Full-speed domain vector control system of high-speed magnetic suspension permanent magnet motor

Abstract

The invention discloses a full-speed-domain vector control system of a high-speed magnetic suspension permanent magnet motor, and relates to the technical field of permanent magnet synchronous motor control, the full-speed-domain vector control system comprises a flux linkage prediction module, a speed estimation module, an adjustment control module, a permanent magnet motor and a motor parameter identification module, and the motor parameter identification module carries out parameter identification on the permanent magnet motor to obtain parameter data; the flux linkage prediction module predicts flux linkage information at the next moment according to the parameter data to obtain predicted flux linkage data, and the speed estimation module evaluates the rotating speed of the permanent magnet motor according to the predicted flux linkage data to obtain rotating speed data; and the adjustment control module acquires a next moment control signal according to the predicted flux linkage data and the rotating speed data, and performs real-time control on the permanent magnet motor through the next moment control signal. Smooth control of the permanent magnet synchronous motor is realized by predicting the motor parameters at the next moment.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motor control, and more specifically, to a full-speed range vector control system for a high-speed maglev permanent magnet motor. Background Art

[0002] In recent years, with the rapid development of power electronics technology, microelectronics technology, new motor control theory, and rare earth permanent magnet materials, permanent magnet synchronous motors have been rapidly popularized and applied. Permanent magnet synchronous motors have the advantages of small volume, low loss, and high efficiency. In today's era when energy conservation and environmental protection are increasingly emphasized, it is very necessary to conduct research on them.

[0003] However, when changing the motor control method, an effective switching method needs to be adopted to prevent torque imbalance and excessive impact current during the switching process. However, due to the large differences in motor electrical parameters, the switching parameters must be adjusted for different motors, which increases the debugging time and effort. Even after repeated parameter adjustments, the motor may still not be successfully switched. Currently, the starting process of permanent magnet synchronous motors generally adopts a composite control strategy, with I / F control in the low-speed region and sensorless control in the medium and high-speed regions. Generally, during the switching process between the two vector controls, speed fluctuations will occur, especially when switching during sudden changes in load torque, current oscillations will occur, and even out-of-step may occur. The general approach is to directly switch or linearly change the given current of the current source, but basically no consideration is given to the situation of sudden load changes, and smooth transition during switching cannot be guaranteed.

[0004] Therefore, how to achieve smooth control of permanent magnet synchronous motors is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a full-speed range vector control system for a high-speed maglev permanent magnet motor, which can achieve smooth control of a permanent magnet synchronous motor.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A full-speed range vector control system for a high-speed maglev permanent magnet motor, comprising:

[0008] Flux linkage prediction module, speed estimation module, regulation and control module, permanent magnet motor, and motor parameter identification module. The motor parameter identification module identifies the parameters of the permanent magnet motor to obtain parameter data. The flux linkage prediction module predicts the flux linkage information at the next moment based on the parameter data to obtain predicted flux linkage data. The speed estimation module evaluates the speed of the permanent magnet motor based on the predicted flux linkage data to obtain speed data. The regulation and control module obtains the control signal at the next moment according to the predicted flux linkage data combined with the speed data, and performs real-time control of the permanent magnet motor through the control signal at the next moment.

[0009] Preferably, the flux linkage prediction module specifically includes:

[0010] Flux linkage model establishment module, which establishes a flux linkage observer model with the stator current vector as the feedback signal;

[0011] Variable correction module, which obtains the flux linkage angular velocity of the induction motor and obtains the phase correction variable based on the flux linkage angular velocity;

[0012] Flux linkage data prediction module, which obtains the predicted flux linkage data based on the flux linkage observer model, the observed value of the state variable at the current moment, the stator current error at the current moment, and the phase correction variable.

[0013] Preferably, the flux linkage model establishment module specifically includes:

[0014] Establish a flux linkage observer model with the stator current vector i s as the feedback signal:

[0015]

[0016] Among them, the state variable matrix t is time, u is the stator voltage vector, G is the feedback matrix, A(θ e0 ), B(θ e0 ) and D are parameter matrices;

[0017]

[0018]

[0019] Among them, R s is the stator resistance, L s is the stator inductance, ω r is the electrical rotor angular velocity, L r is the equivalent inductance, R r is the equivalent resistance, and j is the imaginary number.

[0020] Preferably, the variable correction module specifically includes:

[0021] ωe = ω r + ω s1 ;

[0022]

[0023] c = 1 + 0.5jω e T sc -0.125(ω e T sc ) 2 ;

[0024] Wherein, ω r , ω s1 are intermediate variables, i sq is the q-axis current in the rotor flux-oriented coordinate system, i sd is the d-axis current in the rotor flux-oriented coordinate system, k pω is the speed proportional gain, k iω is the speed integral gain, is the stator flux observation value, is the stator current observation value, C is the coefficient matrix, s is the complex variable in the transfer function, represents the cross product between two vectors; T sc is the sampling period, λ is the control parameter, and c is the phase correction variable.

[0025] Preferably, the flux data prediction module specifically includes:

[0026]

[0027] Wherein, is the observation value of the state variable at the current moment, is the stator current error at the current moment, c is the phase correction variable, and the stator flux component in the state variable at the next moment is the predicted flux data.

[0028] Preferably, the speed estimation module specifically includes:

[0029] A data conversion module that converts the stator flux component in the state variable at the next moment to the synchronous rotating d-q coordinate system to obtain and At the same time, the stator current i a and i b at the current moment in the parameter data are converted to the synchronous rotating d-q coordinate system to obtain and

[0030] The discrete model establishment module respectively establishes a discrete flux voltage reference model and a discrete current adjustable model, and obtains a flux error through the flux output;

[0031]

[0032] Among them, ψ dref and ψ qref are the flux components of the reference model, u d and u q are the stator voltage components in the synchronous rotating coordinate system, R s is the stator resistance, ω e is the electrical angular velocity, T sc is the sampling period; ψ dad and ψ qad are the flux components of the adjustable model, L d and L q are the inductance components in the d-q coordinate system, L m is the mutual inductance, T r is the rotor time constant, and are the flux errors at the next moment on the d-axis and q-axis; is the reference value of the d-axis flux of the reference model at the next moment, is the reference value of the q-axis flux of the reference model at the next moment; is the flux value of the d-axis of the adjustable model at the next moment, is the flux value of the q-axis of the adjustable model at the next moment;

[0033] The speed estimation module estimates the speed according to the flux error and a preset adaptation law, and obtains speed data;

[0034]

[0035]

[0036] Among them, is the estimated electrical angular velocity at the next moment, is the estimated electrical angular velocity at the current moment, k pω is the speed proportional gain, k iω is the speed integral gain, p is the number of pole pairs of the motor, is the speed data at the next moment.

[0037] Preferably, the adjustment control module includes defining the speed error as where n r * is the desired speed; constructing a sliding mode surface, specifically:

[0038]

[0039] Among them, c 1 and c 2 are sliding mode surface coefficients, k 1 and k 2 and k 3 are compensation coefficients, is the reference value of the magnetic flux linkage in the d-q coordinate system;

[0040] Based on the sliding mode surface, a dynamic reaching law is obtained, specifically:

[0041]

[0042] Among them, ε and k are reaching law parameters, β is a constant, and sgn(S) is a sign function;

[0043] Combining the motion equation and the electromagnetic torque equation of the permanent magnet synchronous motor, a control signal is generated according to the improved sliding mode surface and the dynamic reaching law:

[0044]

[0045] Among them, J is the moment of inertia, ω is the angular velocity of the motor, T e is the electromagnetic torque, T L is the load torque, Q is the viscous friction coefficient, p is the number of pole pairs of the motor, i qad and i dad are the stator current components in the d-q coordinate system;

[0046] Differentiate the sliding mode surface and combine the motion equation and the electromagnetic torque equation to obtain the voltage commands and

[0047]

[0048] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a full-speed range vector control system for a high-speed maglev permanent magnet motor, which accurately obtains predicted flux data based on a flux observer model, current state variable observation values, stator current errors, and phase correction variables; the speed estimation module converts the flux data into a synchronous rotating d-q coordinate system, establishes a discrete model, and estimates the rotational speed according to the flux error. These accurate prediction and estimation data provide a reliable basis for the adjustment control module, enabling the adjustment control module to generate more accurate control signals, thereby improving the control accuracy of the motor and achieving precise control of the motor speed and torque; by defining a speed error to construct a sliding mode surface and obtaining a dynamic reaching law based on the sliding mode surface, the system can quickly adjust the control signal in the face of motor parameter changes and external disturbances, maintaining the stability of the system. In the case of sudden changes in load torque, etc., the system can quickly respond according to the sliding mode surface and the dynamic reaching law, effectively suppressing current oscillations and out-of-step phenomena, ensuring the stable operation of the motor; during the switching process between the low-speed region and the medium-high speed region control modes, the system can smoothly adjust the control signal according to real-time flux and speed data, avoiding current oscillations and out-of-step phenomena caused by switching, ensuring a smooth transition of the motor operation, and improving the operation reliability of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0050] Figure 1 It is a structural schematic diagram provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0052] The embodiments of the present invention disclose a full-speed range vector control system for a high-speed maglev permanent magnet motor, as Figure 1 shown, including:

[0053] Flux linkage prediction module, speed estimation module, adjustment control module, permanent magnet motor, and motor parameter identification module. The motor parameter identification module identifies the parameters of the permanent magnet motor to obtain parameter data. The flux linkage prediction module predicts the flux linkage information at the next moment based on the parameter data to obtain predicted flux linkage data. The speed estimation module evaluates the speed of the permanent magnet motor based on the predicted flux linkage data to obtain speed data. The adjustment control module obtains the control signal at the next moment based on the predicted flux linkage data combined with the speed data, and performs real-time control of the permanent magnet motor through the control signal at the next moment.

[0054] In a specific embodiment, the parameter data includes the stator resistance R s , the stator inductance L s , the rotor inductance L r and the mutual inductance L m , the number of pole pairs p of the motor, the stator currents i a 、i b at the current moment, and the initial rotor position θ e0 and so on.

[0055] In a specific embodiment, in the identification of the initial rotor position θ e0 of the motor parameter identification module, it specifically includes:

[0056] Apply a small-amplitude driving voltage at a set electromagnetic angle (the amplitude of the small-amplitude driving voltage ramps up from zero, and at the same time detect the amplitude of the corresponding phase current. The amplitude of the phase current increases as the voltage amplitude rises until the amplitude of the phase current reaches 10%-20% of the sampling amplitude of the current sampling circuit);

[0057] Detect the amplitudes of the corresponding phase current and phase voltage, and detect the amplitudes of the corresponding phase current and phase voltage for the second time at an interval of a certain time t (the interval time t is 20-90 ms);

[0058] Calculate the active power, reactive power, and power factor respectively according to the two detection values;

[0059] Judge the angular quadrant where the rotor position is located according to the change of the two power factors;

[0060] Calculate the rotor angle, and apply a small-amplitude driving voltage again at this rotor angle. Calculate the power factor according to the amplitudes of the corresponding phase current and phase voltage. If the power factor reaches the reliable threshold, it is determined that this rotor angle is the rotor position in the stationary state.

[0061] In a specific embodiment, the flux linkage prediction module specifically includes:

[0062] A flux linkage model establishment module that establishes a flux linkage observer model with the stator current vector as the feedback signal;

[0063] The variable correction module obtains the magnetic flux angular velocity of the induction motor and obtains the phase correction variable based on the magnetic flux angular velocity;

[0064] The magnetic flux data prediction module obtains the predicted magnetic flux data based on the magnetic flux observer model, according to the observed value of the state variable at the current moment, the stator current error at the current moment, and the phase correction variable.

[0065] In a specific embodiment, the magnetic flux model establishment module specifically includes:

[0066] Establish a magnetic flux observer model, using the stator current vector i s as the feedback signal. In motor control, first convert the three-phase current to the two-phase stationary coordinate system to obtain the stator current vector, which can simplify the motor model and facilitate the design of magnetic flux observation and control algorithms:

[0067]

[0068] Among them, the state variable matrix t is time, u is the stator voltage vector, G is the feedback matrix, A(θ e0 )、B(θ e0 )、D are parameter matrices;

[0069]

[0070] Among them, R s is the stator resistance, L s is the stator inductance, ω r is the electrical angular velocity of the rotor, L r is the equivalent inductance, R r is the equivalent resistance, and j is the imaginary number. In terms of inductance, due to the interaction between the stator magnetic field and the permanent magnet magnetic field, there will be a certain magnetic resistance in the magnetic circuit. From the perspective of circuit equivalence, the rotor inductance can be used to describe the influence of this magnetic circuit characteristic on the electromagnetic relationship of the motor; the rotor core will hinder the change of the magnetic field, similar to the hindrance of the inductance in the circuit to the change of current, so the rotor inductance can be used to equivalently represent it. At the same time, there will also be energy loss due to eddy currents inside the core, which is reflected by the equivalent rotor resistance.

[0071] In a specific embodiment, the variable correction module specifically includes:

[0072] ω e =ω r +ω s1 ;

[0073]

[0074] c=1+0.5jω e T sc-0.125(ω e T sc ) 2 ;

[0075] where ω r , ω s1 are intermediate variables, i sq is the q-axis current in the rotor flux-oriented coordinate system, i sd is the d-axis current in the rotor flux-oriented coordinate system, k pω is the speed proportional gain, k iω is the speed integral gain, is the stator flux observer value, is the stator current observer value, C is the coefficient matrix, s is the complex variable in the transfer function, represents the cross product between two vectors; T sc is the sampling period, λ is the control parameter, c is the phase correction variable.

[0076] In a specific embodiment, the flux data prediction module specifically includes:

[0077]

[0078] where is the observed value of the state variable at the current moment, is the stator current error at the current moment, c is the phase correction variable, and the stator flux component in the state variable at the next moment is the predicted flux data, b is a real number less than 0.

[0079] In a specific embodiment, by performing Park transformation to convert the quantities in the two-phase stationary coordinate system to the d-q coordinate system, the field current and torque current can be independently regulated. The model reference adaptive system (MRAS) in the speed estimation strategy can more clearly reflect the relationship between flux and current in the d-q coordinate system, facilitating the design of the adaptive law to estimate the motor speed. The speed estimation module specifically includes:

[0080] A data conversion module that converts the stator flux component in the state variable at the next moment to the synchronous rotating d-q coordinate system to obtain and At the same time, the stator current i a and i b at the current moment in the parameter data are converted to the synchronous rotating d-q coordinate system to obtain and

[0081] The discrete model establishment module respectively establishes a discrete flux voltage reference model and a discrete current adjustable model, and obtains the flux error through the flux output;

[0082]

[0083] Among them, ψ dref and ψ qref are the flux components of the reference model, u d and u q are the stator voltage components in the synchronous rotating coordinate system, R s is the stator resistance, ω e is the electrical angular velocity, T sc is the sampling period; ψ dad and ψ qad are the flux components of the adjustable model, L d and L q are the inductance components in the d-q coordinate system, L m is the mutual inductance, T r is the rotor time constant, and are the flux errors at the next moment on the d-axis and q-axis; is the reference value of the d-axis flux of the reference model at the next moment, is the reference value of the q-axis flux of the reference model at the next moment; is the flux value of the d-axis of the adjustable model at the next moment, is the flux value of the q-axis of the adjustable model at the next moment; The physical quantities such as flux, current, and voltage involved are all components in the d-q coordinate system. This module mainly works in the d-q coordinate system, simplifies the relationship between flux and current by using the characteristics of the motor model in the d-q coordinate system, and realizes more accurate speed estimation.

[0084] The speed estimation module estimates the speed according to the flux error and the preset adaptation law, and obtains the speed data;

[0085]

[0086] Among them, is the estimated electrical angular velocity at the next moment, is the estimated electrical angular velocity at the current moment, k pω is the speed proportional gain, k iω is the speed integral gain, p is the number of pole pairs of the motor, is the speed data at the next moment.

[0087] In a specific embodiment, the adjustment control module includes defining the speed error as Among them, n r *is the desired speed; in the d-q coordinate system, the inductance parameters of the motor become constants, and the motor model is simplified, which is beneficial to achieving precise control of the motor, such as more accurately adjusting the electromagnetic torque, thereby realizing effective control of the motor speed and operating state. The construction of the sliding mode surface is specifically as follows:

[0088]

[0089] where c 1 , c 2 are the sliding mode surface coefficients, which adjust the dynamic performance of the sliding mode surface; k 1 , k 2 , k 3 are the compensation coefficients, which are determined according to the motor characteristics and control requirements; is the reference value of the flux linkage in the d-q coordinate system;

[0090] Based on the sliding mode surface, a dynamic reaching law is obtained, specifically as follows:

[0091]

[0092] where ε and k are the reaching law parameters, which determine the reaching speed and the degree of chattering suppression; β is a constant, which is used to adjust the change speed of the reaching law with the distance from the sliding mode surface; sgn(S) is the sign function; when the system is far from the sliding mode surface, is larger, and the reaching speed is accelerated; when the system is close to the sliding mode surface, decreases, and the reaching speed slows down, thereby suppressing chattering.

[0093] Combined with the motion equation and electromagnetic torque equation of the permanent magnet synchronous motor, a control signal is generated according to the improved sliding mode surface and the dynamic reaching law:

[0094]

[0095] where J is the moment of inertia, ω is the angular velocity of the motor, T e is the electromagnetic torque, T L is the load torque, Q is the viscous friction coefficient, p is the number of pole pairs of the motor, i qad , i dad are the stator current components in the d-q coordinate system;

[0096] The derivative of the sliding mode surface is obtained, and combined with the motion equation and electromagnetic torque equation, the voltage commands and

[0097] The derivative of the sliding mode surface is obtained. Given the sliding mode surface:

[0098]

[0099] Deriving its derivative gives

[0100]

[0101] Since Therefore:

[0102]

[0103] Combined with the motion equation, the motion equation of the permanent magnet synchronous motor is:

[0104]

[0105] Where ω is the angular velocity of the motor, and

[0106] Substituting ω and into the motion equation gives:

[0107]

[0108] After rearrangement, we get:

[0109]

[0110] For Taking the derivative again gives:

[0111]

[0112] Combined with the electromagnetic torque equation, the electromagnetic torque equation is:

[0113]

[0114] Taking the derivative of T e :

[0115]

[0116] Deriving the voltage command in the d-q coordinate system. In the d-q coordinate system, the voltage equation of the permanent magnet synchronous motor is:

[0117]

[0118] From Substituting the expressions of and into it, and then combining with the expression, as well as the voltage equation, through complex substitution and rearrangement, we can obtain:

[0119]

[0120] The operation of a permanent magnet synchronous motor is driven by electromagnetic torque, which is closely related to the current and magnetic flux of the motor. In the d-q coordinate system, the current can be indirectly controlled by controlling the voltage, thereby achieving precise regulation of the electromagnetic torque and the motor speed. The voltage command, as a control signal, is used to drive the inverter of the motor, enabling the inverter to output an appropriate voltage waveform to provide the required electrical energy for the motor. Different voltage commands are required to meet the operating requirements of the motor at different stages such as startup, acceleration, steady operation, and deceleration. At the startup stage, a larger voltage command is needed to provide sufficient torque to quickly start the motor; at the steady operation stage, an accurate voltage command is required to maintain the stable speed of the motor.

[0121] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0122] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A full-speed vector control system for a high-speed magnetic levitation permanent magnet motor, characterized in that: include: A flux prediction module, a speed estimation module, a regulation control module, a permanent magnet motor, and a motor parameter identification module. The motor parameter identification module performs parameter identification on the permanent magnet motor and obtains parameter data. The flux prediction module predicts the flux information at the next moment according to the parameter data and obtains the predicted flux data. The speed estimation module evaluates the speed of the permanent magnet motor according to the predicted flux data and obtains the speed data. The regulation control module obtains the control signal at the next moment according to the predicted flux data combined with the speed data, and performs real-time control of the permanent magnet motor through the control signal at the next moment.

2. The full-speed vector control system of a high-speed magnetic levitation permanent magnet motor according to claim 1 is characterized in that: The magnetic flux prediction module specifically includes: The flux linkage model building module builds the flux linkage observer model and uses the stator current vector as the feedback signal; A variable correction module is used to obtain the flux angular velocity of the induction motor and obtain a phase correction variable based on the flux angular velocity; The flux data prediction module obtains the predicted flux data based on the flux observer model according to the state variable observation value at the current moment, the stator current error at the current moment, and the phase correction variable.

3. The full-speed vector control system of a high-speed magnetic levitation permanent magnet motor according to claim 2 is characterized in that: The magnetic link model building module specifically includes: Establish the flux observer model, with the stator current vector i s As feedback signal: Among them, the state variable matrix t is time, u is the stator voltage vector, G is the feedback matrix, A(θ e0 )、B(θ e0 ), D is the parameter matrix, θ e0 is the initial position of the rotor; T s =L s / R s ,T r =L r / R r ; Among them, R s is the stator resistance, L s is the stator inductance, ω r is the electrical angular velocity of the electronic rotor, L r is the equivalent inductance, R r is the equivalent resistance and j is an imaginary number.

4. The full-speed vector control system of a high-speed magnetic levitation permanent magnet motor according to claim 3 is characterized in that: The variable correction module specifically includes: oh e =ω r +oh s1 ; c=1+0.5jω e T sc -0.125(ω e T sc ) 2 ; Among them, ω r ,ω s1 is the intermediate variable, i sq is the q-axis current in the rotor flux orientation coordinate system, i sd is the d-axis current in the rotor flux orientation coordinate system, k pω is the speed proportional gain, k iω is the speed integral gain, is the stator flux observation value, is the observed value of stator current, C is the coefficient matrix, s is the complex variable in the transfer function, represents the cross product between two vectors; T sc is the sampling period, λ is the control parameter, and c is the phase correction variable.

5. A full-speed vector control system for a high-speed magnetic levitation permanent magnet motor according to claim 4, characterized in that: The magnetic link data prediction module specifically includes: in, is the observed value of the state variable at the current moment, is the stator current error at the current moment, c is the phase correction variable, and the state variable at the next moment is The stator flux component is the predicted flux data.

6. A full-speed vector control system for a high-speed magnetic levitation permanent magnet motor according to claim 5, characterized in that: The speed estimation module specifically includes: The data conversion module converts the state variables at the next moment Stator flux component Transformed into the synchronously rotating dq coordinate system, we get and At the same time, the stator current i at the current moment in the parameter data is a with i b Transform to the synchronously rotating dq coordinate system to obtain and The discrete model building module builds a discrete flux voltage reference model and a discrete current adjustable model respectively, and obtains the flux error through the flux output; Among them, ψ dref and ψ qref is the flux component of the reference model, u d and u q is the stator voltage component in the synchronous rotating coordinate system, R s is the stator resistance, ω e is the electrical angular velocity, T sc is the sampling period; ψ dad and ψ qad is the flux component of the adjustable model, L d and L q is the inductance component in the dq coordinate system, L m is the mutual inductance, T r is the rotor time constant, and is the flux linkage error of the d-axis and q-axis at the next moment; is the reference value of the d-axis magnetic flux of the reference model at the next moment, is the reference value of the q-axis magnetic flux of the reference model at the next moment; is the magnetic flux value of the d-axis of the adjustable model at the next moment, is the magnetic flux value of the q-axis of the adjustable model at the next moment; A speed estimation module estimates the speed according to the flux error and a preset adaptive law to obtain speed data; in, Estimate the electrical angular velocity for the next moment, is the estimated electrical angular velocity at the current moment, k pω is the speed proportional gain, k iω is the speed integral gain, p is the number of motor pole pairs, It is the speed data of the next moment.

7. A full-speed vector control system for a high-speed magnetic levitation permanent magnet motor according to claim 6, characterized in that: The regulation control module includes defining the speed error as Where n r * is the expected speed; the sliding surface is constructed as follows: Among them, c1 and c2 are sliding surface coefficients, k1, k2, and k3 are compensation coefficients. is the reference value of magnetic flux in the dq coordinate system; The dynamic reaching law is obtained based on the sliding surface, specifically: Among them, ε and k are reaching law parameters, β is a constant, sgn(S) is a sign function; Combining the motion equation and electromagnetic torque equation of the permanent magnet synchronous motor, the control signal is generated according to the improved sliding surface and dynamic reaching law: Where J is the moment of inertia, ω is the motor angular velocity, T e is the electromagnetic torque, T L is the load torque, Q is the viscous friction coefficient, p is the number of motor pole pairs, i qad 、i dad is the stator current component in the dq coordinate system; Derivative the sliding surface and combine the motion equation and electromagnetic torque equation to obtain the voltage command in the dq coordinate system and

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