Permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law

Abstract

The invention provides a permanent magnet synchronous motor speed controller based on an extended state observer and a frequency adaptive law. The control law of the permanent magnet synchronous motor speed controller is obtained through the following steps: obtaining a speed system model of a permanent magnet synchronous motor; constructing an extended state observer according to the speed system model; obtaining the gain and observation error of the extended state observer according to the extended state observer; obtaining a frequency adaptive law of periodic disturbance according to the observation error; acquiring a control law of the permanent magnet synchronous motor speed system model according to the gain of the extended state observer and a frequency adaptive law; and obtaining a permanent magnet synchronous motor speed controller according to the control law of the permanent magnet synchronous motor speed system model. According to the method, by introducing the extended state observer and the frequency adaptive rate, the model uncertainty, external aperiodic disturbance and periodic disturbance in the system can be effectively captured, and the sensing ability of the controller to the system state is improved.

Description

Technical Field

[0001] The present application relates to the technical field related to controller design, and in particular to a permanent magnet synchronous motor speed controller based on an extended state observer and a frequency adaptive law. Background Art

[0002] Permanent Magnet Synchronous Machine (PMSM) is an advanced type of motor. Due to its advantages such as high power density, high efficiency, light weight and low noise, it has been widely used in precision machine tools, new energy vehicles, home appliances, industry and other industrial fields.

[0003] However, due to the current measurement error of the permanent magnet synchronous motor, the permanent magnet synchronous motor will produce undesirable system disturbances when operating at low speed, which reduces the overall performance of the permanent magnet synchronous motor drive system. Secondly, the disturbances during low-speed operation are often nonlinear, which increases the complexity of the control algorithm.

[0004] In the permanent magnet synchronous motor speed system controller, by introducing the extended state observer, the unmodeled dynamics, model uncertainty and external disturbances in the system can be effectively captured, thereby improving the controller's perception of the system state, and thus achieving higher control accuracy and stability. Secondly, the design of the extended state observer helps to weaken the impact of external disturbances on the control system, enhances the system's anti-interference performance, and enables the motor to maintain good control performance in an uncertain environment. In addition, this method effectively improves the robustness of the control system because it can cope with the impact of model uncertainty and external disturbances, making the system more adaptable and robust.

[0005] However, in order to better suppress periodic disturbances and achieve better performance, it is far from enough to simply introduce an extended state observer. A new and efficient solution is also needed. Summary of the invention

[0006] In view of this, it is necessary to provide a permanent magnet synchronous motor speed controller based on an extended state observer and a frequency adaptive law, which can overcome at least one of the above defects.

[0007] In a first aspect, an embodiment of the present application provides a permanent magnet synchronous motor speed controller based on an extended state observer and a frequency adaptive law, wherein the control law of the permanent magnet synchronous motor speed controller is obtained by the following steps:

[0008] (1) Obtaining a speed system model of a permanent magnet synchronous motor;

[0009] (2) constructing an extended state observer according to the velocity system model;

[0010] (3) obtaining a gain and an observation error of the extended state observer according to the extended state observer;

[0011] (4) constructing a frequency adaptive law of a frequency adaptive resonant controller according to the observed error;

[0012] (5) The control law of the permanent magnet synchronous motor speed controller is obtained according to the gain and frequency adaptation law of the extended state observer.

[0013] Based on the above, the speed system model of the permanent magnet synchronous motor is obtained by the following steps:

[0014] (1.1) Obtaining an initial speed system model of the permanent magnet synchronous motor;

[0015] (1.2) Obtaining model uncertainty and external disturbance of the permanent magnet synchronous motor;

[0016] (1.3) correcting the initial velocity system model according to the model uncertainty and the external disturbance to obtain a velocity system corrected model;

[0017] (1.4) Obtaining the speed system model of the permanent magnet synchronous motor according to the speed system correction model.

[0018] Based on the above, the initial speed system model of the permanent magnet synchronous motor is:

[0019]

[0020] Wherein, u is the input speed of the permanent magnet synchronous motor, y is the output speed of the permanent magnet synchronous motor, is the first-order derivative of the output speed of the permanent magnet synchronous motor, is the second-order derivative of the output speed of the permanent magnet synchronous motor; a=K p K0K1 / L, b=K p K0J / L / K2, J=375C m / GD 2 , K p =ωL / K0 / K1 is the proportional coefficient of the permanent magnet synchronous motor current loop PI controller, ω is the current loop crossing frequency, K0 is the voltage conversion coefficient, K1 is the current conversion coefficient, K2 is the speed conversion coefficient, C m is the torque coefficient of the permanent magnet synchronous motor, GD 2 is the flywheel inertia of the permanent magnet synchronous motor converted to the motor shaft, and L is the inductance of the permanent magnet synchronous motor.

[0021] Based on the above, the speed system correction model is:

[0022]

[0023] Where b0 is the estimated value of b, and d is the external disturbance, including periodic and non-periodic disturbances.

[0024] Based on the above, the speed system model of the permanent magnet synchronous motor is:

[0025]

[0026] Among them, the total disturbance f includes the periodic disturbance f q and the non-periodic disturbance f a .

[0027] Based on the above, the steps to construct the extended state observer are:

[0028] (2.1) Obtain state variables;

[0029] The state variables include x1, x2 and x3, where x1 = y, x3=f=f q +f a ;

[0030] (2.2) converting the speed system model of the permanent magnet synchronous motor into a state space form according to the state variables;

[0031] The state space form of the speed system model is:

[0032]

[0033] (2.3) constructing the extended state observer according to the state space form of the velocity system model;

[0034] The expression of the extended state observer is:

[0035]

[0036] in, is the estimated value of x1, is the estimated value of x2, is the estimated value of x3, β1, β2 and β3 are the gains of the state observer, is the transfer function of the frequency adaptive resonant controller.

[0037] Based on the above, the step of obtaining an extended state observer gain and an observation error according to the extended state observer includes:

[0038] (3.1) obtaining the observation error dynamics of the extended state observer;

[0039] The expression of the observation error dynamics is:

[0040]

[0041] Where e1 is the observation error,

[0042] (3.2) obtaining a first characteristic equation of the observation error dynamics according to the observation error dynamics;

[0043] The first characteristic equation of the observation error dynamics is:

[0044] Λ=s 3 +(a+β1)s 2 +(aβ1+β2)s+β3

[0045] Where I is the identity matrix; s is a complex variable;

[0046] (3.3) setting the poles of the extended state observer at the same position to obtain the second characteristic equation of the observation error dynamics;

[0047] The second characteristic equation of the observation error dynamics is:

[0048] Λ=(s+ω o ) 3

[0049] Among them, ω o is the observer bandwidth;

[0050] (3.4) obtaining the extended state observer gain according to the second characteristic equation;

[0051] The extended state observer gain is:

[0052]

[0053] Based on the above, the steps to construct the frequency adaptive law of the frequency adaptive resonant controller are:

[0054] (4.1) Obtain state variables;

[0055] The state variables include z1 and z2, where: f p is a periodic disturbance;

[0056] (4.2) converting the frequency adaptive resonant controller into a state space form according to the state variable;

[0057] The state space form of the frequency adaptive resonant controller is:

[0058]

[0059] Among them, e1 is the input of the frequency adaptive resonant controller, z2 is the output of the frequency adaptive resonant controller, K r is the gain of the frequency adaptive resonant controller, ω p is the periodic disturbance frequency, ω p An estimated value of

[0060] (4.3) Obtaining the state variables and error expressions;

[0061] From p The transfer function to e1 is:

[0062]

[0063] According to the transfer function G e (s), from f p The transfer functions to z1 and z2 are:

[0064]

[0065] According to the periodic perturbation expression Where m is the amplitude of the periodic disturbance, is the initial phase of the periodic disturbance, and the expressions of e1, z1 and z2 after fast exponential convergence are obtained as follows:

[0066]

[0067] Where M = m | G e (jω p )| is the amplitude of the observation error, φ=∠(G e (jω p ) is the phase difference between the observation error and the periodic disturbance;

[0068] (4.4) Obtaining the periodic disturbance frequency and frequency error;

[0069] The periodic disturbance frequency and frequency error are:

[0070]

[0071] (4.5) obtaining the frequency adaptation law according to the frequency error;

[0072] The frequency adaptation law is:

[0073]

[0074] in, for The initial value of K e is the integral gain of the frequency adaptive law.

[0075] Based on the above, the expression of the control law is:

[0076]

[0077] Compared with the prior art, the present invention has outstanding substantive features and significant progress. Specifically, by introducing an extended state observer and a frequency adaptability rate, the present invention can effectively capture model uncertainties and external disturbances in the system, thereby improving the controller's perception of the system state, enabling the motor to maintain good control performance in an uncertain environment, and to cope with the impact of model uncertainties and external disturbances, making the system more adaptable. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 A schematic flow chart of a design method for a permanent magnet synchronous motor speed controller based on an extended state observer and a frequency adaptive law provided in an embodiment of the present application.

[0079] Figure 2 A schematic diagram for comparing the periodic disturbance suppression performance provided in an embodiment of the present application.

[0080] Figure 3 A schematic diagram for comparing high-speed dynamic tracking performance provided in an embodiment of the present application.

[0081] Figure 4 A schematic diagram for comparing load disturbance suppression performance provided in an embodiment of the present application. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0083] Permanent Magnet Synchronous Machine (PMSM) is an advanced type of motor. Due to its advantages such as high power density, high efficiency, light weight and low noise, it has been widely used in precision machine tools, new energy vehicles, home appliances, industry and other industrial fields.

[0084] However, due to the current measurement error of the permanent magnet synchronous motor, the permanent magnet synchronous motor will produce undesirable system disturbances when operating at low speed, which reduces the overall performance of the permanent magnet synchronous motor drive system. Secondly, the disturbances during low-speed operation are often nonlinear, which increases the complexity of the control algorithm.

[0085] The permanent magnet synchronous motor speed controller based on the extended state observer and the frequency adaptive law provided in the embodiment of the present application can effectively capture the unmodeled dynamics, model uncertainty and external disturbances in the system by introducing the extended state observer, thereby improving the perception of the permanent magnet synchronous motor speed controller to the system state, and thus achieving higher control accuracy and stability. Secondly, the design of the extended state observer helps to weaken the influence of external disturbances on the control system, enhances the anti-interference performance of the system, and enables the motor to maintain good control performance in an uncertain environment. In addition, this method effectively improves the robustness of the control system because it can cope with the influence of model uncertainty and external disturbances, making the system more adaptable and robust. Most importantly, by introducing the frequency adaptive law, the overall controller can achieve better performance, including better suppression of periodic disturbances, thereby improving the overall efficiency of the control system in practical applications. The control law of the present invention is not only applicable to permanent magnet synchronous motors, but is also expected to be applied in the control of other complex nonlinear systems, bringing a new and efficient solution to the control field.

[0086] Figure 1 1 is a flow chart of a design method for a permanent magnet synchronous motor speed controller based on an extended state observer and a frequency adaptive law provided in an embodiment of the present application. Figure 1 As shown, the design method of the control law of the permanent magnet synchronous motor speed controller includes the following steps:

[0087] S100: Acquire a speed system model of the permanent magnet synchronous motor;

[0088] S200: constructing an extended state observer according to the speed system model;

[0089] S300: Obtaining a gain and an observation error of the extended state observer according to the extended state observer;

[0090] S400: constructing a frequency adaptive law of a frequency adaptive resonant controller according to the observed error;

[0091] S500: Obtaining a control law of a permanent magnet synchronous motor speed controller according to the gain and frequency adaptive law of the extended state observer.

[0092] In step S100 of the embodiment of the present application, the specific method for obtaining the speed system model of the permanent magnet synchronous motor is:

[0093] S101: Acquire an initial speed system model of the permanent magnet synchronous motor;

[0094] S102: Obtaining model uncertainty and external disturbance of the permanent magnet synchronous motor;

[0095] S103: Correcting the initial speed system model according to the model uncertainty and the external disturbance to obtain a speed system correction model;

[0096] S104: Obtaining a speed system model of the permanent magnet synchronous motor according to the speed system correction model.

[0097] Furthermore, the initial velocity system model can be expressed by formula (1);

[0098]

[0099] Wherein, u is the input speed of the permanent magnet synchronous motor, y is the output speed of the permanent magnet synchronous motor, is the first-order derivative of the output speed of the permanent magnet synchronous motor, is the second-order derivative of the output speed of the permanent magnet synchronous motor, a=K p K0K1 / L, b=K p K0J / L / K2, J=375C m / GD 2 . K p =ωL / K0 / K1 is the proportional coefficient of the current loop PI controller, ω is the current loop crossing frequency, K0 is the voltage conversion coefficient, K1 is the current conversion coefficient, K2 is the speed conversion coefficient, C m is the torque coefficient of the permanent magnet synchronous motor, GD 2 is the flywheel inertia of the permanent magnet synchronous motor converted to the motor shaft, and L is the inductance of the permanent magnet synchronous motor.

[0100] As shown in formula (1), the initial speed system model of the permanent magnet synchronous motor does not involve model uncertainty and external disturbance. Therefore, it is necessary to correct the initial speed system model according to the model uncertainty and external disturbance to obtain a speed system correction model. The speed system correction model can be expressed by formula (2);

[0101]

[0102] Where b0 is the estimated value of b, and d is the external disturbance, including periodic and non-periodic disturbances.

[0103] It can be understood that by adding variable model uncertainty and external disturbances, the initial dynamic model is modified to obtain a dynamic correction model. This correction can more accurately capture the actual speed of the permanent magnet synchronous motor and improve the controller's adaptability to uncertainty and disturbances. By correcting the model, the response of the permanent magnet synchronous motor in a complex environment can be better predicted and a more precise control strategy can be adopted.

[0104] The speed system correction model obtained according to formula (2) is further simplified to obtain the speed system model of the permanent magnet synchronous motor. The speed system model of the permanent magnet synchronous motor can be expressed by formula (3);

[0105]

[0106] Among them, the total disturbance f includes the periodic disturbance f q and the non-periodic disturbance f a .

[0107] By adding three variables, namely model uncertainty, external periodicity and external non-periodic disturbances, to the initial dynamic model and simplifying the speed system correction model, we can better cope with the complexity and uncertainty of permanent magnet synchronous motors and achieve more effective control.

[0108] In step S200 of the embodiment of the present application, the specific method of constructing the extended state observer according to the speed system model is:

[0109] S201: Obtain state variables, which include x1, x2 and x3, where x1 = y, x3=f=f q +f a ;

[0110] S202: converting the speed system model into a state space form according to the state variables; wherein the state space form of the speed system model can be expressed by formula (4);

[0111]

[0112] S203: According to formula (4) and the total disturbance f, an extended state observer can be constructed; wherein the extended state observer can be expressed by formula (5);

[0113]

[0114] in, is the estimated value of x1, is the estimated value of x2, is the estimated value of x3, β1, β2 and β3 are the gains of the state observer, is the transfer function of the frequency adaptive resonant controller.

[0115] It can be understood that by introducing the extended state observer, the controller can better estimate and compensate for the uncertainties and disturbances in the permanent magnet synchronous motor, thereby improving the robustness and performance of the controller. The speed of the permanent magnet synchronous motor can be tracked and controlled more accurately in practical applications, achieving higher control accuracy and robustness.

[0116] In step S300 of the embodiment of the present application, the specific method of obtaining the extended state observer gain and the observation error according to the extended state observer is:

[0117] S301: Obtain observation error dynamics of an extended state observer; wherein the observation error dynamics can be expressed by formula (6);

[0118]

[0119] Where e1 is the observation error,

[0120] S302: Observe the error dynamics to obtain a first characteristic equation of the observed error dynamics; wherein the first characteristic equation can be expressed by formula (7);

[0121] Λ=s 3 I+(a+β1)s 2 +(aβ1+β2)s+β3 (7)

[0122] Among them, I is the unit matrix and s is a complex variable.

[0123] S303: Setting the poles of the extended state observer at the same position can rewrite the first characteristic equation of the observation error dynamics and obtain the second characteristic equation; the second characteristic equation can be expressed by formula (8);

[0124] Λ=(s+ω o ) 3 I (8)

[0125] Among them, ω o is the observer bandwidth.

[0126] It can be understood that by setting the poles of the extended state observer at the same position, a uniform set of parameters is selected when the extended state observer is expanded, thereby simplifying the characteristic equation of the extended state observer. The characteristic equation of the extended state observer can be simplified. This design also reduces the free parameters of the observer, thereby simplifying the design and adjustment process of the observer. This makes it easier to control and optimize the performance of the observer to better adapt it to the characteristics and requirements of the permanent magnet synchronous motor.

[0127] S304: The extended state observer gain can be obtained according to the second characteristic equation of the extended state observer. The extended state observer gain can be expressed by formula (9).

[0128]

[0129] In step S400 of the embodiment of the present application, the specific method of constructing the frequency adaptive law of the frequency adaptive resonant controller according to the observation error is:

[0130] S401: converting the speed system model into a state space form according to the state variables, wherein the state space form of the speed system model can be expressed by formula (10);

[0131]

[0132] Among them, e1 is the input of the frequency adaptive resonant controller, z2 is the output of the frequency adaptive resonant controller, K r is the gain of the frequency adaptive resonant controller, ω p is the frequency of the periodic disturbance, ω p The estimated value of .

[0133] S402: From f p The transfer function to e can be expressed by formula (11);

[0134]

[0135] S403: According to the transfer function G e (s), get from f p Transfer functions to z1 and z2; the two transfer functions can be expressed by formula (12);

[0136]

[0137] S404: According to the periodic perturbation expression Where m is the amplitude of the periodic disturbance, is the initial phase of the periodic disturbance, and the expressions of e, z1 and z2 are obtained after fast exponential convergence. The expression of e can be expressed by formula (13), and the expressions of z1 and z2 can be expressed by formula (14);

[0138]

[0139] Where M = m | G e (jω p )| is the amplitude of the observation error, φ=∠(G e (jω p ) is the phase difference between the observation error and the periodic disturbance.

[0140] S404: Obtaining periodic disturbance frequency and frequency error. The periodic disturbance frequency can be expressed by formula (15), and the frequency error can be expressed by formula (16).

[0141]

[0142] S405: Obtain a frequency adaptive law according to the frequency error. The frequency adaptive law can be expressed by formula (17).

[0143]

[0144] in, for The initial value of K e is the integral gain of the frequency adaptive law.

[0145] It can be understood that by introducing the frequency adaptive law, the controller can better estimate and compensate for the periodic disturbances in the permanent magnet synchronous motor, thereby improving the robustness and performance of the controller. The speed of the permanent magnet synchronous motor can be tracked and controlled more accurately in practical applications, achieving higher control accuracy and robustness.

[0146] In step S500 of the embodiment of the present application, the specific method of obtaining the control law of the permanent magnet synchronous motor speed controller according to the gain and frequency adaptive law of the extended state observer is:

[0147] The control law of the permanent magnet synchronous motor speed controller can be expressed by formula (18);

[0148]

[0149] It can be understood that the control law is a mathematical expression that converts the current state and error into control input to achieve the desired control target based on the speed system model and control strategy of the permanent magnet synchronous motor. The control law of the speed system model of the permanent magnet synchronous motor can make the motor move and operate according to a predetermined trajectory or behavior by adjusting the input signal.

[0150] It can be understood that the permanent magnet synchronous motor speed controller provided in the embodiment of the present application is a fractional-order sliding mode controller. The permanent magnet synchronous motor speed controller is based on an extended state observer and a frequency adaptive law and takes into account factors such as model uncertainty and external disturbances. The frequency adaptive law can fully track the frequency of periodic disturbances, can handle complex periodic disturbances and uncertainties, and make the permanent magnet synchronous motor robust and adaptable. In addition, through the application of the extended state observer, the controller can estimate and compensate for the model uncertainty and external disturbances in the permanent magnet synchronous motor. This improves the controller's adaptability to internal and external changes of the permanent magnet synchronous motor, thereby improving the control performance and stability of the permanent magnet synchronous motor. Finally, the permanent magnet synchronous motor speed controller can adjust the control parameters according to actual conditions to achieve personalized control of the permanent magnet synchronous motor. The permanent magnet synchronous motor speed controller also has lower energy consumption and faster response speed, making the permanent magnet synchronous motor more efficient and accurate when performing tasks.

[0151] Performance comparison

[0152] Figure 2 The periodic disturbance suppression performance between the permanent magnet synchronous motor speed controller provided by the embodiment of the present application and the active disturbance suppression control (ADRC) and proportional-integral resonance control (PIR) is shown. It can be understood that the periodic disturbance is more obvious when the permanent magnet synchronous motor is at low speed. Therefore, the periodic disturbance suppression performance is compared at low speed.

[0153] like Figure 2 As shown, the controller provided by the present application is significantly better than the ADRC and PIR controllers in terms of rise time and overshoot. In terms of periodic disturbance suppression, it is significantly better than the ADRC and PIR controllers. At the same time, in order to suppress periodic disturbances well, the PIR controller also needs to know the frequency of the periodic disturbance. This means that in practical applications, the controller provided by the present application can suppress the periodic disturbance of the permanent magnet synchronous motor at low speed more simply and quickly.

[0154] Figure 3 The high-speed dynamic tracking performance comparison between the permanent magnet synchronous motor speed controller provided in the embodiment of the present application and ADRC and PIR is shown.

[0155] like Figure 3 As shown, the controller provided by the present application has no significant difference in rise time from the ADRC and PIR controllers. However, in terms of overshoot, it is significantly better than the ADRC and PIR controllers. It can be understood that the controller provided by the present application shows better performance in high-speed dynamic tracking. This means that in practical applications, the controller provided by the present application can more accurately enable the permanent magnet synchronous motor to track the required speed, thereby achieving more precise control.

[0156] Figure 4 The load disturbance suppression performance between the permanent magnet synchronous motor speed controller provided by the embodiment of the present application and the ADRC and PIR under the same load is shown. It can be understood that when the motor reaches a stable state, a load disturbance will be applied to the system.

[0157] like Figure 4As shown, the controller provided by the present application is significantly better than the ADRC and PIR controllers in terms of recovery time, and there is no significant difference. At the same time, in terms of speed drop, it is significantly lower than the ADRC and PIR controllers. It can be understood that the controller provided by the present application shows better performance in load disturbance suppression. This means that in practical applications, the controller provided by the present application can more quickly restore the permanent magnet synchronous motor to the required speed when a load is applied, and maintain stability and high performance in the changes.

[0158] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor speed controller based on an extended state observer and a frequency adaptive law, characterized in that: The control law of the permanent magnet synchronous motor speed controller is obtained by the following steps: (1) Obtaining a speed system model of a permanent magnet synchronous motor; (2) constructing an extended state observer according to the velocity system model; (3) obtaining a gain and an observation error of the extended state observer according to the extended state observer; (4) constructing a frequency adaptive law of a frequency adaptive resonant controller according to the observed error; (5) The control law of the permanent magnet synchronous motor speed controller is obtained according to the gain and frequency adaptation law of the extended state observer.

2. The permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law according to claim 1 is characterized in that: The speed system model of the permanent magnet synchronous motor is obtained by the following steps: (1.1) Obtaining an initial speed system model of the permanent magnet synchronous motor; (1.2) Obtaining model uncertainty and external disturbance of the permanent magnet synchronous motor; (1.3) correcting the initial velocity system model according to the model uncertainty and the external disturbance to obtain a velocity system corrected model; (1.4) Obtaining the speed system model of the permanent magnet synchronous motor according to the speed system correction model.

3. The permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law according to claim 2 is characterized in that: The initial speed system model of the permanent magnet synchronous motor is: Wherein, u is the input speed of the permanent magnet synchronous motor, y is the output speed of the permanent magnet synchronous motor, is the first-order derivative of the output speed of the permanent magnet synchronous motor, is the second-order derivative of the output speed of the permanent magnet synchronous motor; a=K p K0K1 / L, b=K p K0J / L / K2, J=375C m / GD 2 , K p =ωL / K0 / K1 is the proportional coefficient of the permanent magnet synchronous motor current loop PI controller, ω is the current loop crossing frequency, K0 is the voltage conversion coefficient, K1 is the current conversion coefficient, K2 is the speed conversion coefficient, C m is the torque coefficient of the permanent magnet synchronous motor, GD 2 is the flywheel inertia of the permanent magnet synchronous motor converted to the motor shaft, and L is the inductance of the permanent magnet synchronous motor.

4. The permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law according to claim 3 is characterized in that: The speed system correction model is: Where b0 is the estimated value of b, and d is the external disturbance, including periodic and non-periodic disturbances.

5. The permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law according to claim 4 is characterized in that: The speed system model of the permanent magnet synchronous motor is: Among them, the total disturbance f includes the periodic disturbance f q and the non-periodic disturbance f a .

6. The permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law according to claim 5, characterized in that: The steps to construct the extended state observer are: (2.1) Obtain state variables; The state variables include x1, x2 and x3, where x1 = y, x3=f=f q +f a ; (2.2) converting the speed system model of the permanent magnet synchronous motor into a state space form according to the state variables; The state space form of the speed system model is: (2.3) constructing the extended state observer according to the state space form of the velocity system model; The expression of the extended state observer is: in, is the estimated value of x1, is the estimated value of x2, is the estimated value of x3, β1, β2 and β3 are the gains of the state observer, is the transfer function of the frequency adaptive resonant controller.

7. The permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law according to claim 6, characterized in that: The step of obtaining an extended state observer gain and an observation error according to the extended state observer comprises: (3.1) obtaining the observation error dynamics of the extended state observer; The expression of the observation error dynamics is: Where e1 is the observation error, (3.2) obtaining a first characteristic equation of the observation error dynamics according to the observation error dynamics; The first characteristic equation of the observation error dynamics is: Λ=s 3 +(a+β1)s 2 +(αβ1+β2)s+β3 Where I is the identity matrix; s is a complex variable; (3.3) setting the poles of the extended state observer at the same position to obtain the second characteristic equation of the observation error dynamics; The second characteristic equation of the observation error dynamics is: Λ=(s+ω) o ) 3 Among them, ω o is the observer bandwidth; (3.4) obtaining the extended state observer gain according to the second characteristic equation; The extended state observer gain is:

8. The permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law according to claim 7, characterized in that: The steps to construct the frequency adaptive law of the frequency adaptive resonant controller are: (4.1) Obtain state variables; The state variables include z1 and z2, where: f p is a periodic disturbance; (4.2) converting the frequency adaptive resonant controller into a state space form according to the state variable; The state space form of the frequency adaptive resonant controller is: Among them, e1 is the input of the frequency adaptive resonant controller, z2 is the output of the frequency adaptive resonant controller, K r is the gain of the frequency adaptive resonant controller, ω p is the periodic disturbance frequency, ω p An estimated value of (4.3) Obtaining the state variables and error expressions; From p The transfer function to e1 is: According to the transfer function G e (s), from f p The transfer functions to z1 and z2 are: According to the periodic perturbation expression Where m is the amplitude of the periodic disturbance, is the initial phase of the periodic disturbance, and the expressions of e1, z1 and z2 after fast exponential convergence are obtained as follows: Where M = m | G e (jω p )| is the amplitude of the observation error, φ=∠(G e (jω p ) is the phase difference between the observation error and the periodic disturbance; (4.4) Obtaining the periodic disturbance frequency and frequency error; The periodic disturbance frequency and frequency error are: (4.5) obtaining the frequency adaptation law according to the frequency error; The frequency adaptation law is: in, for The initial value of K e is the integral gain of the frequency adaptive law.

9. The permanent magnet synchronous motor speed controller based on extended state observer and frequency adaptive law according to claim 8, characterized in that: The expression of the control law is:

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