Permanent magnet synchronous motor dead-beat predictive current control method based on CQRESO

Abstract

The invention belongs to the technical field of motor control, and particularly relates to a permanent magnet synchronous motor dead-beat predictive current control method based on CQRESO. The method comprises the following steps: constructing an expansion state equation of a d-axis subsystem and a q-axis subsystem; then, cascade quasi-resonance extended state observers of the d axis and the q axis are constructed; d-axis current, q-axis current, total disturbance of a d-axis subsystem and total disturbance of a q-axis subsystem are observed; a forward Euler method and a backward Euler method are used for further processing cascade quasi-resonance extended state observers of a d axis and a q axis to obtain d-axis current, q-axis current, total disturbance of a d-axis subsystem and a predicted value of a q-axis subsystem, and finally needed d-axis deadbeat instruction voltage and q-axis deadbeat instruction voltage are calculated according to the deadbeat control principle. Space vector pulse width modulation is carried out to convert into a driving signal, and the driving signal is transmitted to a three-phase inverter to complete adjustment of d-axis current and q-axis current; according to the invention, the sensitivity of the control system to noise and the robustness of coping with motor parameter perturbation are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and particularly relates to a deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO. Background Art

[0002] In recent years, permanent magnet synchronous motors have been widely used in new energy vehicles, rail transit, ships, aerospace and other fields due to their advantages such as simple structure, high reliability, high efficiency and high power density. Currently, the most widely used control method for permanent magnet synchronous motor control systems is a double closed-loop vector control with a speed loop in the outer loop and a current loop in the inner loop. Among them, the current loop is the innermost loop of the control system and plays a crucial role in the control performance of the system. At present, the current loop generally adopts a proportional-integral (PI) controller, which has the advantages of simple structure, clear parameter meaning and good steady-state performance. However, since the PI controller is a passive disturbance rejection control method that uses error feedback to eliminate errors, it has the defects of slow system dynamic response speed and weak disturbance rejection ability, so it is difficult to adapt to some occasions where the motor needs to have high dynamic response ability. At the same time, the tuning of the PI controller parameters is relatively complex, and since the operating point of the PI controller is fixed, it is difficult to find a set of suitable PI controller parameters to meet the motor operation requirements under various working conditions.

[0003] Compared with PI control, deadbeat predictive current control has the advantages of high bandwidth, fast dynamic response speed, simple control structure and no need for parameter tuning. However, traditional deadbeat predictive current control highly depends on the motor model and is very sensitive to motor parameter perturbations. When the motor model used in the control algorithm does not match the actual model, it will cause the current reference value to not be accurately tracked or even make the system unstable. To address this problem, relevant scholars have proposed a deadbeat predictive current control method based on an observer, that is, by designing an extended state observer, a Luenberger observer, a sliding mode disturbance observer, a super-twisting sliding mode observer, etc. to estimate the disturbance caused by motor parameter mismatch and perform real-time compensation, which can enhance the robustness of the current loop control system under motor parameter perturbations. However, the above control methods cannot effectively suppress the harmonic components in the stator phase current of the motor (mainly 6k±1 times, which are 6k times on the d and q axes). In addition, when the above control methods achieve fast adjustment of the stator current of the motor, they usually need to use a larger observer bandwidth to estimate the disturbance caused by motor parameter mismatch, making the system more sensitive to noise.

[0004] For example, a Chinese patent with a publication number of CN115347841A, a publication date of November 15, 2022, and an invention patent titled "A Method for Controlling the Current Loop of a Permanent Magnet Synchronous Motor by Predictive Deadbeat" has the following specific technical solution: A method for controlling the current loop of a permanent magnet synchronous motor by predictive deadbeat, including: Step 1: Establish a mathematical model of the permanent magnet synchronous motor, and use the mathematical model to obtain a current loop super-twisting sliding mode observer; establish a motor motion equation with disturbances and design a speed loop high-order sliding mode observer; Step 2: Use the speed loop super-twisting sliding mode observer to observe the disturbances in the speed loop of the motor and obtain the disturbance observation results; Step 3: Improve the sliding mode reaching law using the actual motor speed and the given speed value, and compensate the disturbance observation results into the improved sliding mode reaching law to obtain a speed control law; Step 4: Use the current loop super-twisting sliding mode observer to observe the current loop, and input the observed values of the current loop super-twisting sliding mode observer and the speed control law into a predictive deadbeat current controller to obtain a current loop control signal.

[0005] The above-mentioned invention patent improves the sliding mode reaching law using the actual motor speed and the given speed value to obtain a speed control law, and inputs the observed values of the current loop super-twisting sliding mode observer and the speed control law into a predictive deadbeat current controller to obtain a current loop control signal. However, the above patent needs to estimate the d-axis and q-axis currents at the next moment and the predicted values of the disturbances caused by motor parameter perturbations and system unmodeled dynamics by establishing a mathematical model. This method cannot reduce the sensitivity of the control system to noise, and cannot take into account the dynamic, steady-state, current harmonic suppression performance of current regulation, as well as the robustness against motor parameter perturbations. Summary of the Invention

[0006] In view of the problems existing in the above-mentioned prior art, the present invention provides a predictive deadbeat current control method for a permanent magnet synchronous motor based on CQRESO, which can reduce the sensitivity of the control system to noise and simultaneously take into account the dynamic, steady-state, current harmonic suppression performance of current regulation, as well as the robustness against motor parameter perturbations.

[0007] To achieve the above technical effects, the technical solution of the present application is as follows:

[0008] A predictive deadbeat current control method for a permanent magnet synchronous motor based on CQRESO includes the following specific steps:

[0009] Step 1: Construct the extended state equations of the d-axis and q-axis subsystems in the dq coordinate system of the permanent magnet synchronous motor;

[0010] Step 2: According to the extended state equations of the d-axis and q-axis subsystems in Step 1, construct a cascaded quasi-resonant extended state observer for the d-axis and a cascaded quasi-resonant extended state observer for the q-axis;

[0011] Step 3: Using the cascaded quasi-resonant extended state observer for the d-axis and the cascaded quasi-resonant extended state observer for the q-axis that are constructed, observe the d-axis current i d , the q-axis current i q , the total disturbance f d of the d-axis subsystem and the total disturbance f q of the q-axis subsystem;

[0012] Step 4: Using the forward Euler method and the backward Euler method, discretize the cascaded quasi-resonant extended state observer for the d-axis and the cascaded quasi-resonant extended state observer for the q-axis in Step 2 to obtain the predicted values of the d-axis current i d , the q-axis current i q , the total disturbance f d of the d-axis subsystem and the total disturbance f q of the q-axis subsystem at the (k + 1)-th moment. Finally, according to the principle of deadbeat control and considering the delay compensation at the same time, calculate the d-axis deadbeat command voltage and the q-axis deadbeat command voltage required at the (k + 1)-th moment;

[0013] Step 5: According to the obtained d-axis deadbeat command voltage and q-axis deadbeat command voltage, perform space vector pulse width modulation to convert them into drive signals, and transmit them to the three-phase inverter to complete the regulation of the d-axis current i d and the q-axis current i q .

[0014] Furthermore, expand the total disturbance in the dynamic equations of the d-axis and q-axis currents of the permanent magnet synchronous motor in the dq coordinate system with disturbances into new state variables of the corresponding subsystems, so as to construct the extended state equations of the d-axis and q-axis subsystems of the permanent magnet synchronous motor in the dq coordinate system.

[0015] Even further, the specific steps to expand the total disturbance in the dynamic equations of the d-axis and q-axis currents of the permanent magnet synchronous motor in the dq coordinate system with disturbances into new state variables of the corresponding subsystems, so as to construct the extended state equations of the d-axis and q-axis subsystems of the permanent magnet synchronous motor in the dq coordinate system are as follows:

[0016] Step a: Considering the disturbances of the d-axis subsystem and the q-axis subsystem, construct the dynamic equations of the d-axis current and the q-axis current of the permanent magnet synchronous motor;

[0017] Step b: Expand the total disturbance f d of the d-axis subsystem in the dynamic equation of the d-axis current of the permanent magnet synchronous motor into a new state variable of the d-axis subsystem, so as to obtain the extended state equation of the d-axis subsystem;

[0018] Step c: Expand the total disturbance f dExpand it into a new state variable of the q-axis subsystem, so as to obtain the expanded state equation of the q-axis subsystem.

[0019] Furthermore, the dynamic equations of the d-axis current and q-axis current of the permanent magnet synchronous motor constructed in step a are specifically as follows:

[0020]

[0021] In the formula, i d is the d-axis current, i q is the q-axis current, u d is the d-axis stator voltage, u q is the q-axis stator voltage; b d0 = 1 / L d0 ,b q0 = 1 / L q0 ,b d0 is the control gain of the d-axis subsystem, b q0 is the control gain of the q-axis subsystem, L d0 is the nominal value of the d-axis stator inductance, L q0 is the nominal value of the q-axis stator inductance; f d is the total disturbance of the d-axis subsystem, f q is the total disturbance of the q-axis subsystem; f dp is the periodic disturbance of the d-axis subsystem, f qp is the periodic disturbance of the q-axis subsystem; R s0 is the nominal value of the stator resistance; ω e is the electrical angular velocity of the rotor; ψ f0 is the nominal value of the permanent magnet flux linkage; ΔL d = L d - L d0 、ΔL q = L q - L q0 、ΔR s = R s - R s0 and Δψ f = ψ f - ψ f0 ;ΔL d represents the deviation between the actual parameter L d and its nominal value L d0 ,ΔL q represents the deviation between the actual parameter L q and its nominal value L q0 ,ΔR s represents the deviation between the actual parameter R s and its nominal value R s0 ,Δψ f represents the deviation between the actual parameter ψ fThe deviation from its nominal value ψ f0 ; f dex represents the unknown aperiodic disturbance of the d-axis subsystem, f qex represents the unknown aperiodic disturbance of the q-axis subsystem.

[0022] Furthermore, the extended state equation of the d-axis subsystem in step b is specifically:

[0023]

[0024] where h d is the differential of the total disturbance f d of the d-axis subsystem; is the first derivative of f d ; b d0 is the control gain of the d-axis subsystem; i d is the d-axis current.

[0025] Furthermore, the extended state equation of the q-axis subsystem in step c is specifically:

[0026]

[0027] where h q is the differential of the total disturbance f q of the q-axis subsystem; i q is the q-axis current; is the first derivative of f q ; b q0 is the control gain of the q-axis subsystem.

[0028] Further, the cascaded quasi-resonant extended state observer of the d-axis constructed by the d-axis subsystem is two cascaded quasi-resonant extended state observers, then the specific expression of the cascaded quasi-resonant extended state observer constructed by the d-axis subsystem is:

[0029] The front-stage QRESO:

[0030] The rear-stage QRESO:

[0031] where the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the front-stage QRESO for the d-axis current i d ; is the estimated value of the rear-stage QRESO for the d-axis current i d ; is to find of the first derivative, is to find of the first derivative; b d0 is the control gain of the d-axis subsystem; The estimated value of the total disturbance \(f\) of the \(d\)-axis subsystem by the pre-stage QRESO d ; The estimated value of the total disturbance of the \(d\)-axis subsystem that the post-stage QRESO estimates but the pre-stage QRESO fails to estimate; \(\beta\) d11 and \(\beta\) d12 are the gains of the pre-stage QRESO; \(\beta\) d21 and \(\beta\) d22 are the gains of the post-stage QRESO; \(x\) d13 and \(x\) d14 are the intermediate state variables of the pre-stage QRESO; \(x\) d23 and \(x\) d24 are the intermediate state variables of the post-stage QRESO; is to find the first derivative of \(x\) d23 ; is to find the first derivative of \(x\) d24 ; is the estimated value of the aperiodic disturbance of the \(d\)-axis subsystem by the pre-stage QRESO, is the estimated value of the periodic disturbance of the \(d\)-axis subsystem that the pre-stage QRESO fails to estimate in QRESO; is to find 's first derivative; \(k\) dr1 is the resonance term proportionality coefficient of the quasi-resonant regulator in the pre-stage QRESO, \(\omega\) dc1 is the cut-off frequency of the quasi-resonant regulator in the pre-stage QRESO, \(\omega\) dr1 is the resonant angular frequency of the quasi-resonant regulator in the pre-stage QRESO, \(k\) dr2 is the resonance term proportionality coefficient of the quasi-resonant regulator in the post-stage QRESO, \(\omega\) dc2 is the cut-off frequency of the quasi-resonant regulator in the post-stage QRESO, \(\omega\) dr2 is the resonant angular frequency of the quasi-resonant regulator in the post-stage QRESO; \(u\) d is the stator voltage of the \(d\)-axis; \(u\) d is replaced by the calculated \(d\)-axis deadbeat command voltage during the implementation of the algorithm to reduce the cost of the motor drive system; \(\omega\) dr1 and \(\omega\) dr2 are replaced by 6 times the electrical angular velocity \(\omega\) of the motor rotor during the real-time process of the algorithm e to achieve the suppression of the 6th harmonic component of the \(d\)-axis current.

[0032] If the cascaded quasi-resonant extended state observer of the \(q\)-axis constructed by the \(q\)-axis subsystem is two cascaded quasi-resonant extended state observers, then the specific expression of the cascaded quasi-resonant extended state observer constructed by the \(q\)-axis subsystem is:

[0033] Pre-stage QRESO:

[0034] Post-stage QRESO:

[0035] In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the q-axis current i d by the pre-stage QRESO, is the estimated value of the q-axis current i q by the post-stage QRESO; b q0 is the control gain of the q-axis subsystem; is the estimated value of the total disturbance fq of the q-axis subsystem by the pre-stage QRESO; is the estimated value of the total disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate by the post-stage QRESO; β q11 and β q12 are the gains of the pre-stage QRESO; β q21 and β q22 are the gains of the post-stage QRESO; x q13 and x q14 are the intermediate state variables of the pre-stage QRESO; x q23 and x q24 are the intermediate state variables of the post-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem by the pre-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem by the pre-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate by the post-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate; k qr1 is the resonant term proportionality coefficient of the quasi-resonant regulator in the pre-stage QRESO, ω qc1 is the cut-off frequency of the quasi-resonant regulator in the pre-stage QRESO, ω qr1 is the resonant angular frequency of the quasi-resonant regulator in the pre-stage QRESO, k qr2 is the resonant term proportionality coefficient of the quasi-resonant regulator in the post-stage QRESO, ω qc2 is the cut-off frequency of the quasi-resonant regulator in the post-stage QRESO, ω qr2 is the resonant angular frequency of the quasi-resonant regulator in the post-stage QRESO; u q is the stator voltage of the q-axis; u q is replaced by the calculated q-axis deadbeat command voltage during the implementation of the algorithm to reduce the cost of the motor drive system; ω qr1 and ω qr2 are replaced by the electrical angular velocity ω eSix times that amount is used to suppress the sixth harmonic component of the q-axis current.

[0036] Further, in step four, the forward Euler method and the backward Euler method are used to discretize the cascaded quasi-resonant extended state observer for the d-axis and the cascaded quasi-resonant extended state observer for the q-axis in step two to obtain the predicted values of the d-axis current i d , the q-axis current i q , the total disturbance f of the d-axis subsystem d and the total disturbance f of the q-axis subsystem q at the (k + 1)-th moment. Finally, according to the principle of deadbeat control and considering the delay compensation at the same time, the specific steps to calculate the deadbeat command voltage for the d-axis and the deadbeat command voltage for the q-axis at the (k + 1)-th moment are as follows:

[0037] Step a1: Take the control period of the permanent magnet synchronous motor control system as T s . Let x(k) and x(k + 1) represent the values of the physical quantity x at the k-th moment and the predicted value at the (k + 1)-th moment respectively, where x represents the d-axis current i d , the q-axis current i q , the stator voltage u of the d-axis d , the stator voltage u of the q-axis q , the estimated value of the d-axis current i d . The estimated value of the q-axis current i d . The total disturbance f of the d-axis subsystem d , the total disturbance f of the q-axis subsystem q , the estimated value of the total disturbance f of the d-axis subsystem d . Or the estimated value of the total disturbance f of the q-axis subsystem q . Then, the forward Euler method and the backward Euler method are used to discretize the cascaded quasi-resonant extended state observer constructed for the d-axis subsystem and the cascaded quasi-resonant extended state observer constructed for the q-axis subsystem, so as to obtain the cascaded quasi-resonant extended state observer in discrete form for the d-axis subsystem and the cascaded quasi-resonant extended state observer in discrete form for the q-axis subsystem;

[0038] Step b1: Obtain the deadbeat command voltage for the d-axis at the (k + 1)-th moment according to the cascaded quasi-resonant extended state observer in discrete form for the d-axis subsystem;

[0039] Step c1: Obtain the deadbeat command voltage for the q-axis at the (k + 1)-th moment according to the cascaded quasi-resonant extended state observer in discrete form for the q-axis subsystem.

[0040] Furthermore, the specific expression of the cascaded quasi-resonant extended state observer in discrete form for the d-axis subsystem in step a1 is as follows:

[0041] Prefix QRESO:

[0042] Suffix QRESO:

[0043] In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the d-axis current i d by the prefix QRESO, is the estimated value of the d-axis current i d by the suffix QRESO; is to find the first derivative of, is to find the first derivative of; is the estimated value of the total disturbance f d of the d-axis subsystem by the prefix QRESO; is the estimated value of the total disturbance of the d-axis subsystem that the prefix QRESO fails to estimate by the suffix QRESO; β d11 and β d12 are the gains of the prefix QRESO; β d21 and β d22 are the gains of the suffix QRESO; x d13 and x d14 are the intermediate state variables of the prefix QRESO; x d23 and x d24 are the intermediate state variables of the suffix QRESO; is to find the d23 first derivative of; is to find the d24 first derivative of; is the estimated value of the aperiodic disturbance of the d-axis subsystem by the prefix QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem by the prefix QRESO; is to find the first derivative of; is the estimated value of the aperiodic disturbance of the d-axis subsystem that the prefix QRESO fails to estimate by the suffix QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem that the prefix QRESO fails to estimate by the suffix QRESO; is to find the first derivative of; k dr1 is the resonance term proportionality coefficient of the quasi-resonant regulator in the prefix QRESO, ω dc1 is the cut-off frequency of the quasi-resonant regulator in the prefix QRESO, ω dr1 is the resonant angular frequency of the quasi-resonant regulator in the prefix QRESO, k dr2is the resonance term proportionality coefficient of the quasi-resonant regulator in the post-stage QRESO, ω dc2 is the cut-off frequency of the quasi-resonant regulator in the post-stage QRESO, ω dr2 is the resonant angular frequency of the quasi-resonant regulator in the post-stage QRESO; u d is the stator voltage of the d-axis.

[0044] Furthermore, the specific expression of the cascaded quasi-resonant extended state observer in the q-axis subsystem in step a1 is as follows:

[0045] Pre-stage QRESO:

[0046] Post-stage QRESO:

[0047] In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the q-axis current i d by the pre-stage QRESO, is the estimated value of the q-axis current i q by the post-stage QRESO; is the estimated value of the total disturbance f q of the q-axis subsystem by the pre-stage QRESO; is the estimated value of the total disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate by the post-stage QRESO; β q11 and β q12 are the gains of the pre-stage QRESO; β q21 and β q22 are the gains of the post-stage QRESO; x q13 and x q14 are the intermediate state variables of the pre-stage QRESO; x q23 and x q24 are the intermediate state variables of the post-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem by the pre-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem by the pre-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate by the post-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate; k qr1 is the resonance term proportionality coefficient of the quasi-resonant regulator in the pre-stage QRESO, ω qc1 is the cut-off frequency of the quasi-resonant regulator in the pre-stage QRESO, ω qr1 is the resonant angular frequency of the quasi-resonant regulator in the pre-stage QRESO, k qr2 is the resonance term proportionality coefficient of the quasi-resonant regulator in the post-stage QRESO, ωqc2 is the cut-off frequency of the quasi-resonant regulator in the post-stage QRESO, ω qr2 is the resonant angular frequency of the quasi-resonant regulator in the post-stage QRESO; u q is the stator voltage of the q-axis.

[0048] Furthermore, according to the cascaded quasi-resonant extended state observer in the discrete form of the d-axis subsystem, the deadbeat command voltage of the d-axis at the (k + 1)th moment is obtained. The specific process is as follows: The sum of the and estimated in the cascaded quasi-resonant extended state observer in the discrete form of the d-axis subsystem is respectively used as the predicted value of the estimated values of i d , f d at the (k + 1)th moment by the cascaded QRESO Then, is used to replace the predicted values of i d , f d at the (k + 1)th moment, i d (k + 1), f d (k + 1) to obtain the deadbeat command voltage of the d-axis at the (k + 1)th moment, as follows:

[0049]

[0050] where is the deadbeat command voltage of the d-axis at the (k + 1)th moment; is the reference value of the d-axis current.

[0051] Furthermore, according to the cascaded quasi-resonant extended state observer in the discrete form of the q-axis subsystem, the deadbeat command voltage of the q-axis at the (k + 1)th moment is obtained. The specific process is as follows: The sum of the and estimated in the cascaded quasi-resonant extended state observer in the discrete form of the q-axis subsystem is respectively used as the predicted value of the estimated values of i q , f q at the (k + 1)th moment by the cascaded QRESO Then, is used to replace the predicted values of i q , f q at the (k + 1)th moment, i q (k + 1), f q (k + 1) to obtain the deadbeat command voltage of the q-axis at the (k + 1)th moment, as follows:

[0052]

[0053] where is the deadbeat command voltage of the q-axis at the (k + 1)th moment; is the reference value of the q-axis current.

[0054] According to the above technical solution, the beneficial effects of this application are as follows:

[0055] 1. The method of the present invention adopts a cascaded quasi-resonant extended state observer to replace the mathematical model of the permanent magnet synchronous motor, calculates the predicted values ​​of the d-axis current, q-axis current and the disturbance caused by the motor parameter perturbation and the unmodeled dynamics of the system at the next moment, and then calculates the required deadbeat command voltage according to the principle of deadbeat control and considering delay compensation. Finally, the obtained deadbeat command voltage is processed into a drive signal, and the drive signal is input into the three-phase inverter to complete the regulation of the d-axis current and the q-axis current. Compared with the method of adopting the mathematical model of the permanent magnet synchronous motor in the prior art, the method of the present invention achieves the reduction of the sensitivity of the control system to noise, and takes into account the dynamic, steady-state and current harmonic suppression performance of current regulation and the robustness to motor parameter perturbations.

[0056] 2. The method of the present invention can achieve dynamic performance and robustness similar to that of the traditional observer-based zero-beat predictive current control method while using a smaller observer bandwidth, and compared with the traditional observer-based zero-beat predictive current control method in the prior art, it reduces the system's sensitivity to noise and achieves the technical effect of effectively suppressing the harmonic components of the motor stator phase current. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 Figure 2 is the structural block diagram of the constructed d-axis subsystem CQRESO.

[0058] Figure 2 Figure 2 is the structural block diagram of the constructed q-axis subsystem CQRESO.

[0059] Figure 3 This is the control block diagram of the permanent magnet synchronous motor zero-beat predictive current control method based on CQRESO. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0061] The full name of CQRESO in the present invention is Cascade Quasi-Resonant Extended State Observer, which means cascade quasi-resonant extended state observer; the d-axis current i mentioned in the following embodiments d and q-axis current i q , also known as the d-axis stator current i d and the q-axis stator current iq 。

[0062] Example 1

[0063] A deadbeat predictive current control method for permanent magnet synchronous motor based on CQRESO includes the following specific steps:

[0064] Step 1: Construct the extended state equations of the d-axis and q-axis subsystems in the dq coordinate system of the permanent magnet synchronous motor;

[0065] Step 2: According to the extended state equations of the d-axis and q-axis subsystems in Step 1, construct a cascaded quasi-resonant extended state observer for the d-axis and a cascaded quasi-resonant extended state observer for the q-axis;

[0066] Step 3: Using the constructed cascaded quasi-resonant extended state observer for the d-axis and the cascaded quasi-resonant extended state observer for the q-axis, observe the d-axis current i d , q-axis current i q , total disturbance f of the d-axis subsystem d and total disturbance f of the q-axis subsystem q ;

[0067] Step 4: Using the forward Euler method and the backward Euler method, discretize the cascaded quasi-resonant extended state observer for the d-axis and the cascaded quasi-resonant extended state observer for the q-axis in Step 2 to obtain the predicted values of the d-axis current i d , q-axis current i q , total disturbance f of the d-axis subsystem d and total disturbance f of the q-axis subsystem q required at the (k + 1)th moment. Finally, according to the principle of deadbeat control and considering delay compensation at the same time, calculate the d-axis deadbeat command voltage and q-axis deadbeat command voltage required at the (k + 1)th moment;

[0068] Step 5: According to the obtained d-axis deadbeat command voltage and q-axis deadbeat command voltage, perform space vector pulse width modulation to convert them into drive signals, and transmit them to the three-phase inverter to complete the regulation of the d-axis current i d and q-axis current i q ; Space vector pulse width modulation is a mature existing technology in this field.

[0069] Example 2

[0070] A deadbeat predictive current control method for permanent magnet synchronous motor based on CQRESO includes the following specific steps:

[0071] Step 1: Construct the extended state equations of the d-axis and q-axis subsystems in the dq coordinate system of the permanent magnet synchronous motor; expand the total disturbance in the dynamic equations of the d-axis and q-axis currents of the permanent magnet synchronous motor in the dq coordinate system with disturbances into new state variables of the corresponding subsystems, so as to construct the extended state equations of the d-axis and q-axis subsystems in the dq coordinate system of the permanent magnet synchronous motor;

[0072] Step 2: According to the extended state equations of the d-axis and q-axis subsystems in Step 1, construct a cascaded quasi-resonant extended state observer for the d-axis and a cascaded quasi-resonant extended state observer for the q-axis;

[0073] Step 3: Use the constructed cascaded quasi-resonant extended state observer for the d-axis and the cascaded quasi-resonant extended state observer for the q-axis to observe the d-axis current i d , q-axis current i q , total disturbance f of the d-axis subsystem d and total disturbance f of the q-axis subsystem q ;

[0074] Step 4: Use the forward Euler method and the backward Euler method to discretize the cascaded quasi-resonant extended state observer for the d-axis and the cascaded quasi-resonant extended state observer for the q-axis in Step 2 to obtain the predicted values of the d-axis current i d , q-axis current i q , total disturbance f of the d-axis subsystem d and total disturbance f of the q-axis subsystem q required at the (k + 1)th moment. Finally, according to the principle of deadbeat control and considering delay compensation at the same time, calculate the d-axis deadbeat command voltage and q-axis deadbeat command voltage required at the (k + 1)th moment;

[0075] As Figure 3 shown, Step 5: According to the obtained d-axis deadbeat command voltage and q-axis deadbeat command voltage perform space vector pulse width modulation (Space Vector Pulse Width Modulation, SVPWM) to convert them into drive signals, and transmit them to the three-phase inverter to complete the regulation of the d-axis current i d and q-axis current i q , and finally realize the closed-loop control of the permanent magnet synchronous motor; Space vector pulse width modulation is a mature existing technology in this field.

[0076] The specific steps to expand the total disturbance in the dynamic equations of the d-axis and q-axis currents of the permanent magnet synchronous motor in the dq coordinate system with disturbances into new state variables of the corresponding subsystems, so as to construct the extended state equations of the d-axis and q-axis subsystems in the dq coordinate system of the permanent magnet synchronous motor are as follows:

[0077] Step a: Considering the disturbances of the d-axis subsystem and the q-axis subsystem, construct the dynamic equations of the d-axis current and the q-axis current of the permanent magnet synchronous motor;

[0078] Step b: Substitute the total disturbance f of the d-axis subsystem in the dynamic equation of the d-axis current of the permanent magnet synchronous motor into d Expanded into a new state variable of the d-axis subsystem, thus obtaining the expanded state equation of the d-axis subsystem;

[0079] Step c: Substitute the total disturbance f of the q-axis subsystem in the dynamic equation of the q-axis current of the permanent magnet synchronous motor into d It is expanded into a new state variable of the q-axis subsystem, thus obtaining the expanded state equation of the q-axis subsystem.

[0080] The dynamic equations of the d-axis current and q-axis current of the permanent magnet synchronous motor constructed in step a are specifically:

[0081]

[0082] In the formula, i d is the d-axis current, i q is the q-axis current, u d is the d-axis stator voltage, u q is the q-axis stator voltage; b d0 =1 / L d0 , b q0 =1 / L q0 , b d0 is the control gain of the d-axis subsystem, b q0 is the control gain of the q-axis subsystem, L d0 is the nominal value of the d-axis stator inductance, L q0 is the nominal value of the q-axis stator inductance; f d is the total disturbance of the d-axis subsystem, f q is the total disturbance of the q-axis subsystem; f dp is the periodic disturbance of the d-axis subsystem, f qp is the periodic disturbance of the q-axis subsystem; R s0 is the nominal value of the stator resistance; ω e is the electrical angular velocity of the rotor; ψ f0 is the nominal value of the permanent magnet flux; ΔL d =L d -L d0 , ΔL q =L q -L q0 , ΔR s =R s -R s0 and Δψ f =ψ f -ψ f0 ; ΔLd Denote the actual parameter L d and its nominal value L d0 The deviation between them, ΔL q Denote the actual parameter L q and its nominal value L q0 The deviation between them, ΔR s Denote the actual parameter R s and its nominal value R s0 The deviation between them, Δψ f Denote the actual parameter ψ respectively f and its nominal value ψ f0 The deviation between them; f dex Denote the unknown aperiodic disturbance of the d-axis subsystem, f qex Denote the unknown aperiodic disturbance of the q-axis subsystem.

[0083] The specific extended state equation of the d-axis subsystem in step b is as follows:

[0084]

[0085] In the formula, h d Is the differential of the total disturbance f of the d-axis subsystem d Of; Is f d The first derivative of; b d0 Is the control gain of the d-axis subsystem; i d Is the d-axis current.

[0086] The specific extended state equation of the q-axis subsystem in step c is as follows:

[0087]

[0088] In the formula, h q Is the differential of the total disturbance f of the q-axis subsystem q Of; i q Is the q-axis current; Is f q The first derivative of; b q0 Is the control gain of the q-axis subsystem.

[0089] As Figure 1 Shown, the cascaded quasi-resonant extended state observer of the d-axis constructed by the d-axis subsystem is two cascaded quasi-resonant extended state observers, then the specific expression of the cascaded quasi-resonant extended state observer constructed by the d-axis subsystem is:

[0090] The front-stage QRESO:

[0091] The rear-stage QRESO:

[0092] In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the d-axis current i d by the front-stage QRESO, is the estimated value of the d-axis current i d by the rear-stage QRESO; is to find the first derivative of, is to find the first derivative of; b d0 is the control gain of the d-axis subsystem; is the estimated value of the total disturbance f d of the d-axis subsystem by the front-stage QRESO; is the estimated value of the total disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO; β d11 and β d12 are the gains of the front-stage QRESO; β d21 and β d22 are the gains of the rear-stage QRESO; x d13 and x d14 are the intermediate state variables of the front-stage QRESO; x d23 and x d24 are the intermediate state variables of the rear-stage QRESO; is to find the first derivative of x d23 ; is to find the first derivative of x d24 ; is the estimated value of the aperiodic disturbance of the d-axis subsystem by the front-stage QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem by the front-stage QRESO; is to find the first derivative of; is the estimated value of the aperiodic disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO; is to find the first derivative of; k dr1 is the resonant term proportionality coefficient of the quasi-resonant regulator in the front-stage QRESO, ω dc1 is the cut-off frequency of the quasi-resonant regulator in the front-stage QRESO, ω dr1 is the resonant angular frequency of the quasi-resonant regulator in the front-stage QRESO, k dr2 is the resonant term proportionality coefficient of the quasi-resonant regulator in the rear-stage QRESO, ω dc2 is the cut-off frequency of the quasi-resonant regulator in the rear-stage QRESO, ω dr2is the resonant angular frequency of the quasi-resonant regulator in the post-stage QRESO; u d is the stator voltage of the d-axis; u d is replaced by the calculated d-axis deadbeat command voltage during the implementation of the algorithm to reduce the cost of the motor drive system; ω dr1 and ω dr2 is replaced by the electrical angular velocity ω of the motor rotor during the real-time process of the algorithm e times 6 to achieve the suppression of the 6th harmonic component of the d-axis current.

[0093] As Figure 2 shown, the cascaded quasi-resonant extended state observer of the q-axis constructed by the q-axis subsystem is two cascaded quasi-resonant extended state observers, and the specific expression of the cascaded quasi-resonant extended state observer constructed by the q-axis subsystem is:

[0094] Pre-stage QRESO:

[0095] Post-stage QRESO:

[0096] In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the q-axis current i d by the pre-stage QRESO, is the estimated value of the q-axis current i q by the post-stage QRESO; b q0 is the control gain of the q-axis subsystem; is the estimated value of the total disturbance f q of the q-axis subsystem by the pre-stage QRESO; is the estimated value of the total disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate by the post-stage QRESO; β q11 and β q12 are the gains of the pre-stage QRESO; β q21 and β q22 are the gains of the post-stage QRESO; x q13 and x q14 are the intermediate state variables of the pre-stage QRESO; x q23 and x q24 are the intermediate state variables of the post-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem by the pre-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem by the pre-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate by the post-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem that the pre-stage QRESO fails to estimate; kqr1 is the resonance term proportionality coefficient of the quasi-resonant regulator in the front-stage QRESO, ω qc1 is the cut-off frequency of the quasi-resonant regulator in the front-stage QRESO, ω qr1 is the resonant angular frequency of the quasi-resonant regulator in the front-stage QRESO, k qr2 is the resonance term proportionality coefficient of the quasi-resonant regulator in the rear-stage QRESO, ω qc2 is the cut-off frequency of the quasi-resonant regulator in the rear-stage QRESO, ω qr2 is the resonant angular frequency of the quasi-resonant regulator in the rear-stage QRESO; u q is the stator voltage of the q-axis; u q is replaced by the calculated q-axis deadbeat command voltage during the implementation of the algorithm to reduce the cost of the motor drive system; ω qr1 、ω qr2 is replaced by 6 times the electrical angular velocity ω of the motor rotor during the real-time process of the algorithm e to achieve the suppression of the 6th harmonic component of the q-axis current.

[0097] Embodiment 3

[0098] As Figure 3 shown, the proposed algorithm is specifically as follows: In step four, the forward Euler method and the backward Euler method are used to discretize the d-axis cascaded quasi-resonant extended state observer and the q-axis cascaded quasi-resonant extended state observer in step two to obtain the predicted values of the d-axis current i d , the q-axis current i q , the total disturbance f d of the d-axis subsystem and the total disturbance f q of the q-axis subsystem at the k + 1 moment. Finally, according to the principle of deadbeat control and considering the delay compensation at the same time, the specific steps to calculate the d-axis deadbeat command voltage and the q-axis deadbeat command voltage required at the k + 1 moment are as follows:

[0099] Step a1: Take the control period of the permanent magnet synchronous motor control system as T s , and let x(k) and x(k + 1) represent the values of the physical quantity x at the k moment and the predicted value at the k + 1 moment respectively, where x represents the estimated value of the d-axis current i d , the q-axis current i q , the stator voltage u d of the d-axis, the stator voltage u q of the q-axis, the estimated value of the d-axis current i d the estimated value of the q-axis current i d the total disturbance f d of the d-axis subsystem, the total disturbance f q ​​, Estimated value of the total disturbance f of the d-axis subsystem d or the estimated value of the total disturbance f of the q-axis subsystem q Then, the cascaded quasi-resonant extended state observers constructed for the d-axis subsystem and the q-axis subsystem are discretized using the forward Euler method and the backward Euler method, so as to obtain the cascaded quasi-resonant extended state observer in discrete form for the d-axis subsystem and the cascaded quasi-resonant extended state observer in discrete form for the q-axis subsystem;

[0100] Step b1: According to the cascaded quasi-resonant extended state observer in discrete form for the d-axis subsystem, obtain the deadbeat command voltage of the d-axis at time k + 1;

[0101] Step c1: According to the cascaded quasi-resonant extended state observer in discrete form for the q-axis subsystem, obtain the deadbeat command voltage of the q-axis at time k + 1.

[0102] The specific expression of the cascaded quasi-resonant extended state observer in discrete form for the d-axis subsystem in step al is as follows:

[0103] Front-stage QRESO:

[0104] Back-stage QRESO:

[0105] In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the d-axis current i d by the front-stage QRESO, is the estimated value of the d-axis current i d by the back-stage QRESO; is to find the first derivative of, is to find the first derivative of; is the estimated value of the total disturbance f of the d-axis subsystem by the front-stage QRESO d ; is the estimated value of the total disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate by the back-stage QRESO; β d11 and β d12 are the gains of the front-stage QRESO; β d21 and β d22 are the gains of the back-stage QRESO; x d13 and x d14 are the intermediate state variables of the front-stage QRESO; x d23 and x d24 are the intermediate state variables of the back-stage QRESO; is to find x d23 ​​The first derivative of; To find the first derivative of x d24 The first derivative of; is the estimated value of the non-periodic disturbance of the d-axis subsystem by the pre-stage QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem by the pre-stage QRESO; To find The first derivative of; is the estimated value of the non-periodic disturbance of the d-axis subsystem that was not estimated by the pre-stage QRESO by the post-stage QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem that was not estimated by the pre-stage QRESO by the post-stage QRESO; To find The first derivative of; k dr1 is the resonance term proportionality coefficient of the quasi-resonant regulator in the pre-stage QRESO, ω dc1 is the cut-off frequency of the quasi-resonant regulator in the pre-stage QRESO, ω dr1 is the resonance angular frequency of the quasi-resonant regulator in the pre-stage QRESO, k dr2 is the resonance term proportionality coefficient of the quasi-resonant regulator in the post-stage QRESO, ω dc2 is the cut-off frequency of the quasi-resonant regulator in the post-stage QRESO, ω dr2 is the resonance angular frequency of the quasi-resonant regulator in the post-stage QRESO; u d is the stator voltage of the d-axis.

[0106] The specific expression of the cascaded quasi-resonant extended state observer in discrete form for the q-axis subsystem in step a1 is as follows:

[0107] Pre-stage QRESO:

[0108] Post-stage QRESO:

[0109] In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the q-axis current i d by the pre-stage QRESO, is the estimated value of the q-axis current i q by the post-stage QRESO; is the estimated value of the total disturbance f q of the q-axis subsystem by the pre-stage QRESO; is the estimated value of the total disturbance of the q-axis subsystem that was not estimated by the pre-stage QRESO by the post-stage QRESO; β q11 and β q12 are the gains of the pre-stage QRESO; β q21 and β q22 are the gains of the post-stage QRESO; xq13 and x q14 is the intermediate state variable of the pre-stage QRESO; x q23 and x q24 is the intermediate state variable of the post-stage QRESO; is the estimated value of the non-periodic disturbance of the q-axis subsystem by the pre-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem by the pre-stage QRESO; is the estimated value of the non-periodic disturbance of the q-axis subsystem that is not estimated in the pre-stage QRESO by the post-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem that is not estimated in the pre-stage QRESO; k qr1 is the resonance term proportionality coefficient of the quasi-resonant regulator in the pre-stage QRESO, ω qc1 is the cut-off frequency of the quasi-resonant regulator in the pre-stage QRESO, ω qr1 is the resonance angular frequency of the quasi-resonant regulator in the pre-stage QRESO, k qr2 is the resonance term proportionality coefficient of the quasi-resonant regulator in the post-stage QRESO, ω qc2 is the cut-off frequency of the quasi-resonant regulator in the post-stage QRESO, ω qr2 is the resonance angular frequency of the quasi-resonant regulator in the post-stage QRESO; u q is the stator voltage of the q-axis.

[0110] According to the cascaded quasi-resonant extended state observer in the discrete form of the d-axis subsystem, the deadbeat command voltage of the d-axis at time k+1 is obtained. The specific process is as follows: The sum of and estimated in the cascaded quasi-resonant extended state observer in the discrete form of the d-axis subsystem is used as the predicted value of the estimated values of i d , f d at time k+1 by the cascaded QRESO Then, is used to replace the predicted values of i d , f d at time k+1, i d (k+1), f d (k+1) to obtain the deadbeat command voltage of the d-axis at time k+1, as follows:

[0111]

[0112] where, is the deadbeat command voltage of the d-axis at time k+1; is the reference value of the d-axis current.

[0113] According to the cascaded quasi-resonant extended state observer in the discrete form of the q-axis subsystem, the deadbeat command voltage of the q-axis at the (k + 1)th moment is obtained. The specific process is as follows: The sum of and estimated in the cascaded quasi-resonant extended state observer in the discrete form of the q-axis subsystem is used as the predicted value of the estimates of the cascaded QRESO for i q , f q at the (k + 1)th moment Then, is used to replace the predicted values of i q , f q at the (k + 1)th moment, i q (k + 1), f q (k + 1) to obtain the deadbeat command voltage of the q-axis at the (k + 1)th moment, as follows:

[0114]

[0115] wherein, is the deadbeat command voltage of the q-axis at the (k + 1)th moment; is the reference value of the q-axis current.

[0116] Example 4

[0117] Based on Example 3, as Figure 3 shown, in the figure, represents the reference value of the motor speed; N r represents the actual value of the motor speed; θ e represents the actual rotor position of the motor; i α represents the stator current of the α-axis; i β represents the stator current of the β-axis; i a represents the stator current of phase a; i b represents the stator current of phase b; i c represents the stator current of phase c; The rest of the parameter symbols in Figure 3 are explained in Examples 2 and 3, and driving the position sensor through the driving signal, then calculating the speed, and finally feeding back the signal to the speed loop is the existing technology that is mature in the art. The specific adjustment method and calculation process are not elaborated here.

[0118] The above description is a detailed description of the preferred feasible embodiments of the present application, but the embodiments are not intended to limit the scope of the patent application of the present application. Any equivalent changes or modifications completed under the technical spirit disclosed by the present application shall fall within the scope of the patent covered by the present application.

Claims

1. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO, comprising the following specific steps: Step 1: Construct the extended state equations of the d-axis and q-axis subsystems of the permanent magnet synchronous motor in the dq coordinate system; Step 2: According to the extended state equations of the d-axis and q-axis subsystems in Step 1, construct a cascaded quasi-resonant extended state observer for the d-axis and a cascaded quasi-resonant extended state observer for the q-axis; Step 3: Using the cascaded quasi-resonant extended state observer of the d-axis and the cascaded quasi-resonant extended state observer of the q-axis, observe the d-axis current i d , the q-axis current i q , the total disturbance f d of the d-axis subsystem and the total disturbance f q of the q-axis subsystem; Step 4: Using the forward Euler method and the backward Euler method, discretize the cascaded quasi-resonant extended state observer for the d-axis and the cascaded quasi-resonant extended state observer for the q-axis in Step 2 to obtain the predicted values of the d-axis current i d , the q-axis current i q , the total disturbance f d of the d-axis subsystem, and the total disturbance f q of the q-axis subsystem at the (k + 1)-th moment. Finally, according to the principle of deadbeat control and considering the delay compensation at the same time, calculate the deadbeat command voltages for the d-axis and the q-axis at the (k + 1)-th moment; Step 5: According to the obtained d-axis deadbeat command voltage and q-axis deadbeat command voltage, perform space vector pulse width modulation to convert them into drive signals, and transmit them to the three-phase inverter to complete the regulation of the d-axis current i d and the q-axis current i q .

2. The method for predictive deadbeat current control of a permanent magnet synchronous motor based on CQRESO according to claim 1, characterized in that: Expand the total disturbance in the d-axis and q-axis current dynamic equations of the permanent magnet synchronous motor with disturbance in the dq coordinate system into new state variables of the corresponding subsystems, so as to construct the extended state equations of the d-axis and q-axis subsystems of the permanent magnet synchronous motor in the dq coordinate system.

3. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 2, characterized in that: The specific steps of expanding the total disturbance in the d-axis and q-axis current dynamic equations of the permanent magnet synchronous motor with disturbance in the dq coordinate system into new state variables of the corresponding subsystems, so as to construct the extended state equations of the d-axis and q-axis subsystems of the permanent magnet synchronous motor in the dq coordinate system are as follows: Step a: Considering the disturbances of the d-axis subsystem and the q-axis subsystem, construct the dynamic equations of the d-axis current and q-axis current of the permanent magnet synchronous motor; Step b: Expand the total disturbance f of the d-axis subsystem in the dynamic equation of the permanent magnet synchronous motor d-axis current into a new state variable of the d-axis subsystem, so as to obtain the expanded state equation of the d-axis subsystem; d ​ Step c: Expand the total disturbance f of the q-axis subsystem in the dynamic equation of the permanent magnet synchronous motor's q-axis current into a new state variable of the q-axis subsystem, thereby obtaining the expanded state equation of the q-axis subsystem. d Expand it into a new state variable of the q-axis subsystem, so as to obtain the expanded state equation of the q-axis subsystem.

4. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 3, characterized in that: The specific dynamic equations of the d-axis current and q-axis current of the permanent magnet synchronous motor constructed in Step a are: Where, \(i\) d d is the d-axis current, \(i\) q q is the q-axis current, \(u\) d d is the d-axis stator voltage, \(u\) q q is the q-axis stator voltage; \(b\) d0 d0 = 1 / L d0 d0 , \(b\) q0 q0 = 1 / L q0 q0 , \(b\) d0 d0 is the control gain of the d-axis subsystem, \(b\) q0 q0 is the control gain of the q-axis subsystem, \(L\) d0 d0 is the nominal value of the d-axis stator inductance, \(L\) q0 q0 is the nominal value of the q-axis stator inductance; \(f\) d d is the total disturbance of the d-axis subsystem, \(f\) q q is the total disturbance of the q-axis subsystem; \(f\) dp dp is the periodic disturbance of the d-axis subsystem, \(f\) qp qp is the periodic disturbance of the q-axis subsystem; \(R\) s0 s0 is the nominal value of the stator resistance; \(\omega\) e e is the electrical angular velocity of the rotor; \(\psi\) f0 f0 is the nominal value of the permanent magnet flux linkage; \(\Delta L\) d d = L d d - L d0 d0 , \(\Delta L\) q q = L q q - L q0 q0 , \(\Delta R\) s s = R s s - R s0 s0 and \(\Delta\psi\) f f = \(\psi\) f f - \(\psi\) f0 f0 ; \(\Delta L\) d d represents the deviation between the actual parameter \(L\) d d and its nominal value \(L\) d0 d0 , \(\Delta L\) q q represents the deviation between the actual parameter \(L\) q q and its nominal value \(L\) q0 q0 , \(\Delta R\) s s represents the deviation between the actual parameter \(R\) s s and its nominal value \(R\) s0 s0 , \(\Delta\psi\) f f represents the deviation between the actual parameter \(\psi\) f f and its nominal value \(\psi\) f0 f0 ; \(f\) dex dex represents the unknown aperiodic disturbance of the d-axis subsystem, \(f\) qex qex represents the unknown aperiodic disturbance of the q-axis subsystem.

5. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 3, characterized in that: The specific extended state equation of the d-axis subsystem in Step b is: where h d is the differential of the total disturbance f d of the d-axis subsystem; is the first derivative of f d ; b d0 is the control gain of the d-axis subsystem; i d is the d-axis current.

6. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 3, characterized in that: The specific extended state equation of the q-axis subsystem in Step c is: where h q is the differential of the total disturbance f q in the q-axis subsystem; i q is the q-axis current; is the first derivative of f q ; b q0 is the control gain of the q-axis subsystem.

7. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 1, characterized in that: The cascaded quasi-resonant extended state observer of the d-axis constructed by the d-axis subsystem is two cascaded quasi-resonant extended state observers, and the specific expression of the cascaded quasi-resonant extended state observer constructed by the d-axis subsystem is: Prefix QRESO: Postfix QRESO: Wherein, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the d-axis current i d by the front-stage QRESO, is the estimated value of the d-axis current i d by the rear-stage QRESO; is to find the first derivative of, is to find the first derivative of; b d0 is the control gain of the d-axis subsystem; is the estimated value of the total disturbance f d of the d-axis subsystem by the front-stage QRESO; is the estimated value of the total disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO; β d11 and β d12 are the gains of the front-stage QRESO; β d21 and β d22 are the gains of the rear-stage QRESO; x d13 and x d14 are the intermediate state variables of the front-stage QRESO; x d23 and x d24 are the intermediate state variables of the rear-stage QRESO; is to find the first derivative of x d23 ; is to find the first derivative of x d24 ; is the estimated value of the aperiodic disturbance of the d-axis subsystem by the front-stage QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate in the QRESO; is to find the first derivative of; k dr1 is the resonant term proportionality coefficient of the quasi-resonant regulator in the front-stage QRESO, ω dc1 is the cut-off frequency of the quasi-resonant regulator in the front-stage QRESO, ω dr1 is the resonant angular frequency of the quasi-resonant regulator in the front-stage QRESO, k dr2 is the resonant term proportionality coefficient of the quasi-resonant regulator in the rear-stage QRESO, ω dc2 is the cut-off frequency of the quasi-resonant regulator in the rear-stage QRESO, ω dr2 is the resonant angular frequency of the quasi-resonant regulator in the rear-stage QRESO; u d is the stator voltage of the d-axis; The cascaded quasi-resonant extended state observer of the q-axis constructed by the q-axis subsystem is two cascaded quasi-resonant extended state observers, and the specific expression of the cascaded quasi-resonant extended state observer constructed by the q-axis subsystem is: Prefix QRESO: Postfix QRESO: In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the q-axis current i d by the front-stage QRESO, is the estimated value of the q-axis current i q by the rear-stage QRESO; b q0 is the control gain of the q-axis subsystem; is the estimated value of the total disturbance f q of the q-axis subsystem by the front-stage QRESO; is the estimated value of the total disturbance of the q-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO; β q11 and β q12 are the gains of the front-stage QRESO; β q21 and β q22 are the gains of the rear-stage QRESO; x q13 and x q14 are the intermediate state variables of the front-stage QRESO; x q23 and x q24 are the intermediate state variables of the rear-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem by the front-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem by the front-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem that the front-stage QRESO fails to estimate; k qr1 is the resonant term proportionality coefficient of the quasi-resonant regulator in the front-stage QRESO, ω qc1 is the cut-off frequency of the quasi-resonant regulator in the front-stage QRESO, ω qr1 is the resonant angular frequency of the quasi-resonant regulator in the front-stage QRESO, k qr2 is the resonant term proportionality coefficient of the quasi-resonant regulator in the rear-stage QRESO, ω qc2 is the cut-off frequency of the quasi-resonant regulator in the rear-stage QRESO, ω qr2 is the resonant angular frequency of the quasi-resonant regulator in the rear-stage QRESO; u q is the stator voltage of the q-axis.

8. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 1, characterized in that: In step 4, the cascaded quasi-resonant extended state observers of the d-axis and the q-axis in step 2 are discretized by using the forward Euler method and the backward Euler method to obtain the predicted values of the d-axis current i d , the q-axis current i q , the total disturbance f d of the d-axis subsystem, and the total disturbance f q of the q-axis subsystem at the (k + 1)-th moment. Finally, according to the principle of deadbeat control and considering the delay compensation at the same time, the specific steps to calculate the deadbeat command voltages of the d-axis and the q-axis at the (k + 1)-th moment are as follows: Step a1: Take the control period of the permanent magnet synchronous motor control system as T s , let x(k) and x(k + 1) represent the values of the physical quantity x at the k-th moment and the predicted value at the (k + 1)-th moment respectively, where x represents the d-axis current i d , q-axis current i q , d-axis stator voltage u d , q-axis stator voltage u q , d-axis current i d 's estimated value q-axis current i d 's estimated value Total disturbance f of the d-axis subsystem d , total disturbance f of the q-axis subsystem q , total disturbance f of the d-axis subsystem d 's estimated value or estimated value of the total disturbance f of the q-axis subsystem q 's estimated value Then, use the forward Euler method and the backward Euler method to discretize the cascaded quasi-resonant extended state observer constructed for the d-axis subsystem and the cascaded quasi-resonant extended state observer constructed for the q-axis subsystem, so as to obtain the cascaded quasi-resonant extended state observer in discrete form for the d-axis subsystem and the cascaded quasi-resonant extended state observer in discrete form for the q-axis subsystem; Step b1: According to the cascaded quasi-resonant extended state observer in the discrete form of the d-axis subsystem, obtain the deadbeat command voltage of the d-axis at the (k + 1)th moment; Step c1: According to the cascaded quasi-resonant extended state observer in the discrete form of the q-axis subsystem, obtain the deadbeat command voltage of the q-axis at the (k + 1)th moment.

9. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 8, characterized in that: The specific expression of the cascaded quasi-resonant extended state observer in the discrete form of the d-axis subsystem in Step a1 is as follows: Prefix QRESO: Postfix QRESO: Wherein, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the d-axis current i d by the front-stage QRESO, is the estimated value of the d-axis current i d by the rear-stage QRESO; is to find the first derivative of, is to find the first derivative of; is the estimated value of the total disturbance f d of the d-axis subsystem by the front-stage QRESO; is the estimated value of the total disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO; β d11 and β d12 are the gains of the front-stage QRESO; β d21 and β d22 are the gains of the rear-stage QRESO; x d13 and x d14 are the intermediate state variables of the front-stage QRESO; x d23 and x d24 are the intermediate state variables of the rear-stage QRESO; is to find the d23 first derivative of x; is to find the d24 first derivative of x; is the estimated value of the aperiodic disturbance of the d-axis subsystem by the front-stage QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem by the front-stage QRESO; is to find the first derivative of; is the estimated value of the aperiodic disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO, is the estimated value of the periodic disturbance of the d-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO; is to find the first derivative of; k dr1 is the resonant term proportionality coefficient of the quasi-resonant regulator in the front-stage QRESO, ω dc1 is the cut-off frequency of the quasi-resonant regulator in the front-stage QRESO, ω dr1 is the resonant angular frequency of the quasi-resonant regulator in the front-stage QRESO, k dr2 is the resonant term proportionality coefficient of the quasi-resonant regulator in the rear-stage QRESO, ω dc2 is the cut-off frequency of the quasi-resonant regulator in the rear-stage QRESO, ω dr2 is the resonant angular frequency of the quasi-resonant regulator in the rear-stage QRESO; u d The stator voltage for the d-axis.

10. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 8, characterized in that: The specific expression of the cascaded quasi-resonant extended state observer in the discrete form of the q-axis subsystem in Step a1 is as follows: Prefix QRESO: Suffix QRESO: In the formula, the meaning of QRESO is the quasi-resonant extended state observer, is the estimated value of the q-axis current i d by the front-stage QRESO, is the estimated value of the q-axis current i q by the rear-stage QRESO; is the estimated value of the total disturbance f q of the q-axis subsystem by the front-stage QRESO; is the estimated value of the total disturbance of the q-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO; β q11 and β q12 are the gains of the front-stage QRESO; β q21 and β q22 are the gains of the rear-stage QRESO; x q13 and x q14 are the intermediate state variables of the front-stage QRESO; x q23 and x q24 are the intermediate state variables of the rear-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem by the front-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem by the front-stage QRESO; is the estimated value of the aperiodic disturbance of the q-axis subsystem that the front-stage QRESO fails to estimate by the rear-stage QRESO, is the estimated value of the periodic disturbance of the q-axis subsystem that the front-stage QRESO fails to estimate; k qr1 is the resonance term proportionality coefficient of the quasi-resonant regulator in the front-stage QRESO, ω qc1 is the cut-off frequency of the quasi-resonant regulator in the front-stage QRESO, ω qr1 is the resonant angular frequency of the quasi-resonant regulator in the front-stage QRESO, k qr2 is the resonance term proportionality coefficient of the quasi-resonant regulator in the rear-stage QRESO, ω qc2 is the cut-off frequency of the quasi-resonant regulator in the rear-stage QRESO, ω qr2 is the resonant angular frequency of the quasi-resonant regulator in the rear-stage QRESO; u q is the stator voltage of the q-axis.

11. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 8, characterized in that: According to the cascaded quasi-resonant extended state observer in the discrete form of the d-axis subsystem, the deadbeat command voltage of the d-axis at the (k + 1)th moment is obtained. The specific process is as follows: The and in the cascaded quasi-resonant extended state observer in the discrete form of the d-axis subsystem are respectively used as the predicted values of the estimates of the cascaded QRESO for i d , f d at the (k + 1)th moment. Then, is used to replace the predicted values of i d , f d at the (k + 1)th moment, i d (k + 1), f d (k + 1) to obtain the deadbeat command voltage of the d-axis at the (k + 1)th moment, which is as follows: Wherein, is the deadbeat command voltage of the d-axis at the (k + 1)th moment; is the reference value of the d-axis current.

12. A deadbeat predictive current control method for a permanent magnet synchronous motor based on CQRESO according to claim 8, characterized in that: According to the cascaded quasi-resonant extended state observer in the discrete form of the q-axis subsystem, the deadbeat command voltage of the q-axis at the (k + 1)th moment is obtained. The specific process is as follows: In the cascaded quasi-resonant extended state observer in the discrete form of the q-axis subsystem, and The sum of them is respectively used as the predicted values of the estimates of the cascaded QRESO for i q , f q at the (k + 1)th moment Then is used to replace the predicted values of i q , f q at the (k + 1)th moment, i q (k + 1), f q (k + 1) to obtain the deadbeat command voltage of the q-axis at the (k + 1)th moment, as follows: wherein, is the deadbeat command voltage of the q-axis at the (k + 1)th moment; is the reference value of the q-axis current.

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