Permanent magnet motor position observation method and system, electronic equipment and storage medium

Abstract

The invention discloses a permanent magnet motor position observation method and system, electronic equipment and a storage medium. The method comprises the steps that S100, a microcontroller timer enters interruption; s200, sampling three-phase current of a motor stator, and converting the three-phase current into stator current under a static two-phase coordinate system through Clark transformation; s300, reading the on-off state of the inverter and the voltage amplitude of the direct-current bus, and reconstructing the stator voltage; s400, inputting the stator voltage and the stator current under the static two-phase coordinate system into a counter electromotive force observer to obtain a motor counter electromotive force in an interruption; s500, inputting the counter electromotive force of the motor in the interruption into a rotor position observer, and outputting rotating speed and rotor position information in the interruption; and S600, the microcontroller timer quits the interruption. The observer is in cascade connection with a back electromotive force observer and a rotor position observer, better dynamic performance and observation precision are provided, and the influence of noise and parameter deviation can be effectively restrained.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor position observation, and more specifically, relates to a permanent magnet motor position observation method, system, electronic equipment and storage medium. Background Art

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in new energy vehicles, industrial transmissions, and other fields due to their high efficiency and power density. In vector control systems, accurate observation of rotor position is crucial for achieving high-performance control, directly impacting the motor's torque output, efficiency, and dynamic response. Particularly at low and zero speeds, the low back-EMF amplitude renders traditional sensorless position-based approaches based on fundamental wave models ineffective. Mechanical sensors (such as encoders and resolvers) are costly, bulky, and susceptible to interference. Furthermore, errors in initial position detection can lead to startup failure or torque fluctuations.

[0003] Existing technologies mostly use vector control to detect the motor's initial position. Coordinate transformation is used to decompose the three-phase stator current into direct-axis and quadrature-axis components, controlling flux linkage and torque, respectively. This simulates the control method of a DC motor to achieve high-precision speed regulation. First, the Clarke transformation is used to convert the three-phase stationary coordinate system into the current components of a two-phase stationary coordinate system, eliminating redundancy in the three-phase currents. The Park transformation is then used to further convert the α-β coordinate system into a dq coordinate system that rotates synchronously with the rotor magnetic field. This is combined with space vector pulse width modulation to generate optimized inverter switching signals, reducing harmonic losses and improving dynamic response, ultimately enabling detection.

[0004] However, vector control relies on a precise mathematical model of the motor, and parameter variations can lead to control errors. At zero speed, high-frequency injection is required, but noise suppression is challenging and subject to integral drift. Furthermore, the coordinate transformation involved in vector control requires motor speed and rotor position information as input. Therefore, a permanent magnet motor position observation method and system is needed that eliminates the need for a voltage measurement device to obtain the stator voltage, provides improved dynamic performance and observation accuracy, and effectively suppresses the effects of noise and parameter deviations. Summary of the Invention

[0005] In response to the above defects or improvement needs of the prior art, the present invention provides a permanent magnet motor position observation method, system electronic equipment and storage medium, which adopts a cascade extended state observer (CESO) to observe the motor speed and rotor position information in real time. The observer cascades a back electromotive force observer and a rotor position observer, both of which adopt an ESO structure. Through the back electromotive force observer, the electronic stator voltage is used as the input and the stator three-phase current is used as the state variable to estimate the back electromotive force of the PMSM in real time; through the rotor position observer, the rotor acceleration is expanded into a new state variable, and the ESO structure is used to extract the speed and rotor position information from the back electromotive force estimated by the back electromotive force observer. Compared with the traditional combination of a back electromotive force observer and an orthogonal phase-locked loop, the observer has better dynamic performance and observation accuracy, and can effectively suppress the influence of noise and parameter deviation.

[0006] To achieve the above objectives, according to a first aspect of an embodiment of the present invention, a method for observing the position of a permanent magnet motor is provided, which specifically includes the following steps:

[0007] S100, microcontroller timer enters interrupt;

[0008] S200, sampling the three-phase current of the motor stator and converting it into the stator current in a stationary two-phase coordinate system through Clarke transformation;

[0009] S300: reading the inverter switch state and the DC bus voltage amplitude, and reconstructing the stator voltage;

[0010] S400, inputting the stator voltage and the stator current in the stationary two-phase coordinate system into a back electromotive force observer to obtain a motor back electromotive force within an interruption;

[0011] S500, inputting the motor back electromotive force in the interrupt into the rotor position observer, and outputting the speed and rotor position information in the interrupt;

[0012] S600, the microcontroller timer exits the interrupt.

[0013] Furthermore, the reconstructed stator voltage is:

[0014]

[0015] Among them, u A 、u B 、u C are the stator three-phase voltages,

[0016] S A 、S B 、S C They are the states of the three-phase bridge arms A, B, and C respectively.

[0017] Udc is the DC bus voltage;

[0018] By reading the inverter switch status and DC bus voltage, the motor stator voltage can be directly calculated;

[0019] The three-phase bridge arm state S A 、S B 、S C It is defined as: the state when the upper bridge arm is turned on and the lower bridge arm is turned off is 1; otherwise it is 0.

[0020] Furthermore, in step S400, at medium and high speeds, the voltage equation of the PMSM is expressed in a stationary two-phase coordinate system as follows:

[0021]

[0022] The back EMF equation is:

[0023]

[0024] Among them, u α is the stator voltage along the α axis in the αβ axis coordinate system,

[0025] u β is the stator voltage along the β axis in the αβ axis coordinate system,

[0026] i α is the current along the α axis in the αβ axis coordinate system,

[0027] i β is the current along the β axis in the αβ axis coordinate system,

[0028] E α is the back electromotive force along the α axis in the αβ axis coordinate system,

[0029] E β is the back electromotive force along the β axis in the αβ axis coordinate system,

[0030] ω e is the electrical angular velocity,

[0031] θ e is the electrical position of the rotor,

[0032] R s is the stator resistance,

[0033] L d is the inductance along the d-axis in the dq coordinate system,

[0034] L q is the inductance along the q-axis in the dq coordinate system,

[0035] is the permanent magnet flux,

[0036] i d is the stator current along the d-axis in the dq coordinate system.

[0037] Furthermore, by taking the current as the state variable and the stator voltage as the input, the current equation is rewritten in complex form to obtain the state space equation, specifically:

[0038]

[0039] Among them, i αβ is the complex form of the stator current, i αβ =i α +ji β ,

[0040] u αβ is the complex form of the stator voltage, u αβ =u α +ju β ,

[0041] E αβ is the complex form of back electromotive force, E αβ =E α +jE β ,

[0042] p is a differential operator.

[0043] Furthermore, the complex form of the back electromotive force E αβ As an unknown quantity, expand it into a new state variable Construct the extended state observer, specifically:

[0044]

[0045] in, is the observed value of stator current;

[0046] is the stator current observation error;

[0047] k and m are observer gains, determined by stability analysis;

[0048] The observer gains k and m are specifically:

[0049]

[0050] m=-L q ω0 2 .

[0051] Furthermore, by constructing a new state variable of back electromotive force and the complex form of the back electromotive force Eαβ The transfer function between them is used to calculate the complex form of the back electromotive force E αβ , specifically:

[0052]

[0053] in, for and E αβ The transfer function between

[0054] ω0 is the back-EMF observer bandwidth,

[0055] s is the independent variable in this function;

[0056] Through this transfer function Transform real functions into complex functions;

[0057] The back-EMF observer adopts a linear form, and the parameter adjustment is guided by the inherent bandwidth principle of the linear observer. The bandwidth of the observer is set to an appropriate value, and the transfer function is configured as a second-order filter to improve the dynamic response capability of the system.

[0058] Furthermore, in step S500, a rotor position observer model needs to be established using the torque equation of the PMSM. The torque equation of the PMSM is:

[0059]

[0060] Among them, ω e is the electrical angular velocity,

[0061] θ e is the electrical position of the rotor,

[0062] t is time,

[0063] T e is the electromagnetic torque,

[0064] T L is the load torque,

[0065] J is the moment of inertia of the rotor,

[0066] B is the viscous friction coefficient.

[0067] Since the electromagnetic torque T e , load torque T L The rotor's moment of inertia J and viscous friction coefficient B are difficult to obtain in actual production, so angular acceleration is used instead, and all factors affecting the rotor speed are combined into one as a new state variable, which is then estimated and compensated.

[0068] The rotor position observer model is:

[0069]

[0070] in, is the rotor electrical angle observation error,

[0071] is the observed value of the rotor electrical angle,

[0072] is the observed value of the rotor electrical angle The derivative with respect to time,

[0073] is the observed value of the speed,

[0074] is the observed speed value The derivative with respect to time,

[0075] z is the new state variable expanded,

[0076] l1, l2, and l3 are the parameters of the rotor position observer.

[0077] According to a second aspect of an embodiment of the present invention, a permanent magnet motor position observation system is provided, characterized in that it includes:

[0078] Interrupt entry module: used to make the microcontroller timer enter interrupt;

[0079] Sampling module: used to sample the three-phase current of the motor stator and convert it into the stator current in a stationary two-phase coordinate system through Clarke transformation;

[0080] Reconstruction module: used to read the inverter switch state and DC bus voltage amplitude and reconstruct the stator voltage;

[0081] The first input module is used to input the stator voltage and the stator current in the static two-phase coordinate system into the back electromotive force observer to obtain the motor back electromotive force within an interruption;

[0082] The second input module is used to input the motor back electromotive force in the interrupt into the rotor position observer and output the speed and rotor position information in an interrupt;

[0083] Interrupt exit module: used for microcontroller timer exit interrupt.

[0084] According to a third aspect of an embodiment of the present invention, there is provided an electronic device, characterized in that it includes

[0085] at least one memory for storing a computer program;

[0086] At least one processor is configured to implement the steps of the permanent magnet motor position observation method when executing the computer program.

[0087] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the permanent magnet motor position observation method are implemented.

[0088] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0089] 1. The permanent magnet motor position observation method of the present invention cascades a back-electromotive force observer and a rotor position observer. The former uses the stator voltage as input to estimate the back-electromotive force in real time, while the latter directly extracts speed and position information by expanding the rotor acceleration as a state variable. This avoids the error accumulation problem of traditional phase-locked loops and can quickly correct the observed value and achieve fast tracking when the motor speed suddenly changes or the load fluctuates. It is particularly suitable for scenarios that require frequent starts and stops and speed changes.

[0090] 2. The permanent magnet motor position observation method of the present invention realizes the full-dimensional accurate estimation of the rotor position. The first-stage back electromotive force observer uses the three-phase current as the state variable and combines the motor mathematical model to separate the high-frequency noise and the effective signal; the second-stage rotor position observer introduces the acceleration expansion state, breaking through the contradiction between the bandwidth and phase accuracy of the traditional orthogonal phase-locked loop, and maintaining a high position error accuracy under low-speed conditions.

[0091] 3. The permanent magnet motor position observation method of the present invention constructs multiple anti-interference barriers through the design of expanded state variables. The back electromotive force observer embeds a high-frequency noise observation channel in the current loop, which can compensate for the amplitude distortion caused by measurement noise in real time. The rotor position observer will reduce parameter deviations, reducing system complexity and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] Figure 1 A schematic flow chart of a method for observing the position of a permanent magnet motor according to an embodiment of the present invention;

[0093] Figure 2 A schematic diagram of the steps of a method for observing the position of a permanent magnet motor according to an embodiment of the present invention;

[0094] Figure 3 A schematic diagram of a three-phase two-level inverter principle for a permanent magnet motor position observation method according to an embodiment of the present invention;

[0095] Figure 4 A schematic diagram of the back-EMF observer principle of a permanent magnet motor position observation method according to an embodiment of the present invention;

[0096] Figure 5 This is a schematic diagram of the position observer principle of a permanent magnet motor position observation method according to an embodiment of the present invention;

[0097] Figure 6 The figure is a schematic diagram of the electronic device structure of a permanent magnet motor position observation method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0098] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0099] Example 1

[0100] like Figure 1 、 2 As shown, an embodiment of the present invention provides a method for observing the position of a permanent magnet motor, which specifically includes the following steps:

[0101] S100, microcontroller timer enters interrupt;

[0102] S200, sampling the three-phase current of the motor stator and converting it into the stator current in a stationary two-phase coordinate system through Clarke transformation;

[0103] S300: reading the inverter switch state and the DC bus voltage amplitude, and reconstructing the stator voltage;

[0104] S400, inputting the stator voltage and the stator current in the stationary two-phase coordinate system into a back electromotive force observer to obtain a motor back electromotive force within an interruption;

[0105] S500, inputting the motor back electromotive force in the interrupt into the rotor position observer, and outputting the speed and rotor position information in the interrupt;

[0106] S600, the microcontroller timer exits the interrupt.

[0107] In step S200, the three-phase current of the motor stator is sampled using three resistors. Specifically, a sampling resistor is connected in series with each of the three lower bridge arms to directly measure the three-phase current. The controller ADC supports multi-channel synchronous acquisition to avoid phase errors caused by time differences. During sampling, the weak voltage signal from the sampling resistors needs to be biased and amplified to match the ADC input range. An RC low-pass filter is used to suppress switching noise, and a mean filter is superimposed.

[0108] Among them, the measured three-phase currents are: i v 、iu 、i w , the Clarke transform is specifically:

[0109]

[0110] Among them, i α is the current along the α axis in the αβ axis coordinate system,

[0111] i β is the current along the β axis in the αβ axis coordinate system.

[0112] like Figure 3 As shown, in step S300, the inverter is a three-phase two-level inverter, wherein the three-phase bridge arm state is defined as: the state of the upper bridge arm being on and the lower bridge arm being off is 1; otherwise it is 0. The reconstructed stator voltage is:

[0113]

[0114] Among them, u A 、u B 、u C are the stator three-phase voltages,

[0115] S A 、S B 、S C They are the states of the three-phase bridge arms A, B, and C respectively.

[0116] U dc is the DC bus voltage.

[0117] At this time, the microcontroller directly calculates the motor stator voltage by reading the inverter switch status and DC bus voltage.

[0118] In step S400, the stator voltage is the stator three-phase voltage u A 、u B 、u C The stator current in the stationary two-phase coordinate system is the current i in the αβ axis coordinate system. α 、i β .

[0119] like Figure 4 As shown, in step S400, at medium and high speeds, the voltage equation of the PMSM is expressed in a stationary two-phase coordinate system as follows:

[0120]

[0121] The back EMF equation is:

[0122]

[0123] Among them, uα is the stator voltage along the α axis in the αβ axis coordinate system,

[0124] u β is the stator voltage along the β axis in the αβ axis coordinate system,

[0125] i α is the current along the α axis in the αβ axis coordinate system,

[0126] i β is the current along the β axis in the αβ axis coordinate system,

[0127] E α is the back electromotive force along the α axis in the αβ axis coordinate system,

[0128] E β is the back electromotive force along the β axis in the αβ axis coordinate system,

[0129] ω e is the electrical angular velocity,

[0130] θ e is the electrical position of the rotor,

[0131] R s is the stator resistance,

[0132] L d is the inductance along the d-axis in the dq coordinate system,

[0133] L q is the inductance along the q-axis in the dq coordinate system,

[0134] is the permanent magnet flux,

[0135] i d is the stator current along the d-axis in the dq coordinate system.

[0136] By using the current as the state variable and the stator voltage as the input, the current equation is rewritten in complex form to obtain the state space equation, which is:

[0137]

[0138] Among them, i αβ is the complex form of the stator current, i αβ =i α +ji β ,

[0139] u αβ is the complex form of the stator voltage, u αβ =u α +ju β ,

[0140] Eαβ is the complex form of back electromotive force, E αβ =E α +jE β ,

[0141] p is a differential operator.

[0142] In step 400, the complex form of the back electromotive force E αβ As an unknown quantity, expand it into a new state variable Construct the extended state observer, specifically:

[0143]

[0144] in, is the observed value of stator current;

[0145] is the stator current observation error;

[0146] k and m are observer gains, which are determined through stability analysis.

[0147] By constructing a new state variable of back EMF and the complex form of the back electromotive force E αβ The transfer function between them is used to calculate the complex form of the back electromotive force E αβ , specifically:

[0148]

[0149] in, for and E αβ The transfer function between

[0150] ω0 is the back-EMF observer bandwidth,

[0151] s is the independent variable in this function.

[0152] Through this transfer function The real function is transformed into a complex function. The back EMF observer adopts a linear form, and the bandwidth principle inherent in the linear observer guides parameter adjustment. The observer bandwidth is set to an appropriate value, and the transfer function is configured as a second-order filter to improve the dynamic response capability of the system.

[0153] The observer gains k and m are specifically:

[0154]

[0155] m=-L q ω0 2 .

[0156] In step S500, a rotor position observer model needs to be established using the torque equation of the PMSM. The torque equation of the PMSM is:

[0157]

[0158] Among them, ω e is the electrical angular velocity,

[0159] θ e is the electrical position of the rotor,

[0160] t is time,

[0161] T e is the electromagnetic torque,

[0162] T L is the load torque,

[0163] J is the moment of inertia of the rotor,

[0164] B is the viscous friction coefficient.

[0165] Since the electromagnetic torque T e , load torque T L The rotor's moment of inertia J and viscous friction coefficient B are difficult to obtain in actual production, so angular acceleration is used instead, and all factors affecting the rotor speed are combined into one as a new state variable, which is then estimated and compensated.

[0166] The rotor position observer model is:

[0167]

[0168] in, is the rotor electrical angle observation error,

[0169] is the observed value of the rotor electrical angle,

[0170] is the observed value of the rotor electrical angle The derivative with respect to time,

[0171] is the observed value of the speed,

[0172] is the observed speed value The derivative with respect to time,

[0173] z is the new state variable expanded,

[0174] l1, l2, and l3 are the parameters of the rotor position observer.

[0175] The parameters l1, l2, and l3 of the rotor position observer are adjusted according to the following formula:

[0176] l1=3ω1

[0177] l2=3ω1 2

[0178] l3=ω1 3

[0179] Where ω1 is the bandwidth of the rotor position observer.

[0180] like Figure 5 As shown, the new state variable of the back EMF is include and The two back electromotive force observation values ​​are outputted in step S400 and obtained after trigonometric operation:

[0181]

[0182] when hour, After normalization parameters After normalization, it becomes Then it passes through the rotor position observer model to output the speed and angle;

[0183] in, is the normalization parameter,

[0184] is the observed value of the speed,

[0185] ψ f is the permanent magnet flux.

[0186] In step S500, the transfer function between the estimated position error and the true position is obtained through the rotor position observer model:

[0187]

[0188] And good performance can be obtained by adjusting the value of bandwidth ω1.

[0189] Example 2

[0190] An embodiment of the present invention provides a permanent magnet motor position observation system, specifically comprising:

[0191] Interrupt entry module: used to make the microcontroller timer enter interrupt;

[0192] Sampling module: used to sample the three-phase current of the motor stator and convert it into the stator current in a stationary two-phase coordinate system through Clarke transformation;

[0193] Reconstruction module: used to read the inverter switch state and DC bus voltage amplitude and reconstruct the stator voltage;

[0194] The first input module is used to input the stator voltage and the stator current in the static two-phase coordinate system into the back electromotive force observer to obtain the motor back electromotive force within an interruption;

[0195] The second input module is used to input the motor back electromotive force in the interrupt into the rotor position observer and output the speed and rotor position information in an interrupt;

[0196] Interrupt exit module: used for microcontroller timer exit interrupt.

[0197] According to the above examples, the present application also provides an electronic device, including: a memory, a processor, and a program or instruction stored in the memory and executable on the processor. When the processor executes the program or instruction, the data device of the present invention may further include a communication interface and a bus. Figure 6 , which is a schematic structural diagram of an electronic device provided by the present invention, includes: at least one processor 100 , at least one memory 101 , a communication interface 102 and a bus 103 .

[0198] Among them, the processor 100, the memory 101 and the communication interface 102 complete mutual communication through the bus 103, and the communication interface 102 is used for information transmission between the data device and the database device; the memory 101 stores a program or instruction that can be run on the processor 100. When the processor 100 executes the program or instruction, the steps of the above-mentioned method for speed re-engagement of a position-free permanent magnet motor are implemented.

[0199] In one possible implementation, the memory 101 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function, etc.; the data storage area may store data created during use.

[0200] In addition, the memory 101 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device or other volatile solid-state storage device.

[0201] The communication interface 102 may be an interface of a communication module, used to connect to other devices or systems.

[0202] Of course, it needs to be explained that Figure 6 The structure shown does not constitute a limitation on the electronic device in the embodiment of the present application. In actual applications, the electronic device may include Figure 6 More or fewer components than shown, or combinations of certain components.

[0203] An embodiment of the present invention also provides a computer-readable storage medium based on the above examples, on which a computer program is stored. When the computer program is executed by a processor, the steps of the belt speed re-engagement method of a position-free permanent magnet motor described in the above embodiments are implemented.

[0204] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program codes.

[0205] It will be easily understood by those skilled in the art that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for observing the position of a permanent magnet motor, characterized in that: The specific steps include: S100, microcontroller timer enters interrupt; S200, sampling the three-phase current of the motor stator and converting it into the stator current in a stationary two-phase coordinate system through Clarke transformation; S300: reading the inverter switch state and the DC bus voltage amplitude, and reconstructing the stator voltage; S400, inputting the stator voltage and the stator current in the stationary two-phase coordinate system into a back electromotive force observer to obtain a motor back electromotive force within an interruption; S500, inputting the motor back electromotive force in the interrupt into the rotor position observer, and outputting the speed and rotor position information in the interrupt; S600, the microcontroller timer exits the interrupt.

2. A permanent magnet motor position observation method according to claim 1, characterized in that: Then the reconstructed stator voltage is: Among them, u A 、u B 、u C are the stator three-phase voltages, S A 、S B 、S C They are the states of the three-phase bridge arms A, B, and C respectively. U dc is the DC bus voltage; By reading the inverter switch status and DC bus voltage, the motor stator voltage can be directly calculated; The three-phase bridge arm state S A 、S B 、S C It is defined as: the state when the upper bridge arm is turned on and the lower bridge arm is turned off is 1; otherwise it is 0.

3. A permanent magnet motor position observation method according to claim 2, characterized in that: In step S400, at medium and high speeds, the voltage equation of the PMSM is expressed in a stationary two-phase coordinate system as follows: The back EMF equation is: Among them, u α is α β The stator voltage along the α-axis in the axis coordinate system is, u β is the stator voltage along the β axis in the αβ axis coordinate system, i α is the current along the α axis in the αβ axis coordinate system, i β is the current along the β axis in the αβ axis coordinate system, E α is the back electromotive force along the α axis in the αβ axis coordinate system, E β is the back electromotive force along the β axis in the αβ axis coordinate system, ω e is the electrical angular velocity, θ e is the electrical position of the rotor, R s is the stator resistance, L d is the inductance along the d-axis in the dq coordinate system, L q is the inductance along the q-axis in the dq coordinate system, is the permanent magnet flux, i d is the stator current along the d-axis in the dq coordinate system.

4. A permanent magnet motor position observation method according to claim 3, characterized in that: By using the current as the state variable and the stator voltage as the input, the current equation is rewritten in complex form to obtain the state space equation, which is: Among them, i αβ is the complex form of the stator current, i αβ =i α +ji β , u αβ is the complex form of the stator voltage, u αβ =u α +ju β , E αβ is the complex form of back electromotive force, E αβ =E α +jE β , p is a differential operator.

5. A permanent magnet motor position observation method according to claim 4, characterized in that: The complex form of the back electromotive force E αβ As an unknown quantity, expand it into a new state variable Construct the extended state observer, specifically: in, is the observed value of stator current; is the stator current observation error; k and m are observer gains, determined by stability analysis; The observer gains k and m are specifically: m=-L q oh0 2 。 6. A permanent magnet motor position observation method according to claim 5, characterized in that: By constructing a new state variable of back EMF and the complex form of the back electromotive force E αβ The transfer function between them is used to calculate the complex form of the back electromotive force E αβ , specifically: in, for and E αβ The transfer function between ω0 is the back-EMF observer bandwidth, s is the independent variable in this function; Through this transfer function Transform real functions into complex functions; The back-EMF observer adopts a linear form, and the parameter adjustment is guided by the inherent bandwidth principle of the linear observer. The bandwidth of the observer is set to an appropriate value, and the transfer function is configured as a second-order filter to improve the dynamic response capability of the system.

7. A permanent magnet motor position observation method according to claim 6, characterized in that: In step S500, a rotor position observer model needs to be established using the torque equation of the PMSM. The torque equation of the PMSM is: Among them, ω e is the electrical angular velocity, θ e is the electrical position of the rotor, t is time, T e is the electromagnetic torque, T L is the load torque, J is the moment of inertia of the rotor, B is the viscous friction coefficient. Since the electromagnetic torque T e , load torque T L The rotor's moment of inertia J and viscous friction coefficient B are difficult to obtain in actual production, so angular acceleration is used instead, and all factors affecting the rotor speed are combined into one as a new state variable, which is then estimated and compensated. The rotor position observer model is: in, is the rotor electrical angle observation error, is the observed value of the rotor electrical angle, is the observed value of the rotor electrical angle The derivative with respect to time, is the observed value of the speed, is the observed speed value The derivative with respect to time, z is the new state variable expanded, l1, l2, and l3 are the parameters of the rotor position observer.

8. A permanent magnet motor position observation system, used to implement a permanent magnet motor position observation method according to any one of claims 1 to 7, characterized in that: include: Interrupt entry module: used to make the microcontroller timer enter interrupt; Sampling module: used to sample the three-phase current of the motor stator and convert it into the stator current in a stationary two-phase coordinate system through Clarke transformation; Reconstruction module: used to read the inverter switch state and DC bus voltage amplitude and reconstruct the stator voltage; The first input module is used to input the stator voltage and the stator current in the static two-phase coordinate system into the back electromotive force observer to obtain the motor back electromotive force within an interruption; The second input module is used to input the motor back electromotive force in the interrupt into the rotor position observer and output the speed and rotor position information in an interrupt; Interrupt exit module: used for microcontroller timer exit interrupt.

9. An electronic device, characterized in that: include at least one memory for storing a computer program; At least one processor is configured to implement the steps of the permanent magnet motor position observation method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the permanent magnet motor position observation method according to any one of claims 1 to 7 are implemented.

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