Sensorless control method of permanent magnet synchronous motor based on extended state observer

Abstract

The present invention relates to the field of motor control technology, and in particular to a sensorless control method for a permanent magnet synchronous motor based on an extended state observer. This sensorless control method for a permanent magnet synchronous motor is characterized by 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 estimate a low-phase-lag back electromotive force; and processing the obtained low-phase-lag back electromotive force using a phase-locked loop to extract position and speed information of the permanent magnet synchronous motor's rotor. This method effectively compensates for phase lag and amplitude attenuation during back electromotive force observation, thereby improving the accuracy of rotor position estimation.

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 (PMSMs), due to their high power density, high efficiency, smooth torque output, and compact structure, have been widely used in numerous industrial fields, including electric vehicles, aerospace, machine tools, and elevators. Typically, when implementing vector control on PMSMs, precise rotor position measurement is required to decouple the stationary and rotating coordinate systems, necessitating the installation of a mechanical encoder. However, this approach not only increases system size and hardware cost, but also increases maintenance complexity and reduces system reliability. Sensorless control technology, through a collaborative hardware-software approach, achieves real-time estimation of rotor position and speed without the use of a mechanical encoder. This technology offers advantages such as reduced system cost, smaller size, and improved reliability, and has therefore attracted considerable attention in both academia and industry. However, traditional sensorless algorithms, most of which rely on sliding mode observers or other nonlinear observers for rotor position estimation, often suffer from limitations such as susceptibility to noise, model uncertainty, and chattering.

[0003] In recent years, sensorless algorithms based on the Extended State Observer (ESO) have developed rapidly in both theory and application. This approach treats 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 phase lag and amplitude attenuation, resulting in a corresponding lag in the phase-locked loop's rotor position calculation, 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 accuracy of rotor position estimation 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:

[0006] 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; and processing the obtained back electromotive force with low phase lag through a phase-locked loop to extract position information and speed information of the rotor of the permanent magnet synchronous motor.

[0007] 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:

[0008] (9)

[0009] 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 the permanent magnet synchronous motor Axis and The back EMF of the shaft.

[0010] 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 and obtain an observation signal of the back electromotive force; and using the quasi-generalized integrator to compensate for the observation signal to obtain an estimated value of the back electromotive force.

[0011] Furthermore, based on the internal model principle, a quasi-generalized integrator is added to observe the back electromotive force with low phase lag 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:

[0012] (10)

[0013] in, For time, and The permanent magnet synchronous motor is Axis and Estimated value of the stator current of the shaft, and are the permanent magnet synchronous motor Axis and The difference between the actual value and the estimated value of the stator current of the axis, and The permanent magnet synchronous motor is Axis and A preliminary estimate of the shaft's 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.

[0014] Furthermore, after correcting the observation signal 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:

[0015] (11)

[0016] 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 estimated value of .

[0017] 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 observation signal and the estimated value of the back electromotive force; when the estimated error of the rotor electrical angle is between plus or minus 90 degrees, using the phase-locked loop to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor.

[0018] Furthermore, 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:

[0019] (12)

[0020] 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;

[0021] The estimated error of the rotor electrical angle of the permanent magnet synchronous motor :

[0022] (13)

[0023] in, is the estimated error of the rotor electrical angle of the permanent magnet synchronous motor, and the parameter satisfy:

[0024] (14)

[0025] Furthermore, when the estimated error of the rotor electrical angle is between plus or minus 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:

[0026] When the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is When the angle is between plus and minus 90 degrees, the phase-locked loop is used to calculate the rotor electrical angle value:

[0027] (15)

[0028] in, is the Laplace operator, and are respectively the parameters of the phase-locked loop;

[0029] The rotor electrical angular velocity of the permanent magnet synchronous motor is calculated as follows:

[0030] (16)

[0031] The present invention also provides a computer device, comprising: at least one processor; and

[0032] 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 to enable the at least one processor to execute the permanent magnet synchronous motor sensorless control method described above.

[0033] 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.

[0034] Compared with the prior art, the invention can achieve the following beneficial effects: the sensorless control method of a permanent magnet synchronous motor based on an extended state observer provided by the present invention is implemented by the following steps: first, a mathematical model of the permanent magnet synchronous motor is established in a stationary coordinate system; based on the mathematical model, an improved extended state observer is designed to achieve the estimation of the back electromotive force with low phase lag. This improves the observation performance of the sinusoidal signal when observing the back electromotive force, effectively compensates for the phase lag of the back electromotive force, and improves the amplitude accuracy of the back electromotive force. Finally, the estimated back electromotive force with low phase lag is processed by 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 in estimating the rotor position and speed of the permanent magnet synchronous motor. At the same time, strong robustness to unknown disturbances in the sensorless control system is maintained. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 A flow chart of a sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention;

[0037] Figure 2 A block diagram illustrating another method for implementing a sensorless control of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0038] Figure 3 for Figure 2 Improved extended state observer estimation in the sensorless control method of permanent magnet synchronous motor Schematic diagram of the shaft's back EMF;

[0039] Figure 4 for Figure 2 Improved extended state observer estimation in the sensorless control method of permanent magnet synchronous motor Schematic diagram of the shaft's back EMF;

[0040] Figure 5 for Figure 2 Schematic diagram of a phase-locked loop extracting position information and speed information of a permanent magnet synchronous motor rotor in a sensorless control method of the permanent magnet synchronous motor shown;

[0041] Figure 6 for Figure 2 Bode diagram of the estimated back electromotive force for achieving low phase lag in the sensorless control method for permanent magnet synchronous motor shown;

[0042] Figure 7 for Figure 2 The figure shows a comparison of the rotor position and speed estimation accuracy of the permanent magnet synchronous motor sensorless control method and the traditional sensorless control method;

[0043] Figure 8 A schematic structural diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] 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 specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation to the present invention. Similar elements in different embodiments use associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present 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 elements, materials, or methods. In some cases, some operations related to the present invention are not shown or described in the specification. This is to avoid the core part of the present invention being overwhelmed by too much description. For those skilled in the art, it is not necessary to describe these related operations in detail. They can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0045] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention 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 orders in the description and the drawings are only for the purpose of clearly describing a certain embodiment and are not intended to be a required order, unless otherwise specified that a certain order must be followed.

[0046] In the description of the present 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" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present 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 present 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 the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0048] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0049] 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 and improving the 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 position information and speed information of the rotor of the permanent magnet synchronous motor.

[0050] 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 rotor position information and speed information 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 permanent magnet synchronous motor sensorless control system.

[0051] Furthermore, in the sensorless control method of the permanent magnet synchronous motor based on the extended state observer provided by the embodiment of the present invention, S10: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system, specifically including: establishing a surface-mounted permanent magnet synchronous motor in a stationary coordinate system The mathematical model is:

[0052] (17)

[0053] in, For time, and They are respectively permanent magnet synchronous motor Axis and The stator voltage of the shaft, and Permanent magnet synchronous motor 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.

[0054] Furthermore, in the sensorless control method of a permanent magnet synchronous motor based on an extended state observer provided by an embodiment of the present invention, S20: an improved extended state observer is designed based on a mathematical model to realize the 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 the quasi-generalized integrator.

[0055] It can be seen that the addition of a quasi-generalized integrator based on the internal model principle achieves two goals: one is to improve the observation capability of sinusoidal signals, and the other is to use the high-order characteristics of the quasi-generalized integrator to compensate for the back-EMF phase lag inherent in the traditional extended state observer, thereby reducing the phase lag in the permanent magnet synchronous motor rotor position estimation and achieving high-performance sensorless control of the permanent magnet synchronous motor. After adding a quasi-generalized integrator based on the internal model principle, it is possible to improve the extended state observer, 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 back-EMF phase lag, and improve the back-EMF amplitude accuracy, thereby significantly improving the accuracy of the sensorless control algorithm for rotor position and speed estimation.

[0056] 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, 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, specifically including: the improved extended state observer designed based on the quasi-generalized integrator is:

[0057] (18)

[0058] in, For time, and Permanent magnet synchronous motor Axis and Estimated value 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 axis, and Permanent magnet synchronous motor Axis and A preliminary estimate of the shaft's back EMF, and To improve the gain of the extended state observer, , , and are auxiliary variables of the improved extended state observer, It is a parameter related to the electrical angular velocity observed from the permanent magnet synchronous motor. It is a parameter related to the robustness of the sensorless control method.

[0059] Furthermore, in the sensorless control method of the permanent magnet synchronous motor based on the extended state observer provided by the embodiment of the present invention, after correcting the observation signal using a quasi-generalized integrator, an estimated value of the back electromotive force is obtained, which specifically includes: obtaining the permanent magnet synchronous motor in Axis and The estimated value of the shaft back EMF is:

[0060] (19)

[0061] The permanent magnet synchronous motor Estimated value of the shaft back EMF and permanent magnet synchronous motors in Estimated value of the shaft back EMF Permanent magnet synchronous motor 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 formulas (2) and (3) above, as Figure 6 As shown in FIG, 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 in the figure, 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 permanent magnet synchronous motor.

[0062] 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 observation signal and estimated value of the back electromotive force; when the estimated error of the rotor electrical angle is between plus or minus 90 degrees, using a phase-locked loop to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor.

[0063] 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, an 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:

[0064] (20)

[0065] 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;

[0066] Estimation error of the rotor electrical angle of a permanent magnet synchronous motor :

[0067] (twenty one)

[0068] in, is the estimated error of the rotor electrical angle of the permanent magnet synchronous motor, and the parameter satisfy:

[0069] (twenty two)

[0070] 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, when the estimated error of the rotor electrical angle is between plus or minus 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:

[0071] When the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is When the angle is between plus and minus 90 degrees, the phase-locked loop is used to calculate the rotor electrical angle value:

[0072] (twenty three)

[0073] in, is the Laplace operator, and are the parameters of the phase-locked loop respectively;

[0074] The calculation value of the rotor electrical angular velocity of the permanent magnet synchronous motor is:

[0075] (twenty four)

[0076] Example

[0077] The following combination 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 signals of the shaft.

[0078] 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 noise signals to a greater extent and observes the back EMF with lower phase lag.

[0079] like Figure 5 As shown in the figure, the back electromotive force observation signal enters the phase-locked loop to calculate the motor rotor electrical angle at the current moment for the park transformation required for 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.

[0080] The Bode diagram with the actual back electromotive force observation signal as input and the estimated back electromotive force as output is shown in Figure 6. The improved extended state observer can compensate the actual sinusoidal back-EMF without amplitude attenuation and phase lag, and can attenuate high-frequency and low-frequency back-EMF noise.

[0081] like Figure 7 As shown, the improved extended state observer of the permanent magnet synchronous motor sensorless control method provided by the 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 by a sudden change from 4 seconds to 5 seconds, the improved extended state observer has a smaller angle estimation error fluctuation.

[0082] 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 structural diagram 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.

[0083] like Figure 8 As shown, computer device 12 is represented 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 assistants, cellular phones, smartphones, 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 claimed herein.

[0084] 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 .

[0085] 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. Examples of 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.

[0086] 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.

[0087] 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. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 8 Not shown, often called a "hard drive"). Although Figure 8 Not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic 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, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0088] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally implement the functions and / or methods of the embodiments described herein.

[0089] The computer device 12 can also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication can occur via an input / output (I / O) interface 22. Furthermore, the computer device 12 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via a bus 18. It should be understood that, although not shown, other hardware and / or software modules can 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.

[0090] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28 , such as implementing the sensorless control method for a permanent magnet synchronous motor provided in an embodiment of the present invention.

[0091] 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 this application is implemented.

[0092] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can 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 can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus or device.

[0093] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0094] The program code that comprises on the computer-readable medium can be transmitted with any appropriate medium, includes but not limited to wireless, electric wire, optical cable, RF etc., or above-mentioned any suitable combination.Can write the computer program code that is used to carry out the operation of the present invention with one or more programming languages or its combination, described programming language comprises object-oriented programming language such as Java, Smalltalk, C++, also comprises conventional procedural programming language--such as " C " language or similar programming language.Program code can be carried out on user's computer completely, partly on user's computer, carry out as an independent software package, partly on user's computer partly on remote computer, or carry out completely on remote computer or server.In the situation that relates to remote computer, remote computer can comprise local area network (LAN) or wide area network (WAN) to be connected to user's computer by the network of any kind, perhaps, can be connected to external computer (for example, utilize Internet service provider to come to connect by Internet).

[0095] 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.

[0096] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved. This is not limited herein.

[0097] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A sensorless control method for a permanent magnet synchronous motor based on an extended state observer, characterized by: The following steps are involved: Establish a 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 low phase lag back electromotive force estimation; Based on the mathematical model, an improved extended state observer is designed to achieve low phase lag back electromotive force estimation, 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; After compensating the observation signal using the quasi-generalized integrator, an estimated value of the back electromotive force is obtained; Based on the internal model principle, a quasi-generalized integrator is added to observe the back electromotive force with low phase lag to obtain an observation signal of the back electromotive force, specifically including: 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 Estimated value of the stator current of the shaft, and are the permanent magnet synchronous motor Axis and The difference between the actual value and the estimated value of the stator current of the axis, and The permanent magnet synchronous motor is Axis and A preliminary estimate of the shaft's 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; 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 for a permanent magnet synchronous motor according to claim 1, wherein: 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 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 the permanent magnet synchronous motor Axis and The back EMF of the shaft.

3. The sensorless control method for a permanent magnet synchronous motor according to claim 2, wherein: After correcting the observation signal 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 estimated value of .

4. The sensorless control method for a permanent magnet synchronous motor according to claim 3, wherein: 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 estimation error of the rotor electrical angle is between plus or minus 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.

5. The sensorless control method for a permanent magnet synchronous motor according to claim 4, characterized in that: Calculating an 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, and are the sine and cosine values of the permanent magnet synchronous motor rotor electrical angle, is the mechanical angular velocity of the permanent magnet synchronous motor rotor; 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, represents the rotor electrical angle value estimated by the phase-locked loop, and They are the sine and cosine values of the estimated electrical angle of the permanent magnet synchronous motor rotor, and the parameters satisfy: (6)。 6. The sensorless control method for a permanent magnet synchronous motor according to claim 5, characterized in that: When the estimated error of the rotor electrical angle is between plus or minus 90 degrees, estimating the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor using the phase-locked loop specifically includes: When the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is When the angle is between plus and minus 90 degrees, the phase-locked loop is used to calculate the rotor electrical angle value: (7) in, is the Laplace operator, and are respectively the parameters of the phase-locked loop; The rotor electrical angular velocity of the permanent magnet synchronous motor is calculated as follows: (8)。 7. 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 to enable the at least one processor to execute the permanent magnet synchronous motor sensorless control method according to any one of claims 1 to 6.

8. 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 6.

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