Permanent magnet synchronous motor sensorless control method based on extended state observer

Abstract

The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor sensorless control method based on an extended state observer. The sensorless control method for the permanent magnet synchronous motor is characterized by comprising the following steps: establishing a mathematical model of the permanent magnet synchronous motor under a static coordinate system; designing an improved extended state observer based on the mathematical model, and realizing the estimation of the back electromotive force with low phase lag; and processing the obtained low-phase-lag back electromotive force through a phase-locked loop, and extracting position information and rotating speed information of a rotor of the permanent magnet synchronous motor. Phase lag and amplitude attenuation during back electromotive force observation can be effectively compensated, and the estimation precision of the rotor position is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and in particular relates to a sensorless control method for a permanent magnet synchronous motor based on an extended state observer. Background Art

[0002] Permanent magnet synchronous motors have been widely used in many industrial fields such as electric vehicles, aerospace, machine tools, elevators, etc. due to their high power density, high efficiency, smooth torque output and compact structure. Usually, when implementing vector control on permanent magnet synchronous motors, in order to decouple between the stationary coordinate system and the rotating coordinate system, it is necessary to accurately measure the rotor position, so a mechanical encoder has to be installed. However, this approach not only increases the system volume and hardware cost, but also increases the maintenance difficulty and reduces the system reliability. Sensorless control technology uses a software and hardware collaborative method to achieve real-time estimation of rotor position and speed without using a mechanical encoder. It has the advantages of reducing system cost, reducing volume, and improving reliability. Therefore, it has attracted much attention in academia and industry. However, most traditional sensorless algorithms are based on sliding mode observers or other nonlinear observers to achieve rotor position estimation, which often have shortcomings such as being susceptible to noise and model uncertainty and prone to jitter.

[0003] In recent years, sensorless algorithms based on extended state observers (ESOs) have developed rapidly in theory and application. This type of method regards unknown disturbances and back-EMF in the motor model as "extended states" and compensates for model uncertainties through online estimation. However, when directly observing the sinusoidal back-EMF, traditional ESOs often face problems of phase lag and amplitude attenuation, which causes the phase-locked loop to lag in the solution of the rotor position, affecting the accuracy of rotor position estimation under low-speed and dynamic conditions. Therefore, how to effectively compensate for the phase lag and amplitude attenuation when observing the sinusoidal back-EMF and improve the estimation accuracy of the rotor position has become an urgent problem to be solved. Summary of the invention

[0004] In view of this, the present invention aims to provide a sensorless control method for a permanent magnet synchronous motor based on an extended state observer, which can effectively compensate for the phase lag and amplitude attenuation when observing the back electromotive force and improve the estimation accuracy of the rotor position.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows: The present invention provides a sensorless control method for a permanent magnet synchronous motor based on an extended state observer, comprising the following steps: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system; designing and improving an extended state observer based on the mathematical model to achieve estimation of a back electromotive force with low phase lag; processing the obtained back electromotive force with low phase lag through a phase-locked loop to extract position information and speed information of a rotor of the permanent magnet synchronous motor.

[0006] Furthermore, a mathematical model of the permanent magnet synchronous motor is established in a stationary coordinate system, specifically including: establishing a surface mounted permanent magnet synchronous motor in a stationary coordinate system The mathematical model below is: (9) in, For time, and are respectively the permanent magnet synchronous motor Axis and The stator voltage of the shaft, and The permanent magnet synchronous motor is Axis and The stator current of the shaft, is the stator inductance, is the stator resistance, and are respectively the permanent magnet synchronous motor Axis and The back EMF of the shaft.

[0007] Furthermore, an improved extended state observer is designed based on the mathematical model to achieve estimation of back-electromotive force with low phase lag, specifically including: adding a quasi-generalized integrator based on the internal model principle to observe the back-electromotive force with low phase lag to obtain an observation signal of the back-electromotive force; and obtaining an estimated value of the back-electromotive force after compensating the observation signal with the quasi-generalized integrator.

[0008] Furthermore, based on the internal model principle, a quasi-generalized integrator is added to observe the low phase lag back electromotive force to obtain the observation signal of the back electromotive force, which specifically includes: the improved extended state observer designed based on the quasi-generalized integrator is: (10) in, For time, and The permanent magnet synchronous motor is Axis and An estimate of the stator current of the shaft, and are respectively the permanent magnet synchronous motor Axis and The difference between the actual value and the estimated value of the stator current of the shaft, and The permanent magnet synchronous motor is Axis and A preliminary estimate of the shaft back EMF, and is the gain of the improved extended state observer, , , and are auxiliary variables of the improved extended state observer, is a parameter related to the electrical angular velocity observed by the permanent magnet synchronous motor, It is a parameter related to the robustness of the sensorless control method.

[0009] Further, after correcting the observed signal by using the quasi-generalized integrator, an estimated value of the back electromotive force is obtained, which specifically includes: obtaining the permanent magnet synchronous motor at Axis and The estimated value of the shaft back EMF is: (11) The permanent magnet synchronous motor is Estimated value of the shaft back EMF and the permanent magnet synchronous motor in Estimated value of the shaft back EMF The permanent magnet synchronous motor is Observation signal of shaft back electromotive force and the permanent magnet synchronous motor in Observation signal of shaft back electromotive force The final estimate of .

[0010] Furthermore, the obtained low phase lag back electromotive force is processed by a phase-locked loop to extract the position information and speed information of the rotor of the permanent magnet synchronous motor, specifically including: calculating the estimated error of the rotor electrical angle of the permanent magnet synchronous motor based on the observed signal and the estimated value of the back electromotive force; when the estimated error of the rotor electrical angle is between positive and negative 90 degrees, using the phase-locked loop to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor.

[0011] Further, calculating the estimated error of the rotor electrical angle of the permanent magnet synchronous motor based on the observed signal and the estimated value of the back electromotive force specifically includes: the observed signal of the back electromotive force satisfies: (12) in is the number of pole pairs of the permanent magnet synchronous motor, is the permanent magnet flux, is the rotor electrical angle of the permanent magnet synchronous motor; The estimated error of the rotor electrical angle of the permanent magnet synchronous motor : (13) in, is the estimated error of the rotor electrical angle of the permanent magnet synchronous motor, and the parameter satisfy: (14) Further, when the estimated error of the rotor electrical angle is between positive and negative 90 degrees, the phase-locked loop is used to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor, specifically including: When the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is When the angle is between positive and negative 90 degrees, the phase-locked loop is used to calculate the rotor electrical angle value: (15) in, is the Laplace operator, and are respectively parameters of the phase-locked loop; The rotor electrical angular velocity value of the permanent magnet synchronous motor is calculated as: (16) The present invention also provides a computer device, comprising: at least one processor; and A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the permanent magnet synchronous motor sensorless control method described above.

[0012] In addition, the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the permanent magnet synchronous motor sensorless control method described above.

[0013] Compared with the prior art, the present invention can achieve the following beneficial effects: The sensorless control method for a permanent magnet synchronous motor based on an extended state observer provided by the present invention is implemented through the following steps: First, establish a mathematical model of the permanent magnet synchronous motor in the stationary coordinate system; design an improved extended state observer based on the mathematical model to estimate the back electromotive force with low phase lag. Thus, the observation performance of the sine signal is improved when observing the back electromotive force, effectively compensating for the phase lag of the back electromotive force and improving the amplitude accuracy of the back electromotive force. Finally, process the estimated back electromotive force with low phase lag through a phase-locked loop to extract the position information and speed information of the rotor of the permanent magnet synchronous motor, thereby greatly improving the accuracy of the sensorless control algorithm for estimating the rotor position and speed of the permanent magnet synchronous motor. At the same time, maintain strong robustness to unknown disturbances in the sensorless control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 is a flowchart of a sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention; Figure 2 is a block diagram of the implementation of another sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention; Figure 3 is Figure 2 a schematic diagram of the estimated axis back electromotive force in the sensorless control method for the permanent magnet synchronous motor shown; Figure 4 is Figure 2 a schematic diagram of the estimated axis back electromotive force in the sensorless control method for the permanent magnet synchronous motor shown; Figure 5 is Figure 2 a schematic diagram of the phase-locked loop extracting the position information and speed information of the rotor of the permanent magnet synchronous motor in the sensorless control method for the permanent magnet synchronous motor shown; Figure 6 is Figure 2 a Bode diagram of the estimated back electromotive force with low phase lag in the sensorless control method for the permanent magnet synchronous motor shown; Figure 7 is Figure 2 a comparison diagram of the estimated accuracy of the rotor position and speed extracted by the sensorless control method for the permanent magnet synchronous motor shown and the traditional sensorless control method; Figure 8 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical scheme and advantages of the invention clearer, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and do not constitute a limitation to the invention. Similar components in different embodiments use associated similar component numbers. In the following embodiments, many detailed descriptions are to enable the invention to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other components, materials, and methods. In some cases, some operations related to the invention are not shown or described in the specification, in order to avoid the core part of the invention being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0016] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to form various implementation methods. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a necessary sequence, unless otherwise specified that a certain sequence must be followed.

[0017] In the description of the invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0018] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0019] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0020] like Figure 1 As shown, the sensorless control method of a permanent magnet synchronous motor based on an extended state observer provided by an embodiment of the present invention includes the following steps: S10: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system; S20: designing an improved extended state observer based on the mathematical model to achieve estimation of back electromotive force with low phase lag; S30: processing the obtained back electromotive force with low phase lag through a phase-locked loop to extract the position information and speed information of the rotor of the permanent magnet synchronous motor.

[0021] The sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention is achieved by estimating the low phase lag back electromotive force of the permanent magnet synchronous motor and processing the obtained low phase lag back electromotive force through a phase-locked loop to extract the rotor position information and speed information of the permanent magnet synchronous motor. First, a mathematical model of the permanent magnet synchronous motor is established in a stationary coordinate system, and then an extended state observer is designed based on the mathematical model to improve the observation effect of the low phase lag back electromotive force, with the aim of improving the observation accuracy of the low phase lag back electromotive force. Finally, the obtained low phase lag back electromotive force is processed through a phase-locked loop to extract the position information and speed information of the rotor of the permanent magnet synchronous motor. Compared with the existing traditional extended state observer, the embodiment of the present invention reduces the back electromotive force phase lag and significantly improves the position estimation accuracy of the sensorless control system of the permanent magnet synchronous motor.

[0022] Furthermore, in the sensorless control method of the permanent magnet synchronous motor based on the extended state observer provided in the embodiment of the present invention, S10: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system, specifically comprising: establishing a surface-mounted permanent magnet synchronous motor in a stationary coordinate system The mathematical model is: (17) in, For time, and They are respectively permanent magnet synchronous motor Axis and The stator voltage of the shaft, and They are respectively permanent magnet synchronous motors in Axis and The stator current of the shaft, is the stator inductance, is the stator resistance, and They are respectively permanent magnet synchronous motor Axis and The back EMF of the shaft.

[0023] Furthermore, in the sensorless control method of a permanent magnet synchronous motor based on an extended state observer provided in an embodiment of the present invention, S20: improving the extended state observer based on a mathematical model design to achieve estimation of back electromotive force with low phase lag, specifically including: adding a quasi-generalized integrator based on the internal model principle to observe the back electromotive force with low phase lag to obtain an observation signal of the back electromotive force; and obtaining an estimated value of the back electromotive force after compensating the observation signal using a quasi-generalized integrator.

[0024] It can be seen that the quasi-generalized integrator added by the internal model principle achieves two purposes: one is to improve the observation ability of sinusoidal signals, and the other is to use the high-order characteristics of the quasi-generalized integrator to compensate for the inherent back-EMF phase lag of the traditional extended state observer, thereby reducing the phase lag of the rotor position estimation of the permanent magnet synchronous motor and realizing high-performance sensorless control of the permanent magnet synchronous motor. After adding the quasi-generalized integrator based on the internal model principle, the improved extended state observer can be realized, which can effectively compensate for the phase lag and amplitude attenuation when observing the sinusoidal back-EMF, improve the observation performance of the sinusoidal signal, effectively eliminate the phase lag of the back-EMF and improve the amplitude accuracy of the back-EMF, thereby greatly improving the estimation accuracy of the rotor position and speed of the sensorless control algorithm.

[0025] Furthermore, in the sensorless control method of a permanent magnet synchronous motor based on an extended state observer provided in an embodiment of the present invention, a quasi-generalized integrator is added based on the internal model principle to observe the back electromotive force with low phase lag to obtain an observation signal of the back electromotive force, which specifically includes: an improved extended state observer based on the quasi-generalized integrator design is: (18) in, For time, and They are respectively permanent magnet synchronous motors in Axis and An estimate of the stator current of the shaft, and They are respectively permanent magnet synchronous motor Axis and The difference between the actual value and the estimated value of the stator current of the shaft, and They are respectively permanent magnet synchronous motors in Axis and A preliminary estimate of the shaft back EMF, and To improve the gain of the extended state observer, , , and are auxiliary variables of the improved extended state observer. is a parameter related to the electrical angular velocity observed in the permanent magnet synchronous motor, It is a parameter related to the robustness of the sensorless control method.

[0026] Furthermore, in the sensorless control method of the permanent magnet synchronous motor based on the extended state observer provided in the embodiment of the present invention, after correcting the observation signal by using a quasi-generalized integrator, an estimated value of the back electromotive force is obtained, which specifically includes: obtaining the permanent magnet synchronous motor at Axis and The estimated value of the shaft back EMF is: (19) Permanent magnet synchronous motor Estimated value of the shaft back EMF and permanent magnet synchronous motors in Estimated value of the shaft back EMF They are respectively permanent magnet synchronous motors in Observation signal of shaft back electromotive force and permanent magnet synchronous motors in Observation signal of shaft back electromotive force The final estimated value of . Based on the system formed by the above formulas (2) and (3), Figure 6 As shown in FIG. 1 , the Bode diagram has the characteristics of a phase lag of 0 and an amplitude gain of 1 at a specific frequency, which enables it to have an observation effect of low phase lag. Therefore, the improved extended state observer of the present invention can effectively restore the actual back electromotive force signal when observing the sinusoidal back electromotive force signal of a specified frequency. In addition, as Figure 6 As shown, its Bode diagram has the characteristic of high amplitude attenuation at non-specific frequencies, which can effectively suppress disturbance signals. Therefore, the present invention can also maintain strong robustness against unknown disturbances in the sensorless control system of the permanent magnet synchronous motor.

[0027] Furthermore, in the sensorless control method of a permanent magnet synchronous motor based on an extended state observer provided in an embodiment of the present invention, S30: processing the obtained low phase lag back electromotive force through a phase-locked loop to extract the position information and speed information of the rotor of the permanent magnet synchronous motor, specifically including: calculating the estimated error of the rotor electrical angle of the permanent magnet synchronous motor based on the observed signal and estimated value of the back electromotive force; when the estimated error of the rotor electrical angle is between positive and negative 90 degrees, using a phase-locked loop to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor.

[0028] Furthermore, in the sensorless control method for a permanent magnet synchronous motor based on an extended state observer provided in an embodiment of the present invention, the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is calculated based on the observed signal and estimated value of the back electromotive force, specifically including: the observed signal of the back electromotive force satisfies: (20) in is the number of pole pairs of the permanent magnet synchronous motor, is the permanent magnet flux, is the rotor electrical angle of the permanent magnet synchronous motor; Estimation error of rotor electrical angle of permanent magnet synchronous motor : (twenty one) in, is the estimated error of the rotor electrical angle of the permanent magnet synchronous motor, and the parameter satisfy: (twenty two) Furthermore, in the sensorless control method for a permanent magnet synchronous motor based on an extended state observer provided by an embodiment of the present invention, when the estimated error of the rotor electrical angle is between positive and negative 90 degrees, a phase-locked loop is used to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor, specifically including: When the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is When the angle is between positive and negative 90 degrees, the phase-locked loop is used to calculate the rotor electrical angle value: (twenty three) in, is the Laplace operator, and They are the parameters of the phase-locked loop respectively; The calculated rotor electrical angular velocity of the permanent magnet synchronous motor is: (twenty four) Example Combine the following Figures 2 to 7 The sensorless control method of the permanent magnet synchronous motor provided by the embodiment of the present invention is described in detail. Figure 2 The figure shows a specific implementation block diagram of the sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention. The voltage and current signals obtained by the current and voltage sensors are transformed by Clark coordinates to obtain the permanent magnet synchronous motor. Axis and The stator voltage and current signal of the shaft.

[0029] like Figure 3 and Figure 4 As shown, in the sensorless control method of the permanent magnet synchronous motor provided by the embodiment of the present invention, the improved extended state observer is based on Axis and Extraction of shaft stator voltage and current signals Axis and The extracted back EMF filters out the noise signal to a greater extent and observes the back EMF with lower phase lag.

[0030] like Figure 5 As shown, the back-EMF observation signal enters the phase-locked loop to calculate the motor rotor electrical angle at the current moment for the park transformation required by FOC control, and the calculated rotor electrical angular velocity of the permanent magnet synchronous motor is used for the speed closed-loop feedback of the permanent magnet synchronous motor.

[0031] The Bode diagram with the observed signal of the actual back EMF as input and the estimated value of the estimated back EMF as output is shown in Figure 6. The improved extended state observer can achieve compensation for the actual sinusoidal back-EMF without amplitude attenuation and phase lag, and can attenuate high-frequency and low-frequency back-EMF noise.

[0032] like Figure 7 As shown, the improved extended state observer of the permanent magnet synchronous motor sensorless control method provided by an embodiment of the present invention is compared with the traditional extended state observer. During the startup process from 0 second to 1 second, the improved extended state observer has a smaller position estimation error. When the speed is given a sudden change from 4 seconds to 5 seconds, the improved extended state observer has a smaller angle estimation error fluctuation.

[0033] Accordingly, according to an embodiment of the present invention, the present invention also provides a computer device, a readable storage medium and a computer program product. Figure 8 FIG. 1 is a schematic diagram of the structure of a computer device 12 provided in an embodiment of the present invention. Figure 8 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 8 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0034] like Figure 8 As shown, computer device 12 is in the form of a general-purpose computing device. Computer device 12 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0035] Components of computer device 12 may include, but are not limited to, one or more processors or processing units 16 , a system memory 28 , and a bus 18 that connects various system components including system memory 28 and processing unit 16 .

[0036] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0037] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0038] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 8 not shown, usually called a "hard drive"). Although Figure 8Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0039] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0040] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), may communicate with one or more devices that enable a user to interact with the computer device 12, and / or may communicate with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the computer device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computer device 12, including, but not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0041] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, such as implementing the sensorless control method of the permanent magnet synchronous motor provided in the embodiment of the present invention.

[0042] An embodiment of the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, on which a computer program is stored, wherein when the program is executed by a processor, the permanent magnet synchronous motor sensorless control method provided in all the inventive embodiments of the present application.

[0043] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, an apparatus, or a device.

[0044] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0045] The program code included in the computer-readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages ​​such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer by any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect to the Internet).

[0046] An embodiment of the present invention further provides a computer program product, comprising a computer program, which implements the above-mentioned sensorless control method for a permanent magnet synchronous motor when executed by a processor.

[0047] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0048] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A sensorless control method for a permanent magnet synchronous motor based on an extended state observer, characterized in that: The following steps are involved: Establish the mathematical model of permanent magnet synchronous motor in a stationary coordinate system; Based on the mathematical model, an improved extended state observer is designed to achieve the estimation of back electromotive force with low phase lag; The obtained low phase lag back electromotive force is processed by a phase-locked loop to extract the position information and speed information of the rotor of the permanent magnet synchronous motor.

2. The sensorless control method of a permanent magnet synchronous motor according to claim 1, characterized in that: The mathematical model of the permanent magnet synchronous motor is established in a stationary coordinate system, including: Establish the surface mounted permanent magnet synchronous motor in the stationary coordinate system The mathematical model below is: (1) in, For time, and are respectively the permanent magnet synchronous motor Axis and The stator voltage of the shaft, and The permanent magnet synchronous motor is Axis and The stator current of the shaft, is the stator inductance, is the stator resistance, and are respectively the permanent magnet synchronous motor Axis and The back EMF of the shaft.

3. The sensorless control method of a permanent magnet synchronous motor according to claim 2 is characterized in that: Based on the mathematical model, an improved extended state observer is designed to estimate the back electromotive force with low phase lag, which specifically includes: Based on the internal model principle, a quasi-generalized integrator is added to observe the low phase lag back electromotive force to obtain an observation signal of the back electromotive force; After compensating the observation signal by using the quasi-generalized integrator, an estimated value of the back electromotive force is obtained.

4. The sensorless control method of a permanent magnet synchronous motor according to claim 3 is characterized in that: Based on the internal model principle, a quasi-generalized integrator is added to observe the low phase lag back electromotive force to obtain the observation signal of the back electromotive force, which specifically includes: The improved extended state observer based on the quasi-generalized integrator design is: (2) in, For time, and The permanent magnet synchronous motor is Axis and An estimate of the stator current of the shaft, and are respectively the permanent magnet synchronous motor Axis and The difference between the actual value and the estimated value of the stator current of the shaft, and The permanent magnet synchronous motor is Axis and A preliminary estimate of the shaft back EMF, and is the gain of the improved extended state observer, , , and are auxiliary variables of the improved extended state observer, is a parameter related to the electrical angular velocity observed by the permanent magnet synchronous motor It is a parameter related to the robustness of the sensorless control method.

5. The sensorless control method of a permanent magnet synchronous motor according to claim 4 is characterized in that: After correcting the observed signal by using the quasi-generalized integrator, an estimated value of the back electromotive force is obtained, which specifically includes: The permanent magnet synchronous motor is obtained in Axis and The estimated value of the shaft back EMF is: (3) The permanent magnet synchronous motor is Estimated value of the shaft back EMF and the permanent magnet synchronous motor in Estimated value of the shaft back EMF The permanent magnet synchronous motor is Observation signal of shaft back electromotive force and the permanent magnet synchronous motor in Observation signal of shaft back electromotive force The final estimate of .

6. The sensorless control method for a permanent magnet synchronous motor according to claim 5, characterized in that: The obtained low phase lag back electromotive force is processed by a phase-locked loop to extract the position information and speed information of the rotor of the permanent magnet synchronous motor, specifically including: Calculating an estimated error of a rotor electrical angle of the permanent magnet synchronous motor based on the observed signal and the estimated value of the back electromotive force; When the estimated error of the rotor electrical angle is between positive and negative 90 degrees, the phase-locked loop is used to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor.

7. The sensorless control method of a permanent magnet synchronous motor according to claim 6, characterized in that: Calculating the estimated error of the rotor electrical angle of the permanent magnet synchronous motor based on the observed signal and the estimated value of the back electromotive force specifically includes: The observed signal of the back electromotive force satisfies: (4) in is the number of pole pairs of the permanent magnet synchronous motor, is the permanent magnet flux, is the rotor electrical angle of the permanent magnet synchronous motor; The estimated error of the rotor electrical angle of the permanent magnet synchronous motor : (5) in, is the estimated error of the rotor electrical angle of the permanent magnet synchronous motor, and the parameter satisfy: (6)。 8. The sensorless control method of a permanent magnet synchronous motor according to claim 7, characterized in that: When the estimated error of the rotor electrical angle is between positive and negative 90 degrees, the phase-locked loop is used to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor, specifically including: When the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is When the angle is between positive and negative 90 degrees, the phase-locked loop is used to calculate the rotor electrical angle value: (7) in, is the Laplace operator, and are respectively parameters of the phase-locked loop; The rotor electrical angular velocity value of the permanent magnet synchronous motor is calculated as: (8)。 9. A computer device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the permanent magnet synchronous motor sensorless control method according to any one of claims 1 to 8.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable the computer to execute the permanent magnet synchronous motor sensorless control method according to any one of claims 1 to 8.

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