loop adaptive ESO and sliding mode decoupling control.

[0077] The d-q axis inductances in Step 4 are identified by DFARF-RLS, and the d-q axis inductances in the ESO are replaced, thereby realizing the adaptive ESO, as Figure 2 shown.

[0078] Step 5: After performing the Clark inverse transformation on the d-q axis total voltage to obtain u α and u β voltages, input them into the space vector pulse width modulation to obtain the final PMW signal, which is used to drive the inverter to control the PMSM.

[0079] The d-q axis total voltage in Step 5 includes the d-q axis voltages output by the NITSMC and the d-q axis voltage disturbance terms observed by the adaptive extended observer, as Figure 1 and Figure 2 shown.

[0080] Figures 11 - 16 For the PI control, traditional sliding mode control, and sliding mode decoupling control integrated with an adaptive extended observer under the condition that the operating speed of the PMSM is 1000 r / min and the load torque suddenly increases from to and suddenly decreases to respectively, the d-q axis current waveforms are shown.

[0081] From Figure 11 and Figure 12 it can be seen that when the load torque suddenly increases, there is still a cross-coupling phenomenon between the d-axis and the q-axis in the traditional PI control and sliding mode control. The sudden increase in the q-axis current drives the d-axis current to mutate upward, resulting in a decline in the motor control effect. Figure 13 For the decoupling control implemented using the strategy of the present invention, it can be seen that under the same operating conditions, the decoupling control of the present invention has significant improvements in both anti-disturbance ability and decoupling effect. The d-axis and the q-axis are independent of each other, which is conducive to the separate implementation of current control and improves the control effect.

[0082] From Figure 14 and Figure 15 it can be seen that when the load torque suddenly decreases, in the traditional PI control and sliding mode control, the sudden decrease in the q-axis current drives the d-axis current to mutate downward. Similar to the situation when the load torque suddenly increases, the d-axis and the q-axis affect each other. Figure 16 For the decoupling control implemented using the strategy of the present invention when the load torque suddenly decreases, it can be seen that under the same operating conditions, the current decoupling effect of the strategy of the present invention is significant, and the anti-disturbance ability is also improved, demonstrating the superiority of the strategy.

[0083] 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 foregoing permanent magnet synchronous motor sliding mode adaptive current decoupling control method are implemented.

[0084] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the foregoing permanent magnet synchronous motor sliding mode adaptive current decoupling control method are implemented.

[0085] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0086] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0087] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0089] The above embodiments are only used to illustrate the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby. Any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls 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; 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 are the observed values ​​of the total disturbance term by the dq-axis extended state observer; β1, β2, β3 and β4 are all output error gains; m d and m q are the inverse of the dq axis inductance at the previous moment; u d and u q are the total voltages of the dq axes at the previous moment respectively; κ1, κ2, κ3 and κ4 are all nonlinear factors; σ1, σ2, σ3 and σ4 are all error gains; and They are and The derivative of fac(e,κ,σ) is a nonlinear continuous error function, and the formula is designed as follows: Where asinh is the inverse hyperbolic sine function, e = e id or e iq , κ=κ1, κ2, κ3 or κ4, σ=σ1, σ2, σ3 or σ4; 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; 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: Among them, s d and q 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 are all weight coefficients of the q-axis sliding surface function; d1 and χ d2 are the power parameters of the d-axis sliding surface function, χ q1 and χ q2 are all power parameters of the q-axis sliding surface function; t represents the time variable; sgn(x) χ Then sgn(x) is satisfied χ =|x| χ sign(x), or χ=χ d1 , χ d2 , χ q1 or q2 ; The design continuous reaching law is as follows: scg(s)=(1+e (-w1·|s|) )tanh(w2·s), Where s is the Laplace operator, is the derivative of s; ε and h are both reaching law weight coefficients; scg(s) is the 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: Among them, u′ d and u′ q are the dq axis voltages at the current moment respectively; 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 All are the control coefficients of the q-axis nonlinear function; 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. In step 3, the objective function for identifying the dq-axis inductance is as follows: Among them, J(θ) is the objective function; λ(tk) is the forgetting factor at time tk; η(k) is the regularization factor; λ, η(k), y(k), The calculation formula of θ(k) is as follows: λ=1-l1|L d -L′ d | 2 -l2|L q -L′ q | 2 -l3|ψ f -ψ′ f | 2 , η(k)=μ(λ(k)-λ(k-1)) 2 +γ(1-λ(k)) 2 , i T (k)=[L d L q ψ f ], Among them, l1, l2 and l3 are the weight coefficients of the forgetting factor; L d , L q and ψ f are the dq axis inductance and permanent magnet flux at the current moment respectively; L d ′, L q ′ and ψ f ′ are the nominal values ​​of dq axis inductance and permanent magnet flux linkage respectively; μ and γ are the weight coefficients of regularization factors; λ(k) and λ(k-1) are the forgetting factors at time k and k-1 respectively; R s is the nominal value of stator resistance; i d (k) and i q (k) are the dq axis current at time k; u d (k) and u q (k) are the total voltages of the dq axes at time k; ω e (k) is the electrical angular velocity of the motor at time k; 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: The total disturbance term of the dq axis considered by the non-singular integral terminal sliding mode controller is as follows: Among them, g d , g q 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; ω e is the electrical angular velocity of the motor at the current moment; ΔR s , ΔL d , ΔL q and Δψ 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.

3. 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 2 are implemented.

4. 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 2 are implemented.

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