Sensorless control method for permanent magnet synchronous motor by eliminating back electromotive force interference component

Abstract

The present invention relates to the field of motor control technology, and in particular to a sensorless control method for a permanent magnet synchronous motor that eliminates back electromotive force interference components. The sensorless control method for a permanent magnet synchronous motor that eliminates back electromotive force interference components comprises the following steps: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system; constructing an improved extended state observer with frequency selection characteristics based on the mathematical model to achieve enhanced observation of the target frequency in the observed back electromotive force and suppression of the interference component; and processing the observed back electromotive force through a phase-locked loop to estimate the position and speed information of the rotor of the permanent magnet synchronous motor. When observing periodic signals, the method can enhance the response capability to the target frequency component and effectively filter out interference from ineffective components such as DC and ramps.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and in particular relates to a sensorless control method for a permanent magnet synchronous motor for eliminating back electromotive force interference components. Background Art

[0002] Permanent magnet synchronous motors (PMSMs) are widely adopted in new energy vehicles, industrial servos, robotics, and other fields due to their excellent dynamic response, high efficiency, and superior power density. In traditional vector control frameworks, motor control systems typically rely on mechanical position sensors (such as rotary encoders) to obtain real-time rotor position information for coordinate transformation between stationary and rotating coordinate systems. However, these sensors not only increase the complexity and cost of motor control systems but can also cause reliability issues under harsh operating conditions such as high temperature and high vibration.

[0003] In recent years, the extended state observer (ESO) has garnered widespread attention due to its robust modeling and ability to observe unknown disturbances. By introducing extended states, this approach unifies the back EMF, unmodeled dynamics, and external disturbances in the motor model into observable variables, which are then estimated in real time within the controller. This effectively compensates for model uncertainty and improves the stability of the motor's sensorless control system. However, the structure of traditional ESOs is primarily oriented toward generalized disturbance modeling, and their observational characteristics emphasize the observation of slowly varying or low-frequency disturbances. This makes it difficult to achieve targeted extraction of signals with a fixed frequency and strong periodicity, such as sinusoidal back EMF, and cannot effectively eliminate signals with ineffective components, such as steps and ramps.

[0004] Furthermore, during actual operation, permanent magnet synchronous motors (PMSMs) are subject to a variety of non-ideal factors, causing the back EMF signal to deviate from the ideal sinusoidal form and exhibit superimposed DC components, ramp variations, and even nonlinear distortion. Angular velocity estimation errors can introduce phase drift, resulting in an error component in the back EMF that increases linearly with time. Nonlinearities such as dead-zone effects and voltage offsets in the inverter can introduce a DC bias into the back EMF. Motor parameters (such as stator resistance and inductance) drift during operation due to temperature rise or aging, causing observation errors to vary with current dynamics. Furthermore, when the motor is accelerating or decelerating, the non-constant angular velocity modulates the back EMF waveform with a slowly varying term proportional to the square of time. These superimposed components can significantly deviate from the observed back EMF signal relative to the true AC component, thereby reducing the accuracy of rotor position and speed estimation based on the back EMF. Therefore, how to optimize the response to the target frequency component while effectively filtering out interference from ineffective components such as DC and ramps when observing periodic signals has become an urgent challenge. Summary of the Invention

[0005] In view of this, the present invention aims to provide a sensorless control method for a permanent magnet synchronous motor that eliminates back electromotive force interference components. When observing periodic signals, it can not only enhance the response capability to the target frequency components, but also effectively filter out interference from non-effective components such as DC and ramp.

[0006] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0007] The present invention provides a sensorless control method for a permanent magnet synchronous motor for eliminating interference components of back electromotive force, comprising the following steps: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system; constructing an improved extended state observer with frequency selection characteristics based on the mathematical model to achieve enhanced observation of a target frequency in the observed back electromotive force and suppression of interference components; and processing the observed back electromotive force through a phase-locked loop to estimate position information and speed information of a rotor of the permanent magnet synchronous motor.

[0008] Furthermore, a mathematical model of the permanent magnet synchronous motor is established in a stationary coordinate system, specifically including: establishing a surface mounted permanent magnet synchronous motor in a stationary coordinate system The mathematical model below is:

[0009] (1)

[0010] in, and Respectively represent the stator current of the permanent magnet synchronous motor in the stationary coordinate system Axis and The axis weight, and represent and Differentiation with respect to time, and is the stator voltage input on the corresponding coordinate axis. and Represents a stationary coordinate system Axis and The back electromotive force component of the shaft represents the voltage component induced on the stator side by the rotor motion. is the inductance of the stator winding, is the resistance of the stator winding.

[0011] Furthermore, an improved extended state observer with frequency-selective characteristics is constructed based on the mathematical model to achieve enhanced observation of the target frequency and suppression of interference components in the observed back electromotive force, specifically including: preliminary observation of the back electromotive force based on a traditional extended state observer; introducing auxiliary state variables on the observation path of the traditional extended state observer to construct the state estimation structure, wherein the state estimation structure has a coupled dynamic link with frequency enhancement characteristics and a quasi-resonant dual filtering network link; based on the state estimation structure, the sinusoidal disturbance response and active attenuation of the interference component in the back electromotive force are enhanced to obtain the final observed value of the back electromotive force.

[0012] Furthermore, a preliminary observation of the back electromotive force is performed based on a conventional extended state observer, specifically including: constructing an auxiliary state variable , , , Track the stator current and make a preliminary observation of the back electromotive force:

[0013] (2)

[0014] in, and is the stator current and The observed value of and is the inverse of the back EMF divided by a preliminary estimate of the inductance, They are Regarding the time differential, and is the gain of the traditional extended state observer.

[0015] Furthermore, based on the state estimation structure, the sinusoidal disturbance response and active attenuation of the interference component in the back electromotive force are enhanced to obtain the final observed value of the back electromotive force, which specifically includes:

[0016] Enhanced response to sinusoidal disturbances and active attenuation of interfering components: (3)

[0017] in, , , , , , is an auxiliary variable, They are , , , , , Differentiation with respect to time, parameter is the rotor electrical angular velocity observed in the permanent magnet synchronous motor, and the parameters Used to adjust the robustness of sensorless control and meet , ;

[0018] Guaranteed variables , satisfy:

[0019] (4)

[0020] in, and They are the back electromotive force of the permanent magnet synchronous motor and Axis and The final observed value of the axis.

[0021] Furthermore, the observed back electromotive force is processed by a phase-locked loop to estimate the position information and speed information of the rotor of the permanent magnet synchronous motor, specifically including: calculating the estimated error of the rotor electrical angle of the permanent magnet synchronous motor based on the observation signal of the back electromotive force and the final observation value; when the estimated error of the rotor electrical angle is between plus or minus 90 degrees, using the phase-locked loop to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor.

[0022] Furthermore, the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is calculated based on the observation signal of the back electromotive force and the final observation value, specifically including: the observation signal of the back electromotive force satisfies:

[0023] (5)

[0024] in, , is the permanent magnet flux, is the rotor electrical angle of the permanent magnet synchronous motor, is the rotor electrical angular velocity of the permanent magnet synchronous motor;

[0025] The estimated error of the rotor electrical angle of the permanent magnet synchronous motor :

[0026] (6)

[0027] in, is the estimated error of the electrical angle of the permanent magnet synchronous motor, is the observed value of the permanent magnet synchronous motor rotor electrical angle.

[0028] Furthermore, when the estimated error of the rotor electrical angle is between plus or minus 90 degrees, the phase-locked loop is used to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor, specifically including: when the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is When the angle is between plus and minus 90 degrees, the phase-locked loop is used for calculation:

[0029] The estimated value of the rotor electrical angle of the permanent magnet synchronous motor is:

[0030] (7)

[0031] in, is the Laplace operator, and are the proportional-integral control parameters of the phase-locked loop respectively;

[0032] The estimated value of the rotor electrical angular velocity of the permanent magnet synchronous motor is:

[0033] (8)

[0034] in, is the observed value of the rotor electrical angular velocity of the permanent magnet synchronous motor.

[0035] The present invention also provides a computer device, comprising: at least one processor; and

[0036] A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the permanent magnet synchronous motor sensorless control method described above.

[0037] In addition, the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the permanent magnet synchronous motor sensorless control method described above.

[0038] Compared with the prior art, the present invention can achieve the following beneficial effects: the sensorless control method for a permanent magnet synchronous motor that eliminates the interference component of back electromotive force provided by the present invention comprises the following steps: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system; constructing an improved extended state observer with frequency selection characteristics based on the mathematical model to achieve enhanced observation of the target frequency in the observed back electromotive force and suppression of the interference component; processing the observed back electromotive force through a phase-locked loop to estimate the position information and speed information of the rotor of the permanent magnet synchronous motor. It can be seen that by reconstructing the traditional extended state observer, the present invention enables the back electromotive force observation process to have frequency selection characteristics and quasi-resonant dual filtering characteristics, which can enhance the target frequency response capability while effectively suppressing the influence of DC drift and low-frequency components, greatly improving the accuracy of the permanent magnet synchronous motor sensorless control method for rotor position and speed estimation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0040] Figure 1 A flow chart of a sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention;

[0041] Figure 2 A block diagram illustrating another method for implementing a sensorless control of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0042] Figure 3 for Figure 2 Schematic diagram of observed values of back electromotive force in the sensorless control method of permanent magnet synchronous motor shown in FIG.

[0043] Figure 4 for Figure 2 Schematic diagram of spectrum analysis of observed values of back electromotive force in sensorless control method of permanent magnet synchronous motor shown in FIG.

[0044] Figure 5 for Figure 2 Schematic diagram of the estimation error of the rotor electrical angle of the permanent magnet synchronous motor in the sensorless control method of the permanent magnet synchronous motor;

[0045] Figure 6 A schematic structural diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation to the present invention. Similar elements in different embodiments use associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present invention to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present invention are not shown or described in the specification. This is to avoid the core part of the present invention being overwhelmed by too much description. For those skilled in the art, it is not necessary to describe these related operations in detail. They can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0047] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other to form various implementation methods. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various orders in the description and the drawings are only for the purpose of clearly describing a certain embodiment and are not intended to be a required order, unless otherwise specified that a certain order must be followed.

[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0049] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0050] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0051] like Figure 1 As shown, an embodiment of the present invention provides a sensorless control method for a permanent magnet synchronous motor that eliminates back electromotive force interference components. The method comprises the following steps: S10: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system; S20: constructing an improved extended state observer with frequency-selective characteristics based on the mathematical model to achieve enhanced observation of the target frequency in the observed back electromotive force and suppression of interference components; S30: processing the observed back electromotive force through a phase-locked loop to estimate the position and speed information of the permanent magnet synchronous motor's rotor.

[0052] The sensorless control method for a permanent magnet synchronous motor provided in an embodiment of the present invention is applicable to a sensorless control system of a permanent magnet synchronous motor under complex operating conditions. Even under the influence of factors such as motor acceleration and deceleration, parameter drift, inverter nonlinearity, voltage bias or angular velocity estimation error, the sensorless control method for a permanent magnet synchronous motor in this application can still significantly improve the accuracy and robustness of the observation of the AC component of the back electromotive force. Compared with the traditional extended state observer structure, the improved extended state observer in this application can more effectively weaken the influence of the DC component and the ramp component, providing more reliable back electromotive force observation values for motor speed estimation and rotor position signal extraction.

[0053] Furthermore, in the sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention, S10: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system, specifically including: establishing a surface-mounted permanent magnet synchronous motor in a stationary coordinate system The mathematical model is:

[0054] (1)

[0055] in, and They represent the stator current of the permanent magnet synchronous motor in the stationary coordinate system Axis and The axis weight, and represent and Differentiation with respect to time, and is the stator voltage input on the corresponding coordinate axis. and Represents a stationary coordinate system Axis and The back electromotive force component of the shaft represents the voltage component induced on the stator side by the rotor motion. is the inductance of the stator winding, is the resistance of the stator winding.

[0056] Furthermore, in the sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention, S20: constructing an improved extended state observer with frequency selection characteristics based on a mathematical model to achieve enhanced observation of the target frequency and suppression of interference components in the observed back electromotive force, specifically including: performing preliminary observation of the back electromotive force based on a traditional extended state observer; introducing auxiliary state variables on the observation path of the traditional extended state observer to construct a state estimation structure, the state estimation structure having a coupled dynamic link with frequency enhancement characteristics and a quasi-resonant dual filtering network link; based on the state estimation structure, enhancing the sinusoidal disturbance response in the back electromotive force and the active attenuation of the interference component, to obtain the final observed value of the back electromotive force.

[0057] This sensorless control method for permanent magnet synchronous motors (PMSMs) introduces auxiliary state variables into the observation path of a traditional extended state observer (ESO), dynamically constructing a state estimation structure through coupling. This reconstructs the traditional ESO, resulting in an improved ESO with frequency enhancement and quasi-resonant dual filtering properties. This method enhances the response to target frequency components within a limited bandwidth while effectively suppressing DC and ramp disturbances. This method is particularly well-suited for observer structures operating with periodic signals, significantly improving the accuracy and robustness of rotor position and speed estimation within the PMSM sensorless control algorithm.

[0058] Furthermore, in the sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention, a preliminary observation of the back electromotive force is performed based on a traditional extended state observer, specifically comprising: constructing an auxiliary state variable using the traditional extended state observer , , , Track the stator current and make a preliminary observation of the back electromotive force:

[0059] (2)

[0060] in, and is the stator current and The observed value of and is the inverse of the back EMF divided by a preliminary estimate of the inductance, They are Regarding the time differential, and is the gain of the traditional extended state observer.

[0061] Furthermore, in the sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention, the sinusoidal disturbance response and active attenuation of the interference component in the back electromotive force are enhanced based on the state estimation structure to obtain the final observed value of the back electromotive force, which specifically includes:

[0062] Enhanced response to sinusoidal disturbances and active attenuation of interfering components: (3)

[0063] in, , , , , , is an auxiliary variable, They are , , , , , Differentiation with respect to time, parameter is the rotor electrical angular velocity observed in the permanent magnet synchronous motor, and the parameters Used to adjust the robustness of sensorless control and meet , ;

[0064] Guaranteed variables , satisfy:

[0065] (4)

[0066] in, and They are the back electromotive force of the permanent magnet synchronous motor and Axis and The final observed value of the axis.

[0067] Furthermore, in the sensorless control method for a permanent magnet synchronous motor provided in an embodiment of the present invention, S30: processing the observed back electromotive force through a phase-locked loop to estimate the position information and speed information of the rotor of the permanent magnet synchronous motor, specifically including: calculating the estimated error of the rotor electrical angle of the permanent magnet synchronous motor based on the observation signal and the final observation value of the back electromotive force; when the estimated error of the rotor electrical angle is between plus or minus 90 degrees, using a phase-locked loop to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor.

[0068] Furthermore, in the sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention, the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is calculated based on the observation signal of the back electromotive force and the final observation value, specifically including: the observation signal of the back electromotive force satisfies:

[0069] (5)

[0070] in, , is the permanent magnet flux, is the rotor electrical angle of the permanent magnet synchronous motor, is the rotor electrical angular velocity of the permanent magnet synchronous motor;

[0071] Estimation error of the rotor electrical angle of a permanent magnet synchronous motor :

[0072] (6)

[0073] in, is the estimated error of the electrical angle of the permanent magnet synchronous motor, is the observed value of the rotor electrical angle of the permanent magnet synchronous motor.

[0074] Furthermore, in the sensorless control method for a permanent magnet synchronous motor provided by an embodiment of the present invention, when the estimated error of the rotor electrical angle is between plus or minus 90 degrees, a phase-locked loop is used to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor, specifically including: when the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is between plus or minus 90 degrees, the phase-locked loop is used to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor. When the angle is between plus and minus 90 degrees, the phase-locked loop is used for calculation:

[0075] The estimated value of the rotor electrical angle of the permanent magnet synchronous motor is:

[0076] (7)

[0077] in, is the Laplace operator, and are the proportional-integral control parameters of the phase-locked loop respectively;

[0078] The estimated value of the rotor electrical angular velocity of the permanent magnet synchronous motor is:

[0079] (8)

[0080] in, is the observed value of the rotor electrical angular velocity of the permanent magnet synchronous motor.

[0081] The present invention provides a sensorless control method for a permanent magnet synchronous motor that eliminates back electromotive force interference components, comprising the following steps: establishing a mathematical model of the permanent magnet synchronous motor in a stationary coordinate system; constructing an improved extended state observer with frequency-selective characteristics based on the mathematical model to achieve enhanced observation of the target frequency in the observed back electromotive force and suppression of interference components; and processing the observed back electromotive force through a phase-locked loop to estimate the position and speed information of the permanent magnet synchronous motor's rotor. It can be seen that the present invention reconstructs the traditional extended state observer so that the back electromotive force observation process has frequency-selective characteristics and quasi-resonant dual filtering characteristics, which can enhance the target frequency response capability while effectively suppressing the influence of DC drift and low-frequency components, significantly improving the accuracy of the permanent magnet synchronous motor sensorless control method for rotor position and speed estimation.

[0082] Example

[0083] The implementation block diagram of the sensorless control method for a permanent magnet synchronous motor for eliminating back electromotive force interference components provided by an embodiment of the present invention is as follows: Figure 2 The improved extended state observer estimates the back electromotive force observation value based on the current and voltage values in the stationary coordinate system. After obtaining the final observation value, the phase-locked loop extracts the rotor angle observation value and the rotor angular velocity observation value.

[0084] like Figure 3 As shown in FIG, the set initial speed reference value of the permanent magnet synchronous motor is 500 revolutions per second, and the observed value of the back electromotive force is obtained by the improved extended state observer.

[0085] Performing fast Fourier transform on the observed value of back electromotive force, we can get its spectrum analysis as follows: Figure 4 As shown, the non-sinusoidal interference component of the back electromotive force is effectively suppressed.

[0086] like Figure 5 As shown in FIG. 5 , from 4 seconds to 5 seconds, when the speed reference value of the permanent magnet synchronous motor is continuously increased to 1000 revolutions per second, the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is reduced. It can be seen that the rotor electrical angle of the permanent magnet synchronous motor is effectively estimated.

[0087] Accordingly, according to an embodiment of the present invention, the present invention also provides a computer device, a readable storage medium, and a computer program product. Figure 6 FIG. 1 is a structural diagram of a computer device 12 provided in an embodiment of the present invention. Figure 6A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 6 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0088] like Figure 6 As shown, computer device 12 is represented in the form of a general-purpose computing device. Computer device 12 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0089] Components of computer device 12 may include, but are not limited to, one or more processors or processing units 16 , a system memory 28 , and a bus 18 that connects various system components, including system memory 28 and processing unit 16 .

[0090] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0091] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0092] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 6 Not shown, often called a "hard drive"). Although Figure 6Not shown, a magnetic disk drive for reading and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0093] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally implement the functions and / or methods of the embodiments described herein.

[0094] The computer device 12 can also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication can occur via an input / output (I / O) interface 22. Furthermore, the computer device 12 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via a bus 18. It should be understood that, although not shown, other hardware and / or software modules can be used in conjunction with the computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0095] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28 , such as implementing the sensorless control method for a permanent magnet synchronous motor provided in an embodiment of the present invention.

[0096] An embodiment of the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, on which a computer program is stored, wherein when the program is executed by a processor, the permanent magnet synchronous motor sensorless control method provided in all the inventive embodiments of this application is implemented.

[0097] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus or device.

[0098] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0099] The program code that comprises on the computer-readable medium can be transmitted with any appropriate medium, includes but not limited to wireless, electric wire, optical cable, RF etc., or above-mentioned any suitable combination.Can write the computer program code that is used to carry out the operation of the present invention with one or more programming languages or its combination, described programming language comprises object-oriented programming language such as Java, Smalltalk, C++, also comprises conventional procedural programming language--such as " C " language or similar programming language.Program code can be carried out on user's computer completely, partly on user's computer, carry out as an independent software package, partly on user's computer partly on remote computer, or carry out completely on remote computer or server.In the situation that relates to remote computer, remote computer can comprise local area network (LAN) or wide area network (WAN) to be connected to user's computer by the network of any kind, perhaps, can be connected to external computer (for example, utilize Internet service provider to come to connect by Internet).

[0100] An embodiment of the present invention further provides a computer program product, comprising a computer program, which implements the above-mentioned sensorless control method for a permanent magnet synchronous motor when executed by a processor.

[0101] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved. This is not limited herein.

[0102] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A sensorless control method for a permanent magnet synchronous motor to eliminate back electromotive force interference components, characterized by: The following steps are involved: Establish a mathematical model of permanent magnet synchronous motor in a stationary coordinate system; Based on the mathematical model, an improved extended state observer with frequency selection characteristics is constructed to achieve enhanced observation of the target frequency in the observed back electromotive force and suppression of the interference component; specifically, the method includes: Performing a preliminary observation of the back electromotive force based on a conventional extended state observer; An auxiliary state variable is introduced into the observation path of the traditional extended state observer to construct a state estimation structure, wherein the state estimation structure has a coupled dynamic link with frequency enhancement characteristics and a quasi-resonant dual filter network link; The state estimation structure is used to enhance the sinusoidal disturbance response and active attenuation of the interference component in the back electromotive force to obtain a final observation value of the back electromotive force, specifically including: Enhanced response to sinusoidal disturbances and active attenuation of interfering components: (3) in, , , , , , is an auxiliary variable, They are , , , , , Differentiation with respect to time, parameter is the rotor electrical angular velocity observed in the permanent magnet synchronous motor, and the parameters Used to adjust the robustness of sensorless control and meet , , and is the gain of the traditional extended state observer, is the inductance of the stator winding; Guaranteed variables , satisfy: (4) in, and They are the back electromotive force of the permanent magnet synchronous motor and Axis and The final observed value of the axis; The observed back electromotive force is processed by a phase-locked loop to estimate the position information and speed information of the rotor of the permanent magnet synchronous motor.

2. The sensorless control method for a permanent magnet synchronous motor according to claim 1, wherein: The mathematical model of the permanent magnet synchronous motor is established in a stationary coordinate system, including: Establish the surface mounted permanent magnet synchronous motor in the stationary coordinate system The mathematical model below is: (1) in, and Respectively represent the stator current of the permanent magnet synchronous motor in the stationary coordinate system Axis and The axis weight, and represent and Differentiation with respect to time, and is the stator voltage input on the corresponding coordinate axis, and Represents a stationary coordinate system Axis and The back electromotive force component of the shaft represents the voltage component induced on the stator side by the rotor motion. is the inductance of the stator winding, is the resistance of the stator winding.

3. The sensorless control method for a permanent magnet synchronous motor according to claim 2, wherein: The back electromotive force is preliminarily observed based on the traditional extended state observer, specifically including: constructing auxiliary state variables , , , Track the stator current and make a preliminary observation of the back electromotive force: (2) in, and is the stator current and The observed value of and is a stationary coordinate system Axis and A preliminary estimate of the shaft's back EMF, They are Regarding the time differential, and is the gain of the traditional extended state observer.

4. The sensorless control method for a permanent magnet synchronous motor according to claim 3, wherein: The observed back electromotive force is processed by a phase-locked loop to estimate the position information and speed information of the rotor of the permanent magnet synchronous motor, specifically including: Calculating an estimated error of the rotor electrical angle of the permanent magnet synchronous motor based on the observation signal of the back electromotive force and the final observation value; When the estimation error of the rotor electrical angle is between plus or minus 90 degrees, the phase-locked loop is used to estimate the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor.

5. The sensorless control method for a permanent magnet synchronous motor according to claim 4, characterized in that: Calculating an estimated error of the rotor electrical angle of the permanent magnet synchronous motor based on the observation signal of the back electromotive force and the final observation value specifically includes: The observed signal of the back electromotive force satisfies: (5) in, , is the permanent magnet flux, is the rotor electrical angle of the permanent magnet synchronous motor, is the rotor electrical angular velocity of the permanent magnet synchronous motor; The estimated error of the rotor electrical angle of the permanent magnet synchronous motor : (6) in, is the estimated error of the electrical angle of the permanent magnet synchronous motor, is the observed value of the permanent magnet synchronous motor rotor electrical angle.

6. The sensorless control method for a permanent magnet synchronous motor according to claim 5, characterized in that: When the estimated error of the rotor electrical angle is between plus or minus 90 degrees, estimating the rotor electrical angle value and angular velocity value of the permanent magnet synchronous motor using the phase-locked loop specifically includes: When the estimated error of the rotor electrical angle of the permanent magnet synchronous motor is When the angle is between plus and minus 90 degrees, the phase-locked loop is used for calculation: The estimated value of the rotor electrical angle of the permanent magnet synchronous motor is: (7) in, is the Laplace operator, and are the proportional-integral control parameters of the phase-locked loop respectively; The estimated value of the rotor electrical angular velocity of the permanent magnet synchronous motor is: (8) in, is the observed value of the rotor electrical angular velocity of the permanent magnet synchronous motor.

7. A computer device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the permanent magnet synchronous motor sensorless control method according to any one of claims 1 to 6.

8. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable the computer to execute the permanent magnet synchronous motor sensorless control method according to any one of claims 1 to 6.

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