Ship-borne wave compensation platform permanent magnet synchronous motor control system and method

Abstract

The invention provides a ship-borne wave compensation platform permanent magnet synchronous motor control system and method. The ship-borne wave compensation platform permanent magnet synchronous motor control system comprises an upper platform, branched chains, permanent magnet synchronous motors and a lower platform. The lower platform is fixed on a ship deck, the branch chain is provided with a moving pair capable of actively adjusting the length, and the moving pair is connected with the permanent magnet synchronous motor and is driven by the permanent magnet synchronous motor; the two ends of the branch chains are connected with the upper platform and the lower platform respectively, the positions and postures of the upper platform relative to the deck are changed by adjusting the lengths of the branch chains, ship movement is counteracted, and the upper platform is kept stable relative to a geodetic coordinate system. According to the method, the controller design of integrating the dynamic feedforward with the equivalent input interference compensation is adopted, so that the effective suppression of the multi-source interference is ensured, the expert knowledge is fully utilized to ensure the rapid convergence of the equivalent input interference compensation observer, the control is simple, and meanwhile, the robustness is good.

Description

Technical Field

[0001] The present invention relates to the technical field of wave compensation, and in particular to a control system and method for a permanent magnet synchronous motor of a shipborne wave compensation platform. Background Art

[0002] When a ship is at sea, it is excited by waves and produces six degrees of freedom motion, including sway, surge, heave, roll, pitch and pitch.

[0003] Permanent magnet synchronous motors generally obtain feedback information such as motor shaft angle, speed and acceleration through high-precision photoelectric encoders and control rotation through drivers. They have the advantages of high-precision servo, but motors with such high-precision encoders are generally used in scenarios such as indoor processing on land. Working conditions are relatively ideal and are less subject to external interference. The shipborne wave compensation platform is installed on the deck of the ship, exposed to air and waves, and the noise interference caused by the operating ship is much greater than the indoor environment on land. At the same time, it is also affected by oil pollution, salt corrosion and other factors that can seriously damage the motor's photoelectric encoder. The harsh environmental interference makes it difficult for the permanent magnet synchronous motor equipped on the shipborne wave compensation platform to use the photoelectric encoder to obtain accurate feedback information. The motor must be regulated by a highly anti-interference sensorless control method, that is, in the absence of a photoelectric encoder as feedback, the motor control is only based on current feedback.

[0004] High-precision control of permanent magnet synchronous motors also relies on precise perception of load parameters. The most suitable motor control gain is determined through accurate external load parameters. However, the inertial force generated by each component of the shipborne wave compensation platform varies greatly during operation, and it is difficult for permanent magnet synchronous motors to achieve high-precision control through a single set of control gains.

[0005] Patent CN116476993A proposes a wave compensation gangway device and a control method thereof, including a simulated wave device for simulating wave motion and a gangway device located on the simulated wave device and moving with the simulated wave, the simulated wave device includes an upper platform for placing the gangway device, a lower platform for support, a plurality of drive motor assemblies distributed on the lower platform at intervals around the central axis, and a connecting rod assembly connected to the lower surface of the upper platform at one end and connected to the output shaft of the drive motor assembly at the other end and used to drive the upper platform to simulate wave motion, wherein the upper platform and the lower platform are coaxially arranged, and the change of the base coordinates of the gangway device is predicted by the time series NARX feedback neural network algorithm, and the coordinates of the end of the gangway device remain unchanged. The control method disclosed in the patent adopts model-free neural network control, and the wave compensation gangway is non-parallel configuration, which does not belong to the same technical route as the present invention.

[0006] Patent CN116219859A discloses an active wave compensation device for a boarding trestle and a compensation parameter determination method thereof, including a boarding trestle and a ship, wherein the boarding trestle includes a trestle and a trestle body, wherein the trestle is provided with a telescopic compensation cylinder, the trestle body is provided with a roll compensation cylinder, a pitch compensation cylinder is provided between the trestle and the trestle body, the telescopic compensation cylinder is provided with a telescopic displacement sensor, the roll compensation cylinder is provided with a roll displacement sensor, the pitch compensation cylinder is provided with a pitch displacement sensor, and a ship attitude sensor is provided on the base at the connection between the trestle body and the ship, and the ship attitude sensor, the telescopic displacement sensor, the roll displacement sensor, and the pitch displacement sensor are all connected to a controller. This patent studies a wave compensation device of a serial configuration, which is completely different from the same type of configuration as the controlled mechanism studied in the present invention, and does not use state feedback and equivalent input interference compensation methods in the controller design, which is completely different from the idea of ​​the present invention. Summary of the invention

[0007] In view of the defects in the prior art, an object of the present invention is to provide a permanent magnet synchronous motor control system and method for a shipborne wave compensation platform.

[0008] The permanent magnet synchronous motor control system of the shipborne wave compensation platform provided by the present invention comprises: an upper platform, a branch chain, a permanent magnet synchronous motor and a lower platform;

[0009] The lower platform is fixed on the deck of the ship, and the branch chain has a moving pair with an actively adjustable length, the moving pair is connected to the permanent magnet synchronous motor and driven by the permanent magnet synchronous motor;

[0010] The two ends of the branch chain are respectively connected to the upper platform and the lower platform. By adjusting the length of the branch chain, the position and posture changes of the upper platform relative to the deck offset the movement of the hull, so that the upper platform remains stable relative to the geodetic coordinate system.

[0011] Preferably, the number of the branches is six.

[0012] According to the permanent magnet synchronous motor control method for a shipborne wave compensation platform provided by the present invention, the following steps are performed:

[0013] Step 1: According to the mechanism configuration of the six-degree-of-freedom wave compensation platform, the kinematic model of the wave compensation platform is established;

[0014] Step 2: According to the relationship between position, velocity and acceleration of the kinematic model and the Newton-Euler equation, the dynamic model of the six-degree-of-freedom wave compensation platform is established to calculate the driving force that the six electric cylinders should generate under the current posture;

[0015] Step 3: Establish a state space model of the permanent magnet synchronous motor;

[0016] Step 4: Construct a state observer to estimate the unmeasurable state and equivalent input interference of the permanent magnet synchronous motor in real time, calculate the rotation angle, speed and interference force of the permanent magnet synchronous motor at the current moment, and establish a command filtering control law based on equivalent input interference compensation;

[0017] Step 5: Construct the dynamic feedforward channel;

[0018] Step 6: Integrate the dynamic feedforward control law and the equivalent input disturbance compensation control law to construct an integrated controller to achieve simultaneous suppression of multi-source interference and high-precision tracking of random reference input signals by the wave compensation platform.

[0019] Preferably, the kinematic model expression of the heave compensation platform is:

[0020] l r =p st +R st b r -a r

[0021]

[0022]

[0023]

[0024] Where: l r In order to achieve the desired effect, the length and direction vector of the rth branch chain in the shipborne wave compensation platform need to be controlled; p st represents the displacement vector of the platform relative to the lower platform on the shipborne wave compensation platform; R st represents the rotation matrix of the platform relative to the lower platform on the shipborne wave compensation platform; b r a represents the coordinates of the rth branch ball joint on the shipborne wave compensation platform; r represents the coordinates of the Hook hinge point of the lower platform of the shipborne wave compensation platform; Indicates the movement speed of the branch chain; s J qt represents the Jacobian matrix that maps the upper platform velocity to the branch chain velocity; s V st represents the velocity vector of the upper platform relative to the lower platform; s b 1 It represents the coordinates of the platform ball joint on the same shipborne wave compensation platform as above, and the upper right script number represents the branch chain sequence; represents the unit vector indicating the direction of the rth branch; represents the acceleration of the branch chain; s A st represents the acceleration vector of the upper platform relative to the lower platform; It represents the second-order influence coefficient matrix that maps the upper platform acceleration to the branch chain acceleration; r represents the order number of the branch chain, r = 1, 2, 3, 4, 5, 6, and there are 6 branches in total.

[0025] Preferably, the dynamic model expression of the six-degree-of-freedom heave compensation platform is:

[0026]

[0027]

[0028] in: b W represents the inertial force spin of the upper platform; b N represents the generalized mass matrix of the upper platform, which is composed of the inertia matrix and mass of the upper platform; b A represents the acceleration vector of the upper platform; The adjoint transformation matrix representing the upper platform velocity vector; b V represents the velocity vector of the upper platform; The adjoint transformation matrix represents the rotation and translation relationship between the upper platform and the lower platform; s represents the lower platform; b represents the upper platform.

[0029] Preferably, the state space model expression of the permanent magnet synchronous motor is:

[0030]

[0031]

[0032] Where: i α Represents the motor α-axis current; i β Indicates the motor β-axis current; E α Indicates the back electromotive force of the motor α axis; E β represents the motor β-axis back electromotive force; R represents the motor stator resistance; L represents the electronic armature inductance; ω e Indicates the electrical angular velocity of the motor; u β Indicates the motor α-axis voltage; u b Indicates the motor β-axis voltage.

[0033] Preferably, the unmeasurable state of the permanent magnet synchronous motor and the equivalent input disturbance are estimated in real time, and the expression is:

[0034]

[0035]

[0036] Where: x(t) represents the motor state vector; t represents time; A represents the motor state matrix; B represents the motor input matrix; u(t) represents the voltage input to the motor; de (t) represents the external interference to the motor; y(t) represents the motor output current; C represents the output matrix; represents the estimated value of the motor state derivative; Represents the estimated value of the motor state; u f (t) represents the motor input voltage without disturbance terms and disturbance compensation terms; L represents the observer gain matrix.

[0037] Preferably, the equivalent input interference inference expression is:

[0038]

[0039] in: represents equivalent input interference; B + represents the generalized inverse of the motor input matrix.

[0040] Preferably, the improved observer expression is:

[0041]

[0042] K=PC T R -1

[0043] in: represents the derivative of the covariance matrix; P represents the covariance matrix; G represents the process noise transfer matrix; Q represents the process noise covariance matrix; R represents the measurement noise covariance matrix; K represents the Kalman observer gain matrix.

[0044] Preferably, the dynamics feedforward channel expression is:

[0045]

[0046] Where: u fw Indicates the voltage that needs to be applied to the feedforward channel; b W represents the feedforward torque calculated by dynamic solution; η represents the number of motor pole pairs; k m Indicates the motor torque constant.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] (1) By using the Jacobian matrix and partial inverse model information of the system, partial decoupling of the heave compensation platform control system is achieved;

[0049] (2) Establish command filtering control rules based on equivalent input interference compensation to achieve simultaneous suppression of multi-source interference and high-precision tracking of input signals by the heave compensation platform control system;

[0050] (3) By adopting the controller design of dynamic feedforward integration of equivalent input disturbance compensation, it not only ensures the effective suppression of multi-source interference, but also makes full use of expert knowledge to ensure the rapid convergence of the equivalent input disturbance compensation observer. The control is simple and the robustness is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0052] Figure 1 It is a shipborne wave compensation platform;

[0053] Figure 2 It is the inductive self-disturbance rejection and dynamic feedforward control of permanent magnet synchronous motor;

[0054] Figure numerals: 1-upper platform; 2-branch chain; 3-permanent magnet synchronous motor; 4-lower platform. DETAILED DESCRIPTION

[0055] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0056] Example

[0057] like Figure 1 , is a shipborne wave compensation platform, and the present invention provides a permanent magnet synchronous motor control system for a shipborne wave compensation platform, comprising: an upper platform 1, a branch chain 2, a permanent magnet synchronous motor 3 and a lower platform 4; the lower platform 4 is fixed on the ship deck, and the branch chain 2 has a moving pair with an actively adjustable length, which is connected to the permanent magnet synchronous motor 3 and driven by the permanent magnet synchronous motor 3; the two ends of the branch chain 2 are respectively connected to the upper platform 1 and the lower platform 4, and by adjusting the length of the branch chain 2, the position and posture changes of the upper platform 1 relative to the deck offset the movement of the hull, so that the upper platform 1 remains stable relative to the geodetic coordinate system. The number of the branch chains 2 is six.

[0058] like Figure 2, which is the inductive self-resistance control and dynamic feedforward control of permanent magnet synchronous motor. Its working principle is as follows: establish the state equation of permanent magnet synchronous motor, use Kalman observer, infer the current angle, speed and acceleration information of the motor through the reverse calculation of motor output current, and output it to the internal model control area as feedback information. The internal model control area uses the feedback information and target current information to decide the voltage to be output to the motor. The Kalman observer also infers the external disturbance to the motor through the self-resistance equation, and inverts this disturbance information and superimposes it on the voltage output to the motor to offset the external disturbance. The inverse dynamics equation solves the driving force required by the current shipborne wave compensation platform to achieve movement, and the voltage required to be output by the motor is calculated based on this force, and this item is superimposed on the voltage output to the motor again in the form of feedforward.

[0059] The present invention provides a method for controlling a permanent magnet synchronous motor of a shipborne wave compensation platform, which performs the following steps:

[0060] Step 1: According to the mechanism configuration of the six-degree-of-freedom wave compensation platform, the kinematic model of the wave compensation platform is established;

[0061] Step 2: According to the relationship between position, velocity and acceleration of the kinematic model and the Newton-Euler equation, the dynamic model of the six-degree-of-freedom wave compensation platform is established to calculate the driving force that the six electric cylinders should generate under the current posture;

[0062] Step 3: Establish a state space model of the permanent magnet synchronous motor;

[0063] Step 4: Construct a state observer to estimate the unmeasurable state and equivalent input interference of the permanent magnet synchronous motor in real time, calculate the rotation angle, speed and interference force of the permanent magnet synchronous motor at the current moment, and establish a command filtering control law based on equivalent input interference compensation;

[0064] Step 5: Construct the dynamic feedforward channel;

[0065] Step 6: Integrate the dynamic feedforward control law and the equivalent input disturbance compensation control law to construct an integrated controller to achieve simultaneous suppression of multi-source interference and high-precision tracking of random reference input signals by the wave compensation platform.

[0066] The kinematic model expression of the heave compensation platform is:

[0067] l r =p st +R st b r -a r

[0068]

[0069]

[0070]

[0071] Where: l r In order to achieve the desired effect, the length and direction vector of the rth branch chain in the shipborne wave compensation platform need to be controlled; p st represents the displacement vector of the platform relative to the lower platform on the shipborne wave compensation platform; R st represents the rotation matrix of the platform relative to the lower platform on the shipborne wave compensation platform; b r a represents the coordinates of the rth branch ball joint on the shipborne wave compensation platform; r represents the coordinates of the Hook hinge point of the lower platform of the shipborne wave compensation platform; Indicates the movement speed of the branch chain; s J qt represents the Jacobian matrix that maps the upper platform velocity to the branch chain velocity; w V wt represents the velocity vector of the upper platform relative to the lower platform; s b 1 It represents the coordinates of the platform ball joint on the same shipborne wave compensation platform as above, and the upper right script number represents the branch chain sequence; represents the unit vector indicating the direction of the rth branch; represents the acceleration of the branch chain; s A st represents the acceleration vector of the upper platform relative to the lower platform; It represents the second-order influence coefficient matrix that maps the upper platform acceleration to the branch chain acceleration; r represents the order number of the branch chain, r = 1, 2, 3, 4, 5, 6, and there are 6 branches in total.

[0072] The dynamic model expression of the six-degree-of-freedom wave compensation platform is:

[0073]

[0074]

[0075] in: b W represents the inertial force spin of the upper platform; b N represents the generalized mass matrix of the upper platform, which is composed of the inertia matrix and mass of the upper platform; b A represents the acceleration vector of the upper platform; The adjoint transformation matrix representing the upper platform velocity vector; b V represents the velocity vector of the upper platform; The adjoint transformation matrix represents the rotation and translation relationship between the upper platform and the lower platform; s represents the lower platform; b represents the upper platform.

[0076] The state space model expression of permanent magnet synchronous motor is:

[0077]

[0078]

[0079] Where: i α Represents the motor α-axis current; i β Indicates the motor β-axis current; E α Indicates the back electromotive force of the motor α axis; E β represents the motor β-axis back electromotive force; R represents the motor stator resistance; L represents the electronic armature inductance; ω e Indicates the electrical angular velocity of the motor; u β Indicates the motor α-axis voltage; u b Indicates the motor β-axis voltage.

[0080] The unmeasurable state and equivalent input disturbance of the permanent magnet synchronous motor are estimated in real time, and the expression is:

[0081]

[0082]

[0083] Where: x(t) represents the motor state vector; t represents time; A represents the motor state matrix; B represents the motor input matrix; u(t) represents the voltage input to the motor; d e (t) represents the external interference to the motor; y(t) represents the motor output current; C represents the output matrix; represents the estimated value of the motor state derivative; Represents the estimated value of the motor state; u f (t) represents the motor input voltage without disturbance terms and disturbance compensation terms; L represents the observer gain matrix.

[0084] The equivalent input interference inference expression is:

[0085]

[0086] in: represents equivalent input interference; B + represents the generalized inverse of the motor input matrix.

[0087] The improved observer expression is:

[0088]

[0089] K=PC T R -1

[0090] in: represents the derivative of the covariance matrix; P represents the covariance matrix; G represents the process noise transfer matrix; Q represents the process noise covariance matrix; R represents the measurement noise covariance matrix; K represents the Kalman observer gain matrix.

[0091] The dynamic feedforward channel expression is:

[0092]

[0093] Where: u fw Indicates the voltage that needs to be applied to the feedforward channel; b W represents the feedforward torque calculated by dynamic solution; η represents the number of motor pole pairs; k m Indicates the motor torque constant.

[0094] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0095] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0096] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A permanent magnet synchronous motor control system for a shipborne wave compensation platform, characterized in that, it includes: an upper platform (1), a chain (2), a permanent magnet synchronous motor (3) and a lower platform (4); the lower platform (4) is fixed on the ship deck, the chain (2) has a moving pair with an actively adjustable length, this moving pair is connected to the permanent magnet synchronous motor (3) and is driven by the permanent magnet synchronous motor (3); both ends of the chain (2) are respectively connected to the upper platform (1) and the lower platform (4), by adjusting the length of the chain (2), the position and attitude change of the upper platform (1) relative to the deck offsets the hull movement, so that the upper platform (1) remains stable relative to the earth coordinate system.

2. The permanent magnet synchronous motor control system for a shipborne wave compensation platform according to claim 1, characterized in that, the number of the chains (2) is six.

3. A control method for a permanent magnet synchronous motor of a shipborne wave compensation platform, characterized in that, using the permanent magnet synchronous motor control system for a shipborne wave compensation platform according to claim 1 or 2, and performing the following steps: Step 1: According to the mechanism configuration of the six-degree-of-freedom wave compensation platform, establish the kinematic model of the wave compensation platform; Step 2: According to the position, velocity and acceleration relationships of the kinematic model, and in accordance with the Newton-Euler equation, establish the dynamic model of the six-degree-of-freedom wave compensation platform, and calculate the driving forces that should be generated by the six electric cylinders in the current attitude; Step 3: Establish the state space model of the permanent magnet synchronous motor; Step 4: Construct a state observer to estimate the unmeasurable state and equivalent input disturbance of the permanent magnet synchronous motor in real time, deduce the rotation angle, speed and the interference force received by the permanent magnet synchronous motor at the current moment, and establish a command filtering control law based on equivalent input disturbance compensation; Step 5: Construct a dynamic feedforward channel; Step 6: Integrate the dynamic feedforward control law and the equivalent input disturbance compensation control law, and construct an integrated controller to achieve the simultaneous suppression of multi-source interference by the wave compensation platform and the high-precision tracking of the random reference input signal.

4. The control method for a permanent magnet synchronous motor of a shipborne wave compensation platform according to claim 3, characterized in that, the expression of the kinematic model of the wave compensation platform is: l r = p st + R st · b r - a r Where: l r represents the length and direction vector that the r-th chain needs to control in the shipborne wave compensation platform to achieve the expectation; p st represents the displacement vector of the upper platform relative to the lower platform on the shipborne wave compensation platform; R st represents the rotation matrix of the upper platform relative to the lower platform on the shipborne wave compensation platform; b r represents the coordinate of the spherical hinge joint of the r-th chain on the upper platform of the shipborne wave compensation platform; a r represents the coordinate of the Hooke joint on the lower platform of the shipborne wave compensation platform; represents the motion speed of the chain; s J qt represents the Jacobian matrix that maps the upper platform speed to the chain speed; s V st represents the speed vector of the upper platform relative to the lower platform; s b 1 represents the coordinate of the spherical hinge joint on the upper platform of the same shipborne wave compensation platform, and the superscript number represents the chain order; represents the unit vector indicating the direction of the r-th chain; represents the motion acceleration of the chain; s A st represents the acceleration vector of the upper platform relative to the lower platform; represents the second-order influence coefficient matrix that maps the upper platform acceleration to the chain acceleration; r represents the order number of the chain, r = 1, 2, 3, 4, 5, 6, a total of 6 chains.

5. The control method for a permanent magnet synchronous motor of a shipborne wave compensation platform according to claim 4, characterized in that, the expression of the dynamic model of the six-degree-of-freedom wave compensation platform is: Wherein: b W represents the inertial force screw of the upper platform; b N represents the generalized mass matrix of the upper platform, which is composed of the inertia matrix and mass of the upper platform; b A represents the acceleration vector of the upper platform; represents the adjoint transformation matrix of the upper platform velocity vector; b V represents the upper platform velocity vector; represents the adjoint transformation matrix of the rotation and translation relationship of the upper platform relative to the lower platform; s represents the lower platform; b represents the upper platform.

6. The control method for a permanent magnet synchronous motor of a shipborne wave compensation platform according to claim 5, characterized in that, the expression of the state space model of the permanent magnet synchronous motor is: Where: i α represents the α-axis current of the motor; i β represents the β-axis current of the motor; E α represents the back electromotive force of the α-axis of the motor; E β represents the back electromotive force of the β-axis of the motor; R represents the stator resistance of the motor; L represents the armature inductance of the motor; ω e represents the electrical angular velocity of the motor; u β represents the α-axis voltage of the motor; u b represents the β-axis voltage of the motor.

7. The control method for a permanent magnet synchronous motor of a shipborne wave compensation platform according to claim 6, characterized in that, the real-time estimation of the unmeasurable state and equivalent input disturbance of the permanent magnet synchronous motor is: Where: x(t) represents the motor state vector; t represents time; A represents the motor state matrix; B represents the motor input matrix; u(t) represents the voltage applied to the motor; d e (t) represents the interference on the motor from the outside world; y(t) represents the motor output current; C represents the output matrix; represents the estimated value of the motor state derivative; represents the estimated value of the motor state; u f (t) represents the motor input voltage without the interference term and the interference compensation term; L represents the observer gain matrix.

8. The control method for a permanent magnet synchronous motor of a shipborne wave compensation platform according to claim 7, characterized in that, the equivalent input disturbance inference expression is: Wherein: represents equivalent input interference; B + represents the generalized inverse of the motor input matrix.

9. The control method for a permanent magnet synchronous motor of a shipborne wave compensation platform according to claim 8, characterized in that, the expression of the improved observer is: K = PC T R -1 Wherein: represents the derivative of the covariance matrix; P represents the covariance matrix; G represents the process noise transfer matrix; Q represents the process noise covariance matrix; R represents the measurement noise covariance matrix; K represents the Kalman observer gain matrix.

10. The permanent magnet synchronous motor control method for shipborne wave compensation platform according to claim 9, characterized in that, the expression of the dynamics feedforward channel is: Where: u fw represents the voltage to be applied to the feedforward channel; b W represents the feedforward torque calculated by the dynamics; η represents the number of pole pairs of the motor; k m represents the motor torque constant.

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