Permanent magnet synchronous motor current control method based on incremental DPCC controller

Abstract

The invention belongs to the technical field of motor control, and particularly relates to a permanent magnet synchronous motor current control method based on an incremental DPCC controller. The method comprises the following steps: S1, constructing an incremental expansion state observer; s2, constructing an incremental DPCC controller based on an incremental expansion state observer; s3, inductance parameter self-correction is carried out based on a fixed time gradient descent method, and inductance parameter identification is obtained; and S4, feeding back the identification result of the inductance parameter to an incremental expansion state observer and an incremental DPCC controller, and carrying out online identification and real-time updating on the inductance parameter to realize robust current control on the permanent magnet synchronous motor. According to the method, the requirement of a control system for resistance and flux linkage can be eliminated, and the robustness of the control system for inductance parameters is improved through inductance parameter identification.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology, and particularly relates to a current control method for permanent magnet synchronous motors based on an incremental DPCC controller. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) have gained widespread application in numerous fields, including ground-based large-aperture telescopes and new energy vehicles, due to their advantages such as high efficiency, high power density, and ease of maintenance. However, with increasing control demands, traditional control methods are insufficient to achieve high-precision and fast-response current control. Deadbeat predictive current controllers (DPCCs) have emerged as a solution due to their superior dynamic response performance and accurate current tracking capabilities. However, DPCC control strategies are highly sensitive to changes in system parameters. Motor parameters (such as resistance, inductance, and flux linkage) can change during actual operation due to factors such as temperature and magnetic saturation. This can lead to a decrease in system control performance, a deterioration in current tracking accuracy, and even system instability. Summary of the Invention

[0003] In view of this, the present invention aims to provide a current control method for permanent magnet synchronous motors based on an incremental DPCC controller, in order to solve the problem that the existing DPCC control strategy is very sensitive to changes in system parameters. In actual operation, motor parameters (such as resistance, inductance, and flux linkage) will change due to factors such as temperature and magnetic saturation, which will lead to a decrease in system control performance, a deterioration in current tracking accuracy, and may even cause system instability. The present invention improves the structure of the traditional DPCC and the traditional extended state observer (ESO), and proposes an improved DPCC based on incremental ESO and an inductor identification algorithm based on the error between actual current and predicted current. This can eliminate the need for resistance and flux linkage in the control system, and improve the robustness of the control system to inductor parameters through inductor parameter identification.

[0004] To achieve the above objectives, the technical solution created by this invention is implemented as follows: A current control method for a permanent magnet synchronous motor based on an incremental DPCC controller specifically includes the following steps: S1: Construct an incremental extended state observer, which is used to estimate the lumped disturbance of the permanent magnet synchronous motor and the predicted current of the output permanent magnet synchronous motor. S2: Construct an incremental DPCC controller based on the lumped disturbance estimation results and predicted current output by the incremental extended state observer; S3: The difference between the predicted current output by the incremental extended state observer and the actual current of the permanent magnet synchronous motor is processed by inductance parameter self-correction using the fixed-time gradient descent method to obtain the identification of inductance parameters. S4: Feedback the identification results of the inductance parameters to the incremental extended state observer and the incremental DPCC controller to identify and update the inductance parameters online in real time, thereby achieving robust current control of the permanent magnet synchronous motor.

[0005] Furthermore, in step S1, the expression for the incremental extended state observer is: ; ; in, For the d-axis current of the permanent magnet synchronous motor Increment of time, For the q-axis current of the permanent magnet synchronous motor Increment of time, For incremental extended state observers of the d-axis current of permanent magnet synchronous motors The incremental predicted value at time step, For incremental extended state observers of the q-axis current of permanent magnet synchronous motors The incremental predicted value at time step, For the d-axis voltage of the permanent magnet synchronous motor Increment of time, For the q-axis voltage of the permanent magnet synchronous motor Increment of time, For the d-axis disturbance of the permanent magnet synchronous motor Incremental estimation at time step, For the q-axis disturbance of the permanent magnet synchronous motor Incremental estimation at time step, For the d-axis of the permanent magnet synchronous motor in Predicted current at time of day For the q-axis of the permanent magnet synchronous motor Predicted current at time of day For the first electric angular velocity at time t, To control the cycle, The inductance parameters used by the incremental extended state observer and the incremental DPCC controller. and All are incremental extended state observer gains. For the d-axis current of the permanent magnet synchronous motor The incremental predicted value at time step, For the d-axis current of the permanent magnet synchronous motor Predicted current at time +1 For the d-axis disturbance of the permanent magnet synchronous motor Incremental estimation at time step, For the q-axis current of the permanent magnet synchronous motor The incremental predicted value at time step, For the q-axis current of the permanent magnet synchronous motor Predicted current at time of day For the q-axis disturbance of the permanent magnet synchronous motor Incremental estimation at time step, for The difference between the d-axis current increment of the permanent magnet synchronous motor at time t and the d-axis current increment predicted by the incremental extended state observer. for The difference between the q-axis current increment of the permanent magnet synchronous motor at any given time and the q-axis current increment predicted by the incremental extended state observer.

[0006] Furthermore, the gain of the incremental extended state observer and gain The expression is: ; in, Let the bandwidth be a constant and satisfy the condition that... .

[0007] Furthermore, in step S2, the expression for the incremental DPCC controller is: ; ; in, Let d be the reference current at time k+2. Let q be the reference current at time k+2. for The d-axis incremental reference voltage at time t. for The q-axis incremental reference voltage at time t. for The d-axis reference voltage at time t. for The d-axis reference voltage at time t. for The q-axis reference voltage at time t. for The q-axis reference voltage at time t.

[0008] Furthermore, in step S2, the transfer function of the incremental DPCC controller... The expression is: ; in, , , , , , , , , , , j is the imaginary unit. This is the actual inductance value of the permanent magnet synchronous motor. , , , , , , , , , and These are all intermediate parameters and have no physical meaning. Let be the transfer function of the dq-axis current in the z-domain. Let be the transfer function of the dq-axis reference current in the z-domain. For complex variables, For bandwidth.

[0009] Furthermore, the transfer function of the incremental DPCC controller is calculated based on the incremental extended state observer, the incremental DPCC controller, and the current model of the incremental permanent magnet synchronous motor. The expression for the current model of the incremental permanent magnet synchronous motor is as follows: ; ; in, For the d-axis current of the permanent magnet synchronous motor Increment of time, For the q-axis current of the permanent magnet synchronous motor Increment of time, Let be the d-axis current of the permanent magnet synchronous motor at time k. Let be the d-axis current of the permanent magnet synchronous motor at time k+1. Let be the q-axis current of the permanent magnet synchronous motor at time k. Let q be the q-axis current of the permanent magnet synchronous motor at time k+1.

[0010] Furthermore, the estimated perturbation of the incremental extended state observer With actual disturbance The transfer function between them is expressed as: ; in, Estimation of perturbations for incremental extended state observers With actual disturbance The transfer function between them It is a complex variable.

[0011] Furthermore, in step S3, the expression for the fixed-time gradient descent method is: ; in, It is a differentiable function. For adaptive step size, and For adjusting adaptive step size The two coefficients, where x is the position variable. The derivative of the position variable. The derivative of the step size, Here, ||·|| represents the gradient operator, and ||·|| represents the modulo operation.

[0012] Furthermore, in step S3, in the fixed-time gradient descent method, the gradient direction is adjusted by introducing a correction sign factor: ; in, The corrected gradient for the objective function. Let be the inductance coefficient at time k. For symbolic functions, This is the gradient value after low-pass filtering at time k.

[0013] Furthermore, the calculation formula for identifying inductance parameters is as follows: .

[0014] Compared with the prior art, the present invention can achieve the following beneficial effects: This invention presents a current control method for permanent magnet synchronous motors (PMSMs) based on an incremental DPCC controller. By completely eliminating the influence of resistance and flux linkage parameters on the controller and introducing an inductor self-correction mechanism, it achieves true model-free control. Furthermore, by combining the proposed incremental ESO (Electronic Stability Optimizer), this invention fully utilizes its excellent disturbance suppression capabilities, outperforming traditional incremental DPCC schemes in system stability, current tracking accuracy, and harmonic suppression performance. This invention provides a new technical path for achieving PMSM current loop control that does not rely on precise motor parameters while possessing high dynamic response and low current harmonic levels. Attached Figure Description

[0015] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 A schematic flowchart of the current control method for permanent magnet synchronous motor based on an incremental DPCC controller as described in an embodiment of the present invention; Figure 2 A block diagram of the current control of a permanent magnet synchronous motor using an incremental DPCC controller as described in an embodiment of the present invention; Figure 3 Zero-pole distribution diagram of the conventional incremental DPCC controller with varying inductance to actual inductance as described in the embodiments of the present invention; Figure 4 The zero-pole distribution diagram of the incremental DPCC controller described in the embodiment of the present invention when the ratio of inductance to actual inductance changes at a bandwidth of 0.9. Figure 5 The Bode plot of the interference estimation observation error transfer function described in the embodiment of the present invention; Figure 6 The Bode plot of the transfer function of the observed disturbance estimation described in the embodiments of the present invention; Figure 7 The inductor parameter self-calibration flowchart described in the embodiments of the present invention; Figure 8 The inductor self-correction process curve under the inductor mismatch condition described in the embodiment of the present invention; Figure 9 The q-axis steady-state current output curves under two different control methods described in the embodiments of the present invention are shown below. Figure 10 The current response curves of two different control methods at a reference current step of 0.1s when the inductor is mismatched twice as described in the embodiment of the present invention and without inductor self-calibration are shown. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] like Figure 1 As shown, this invention provides a current control method for a permanent magnet synchronous motor based on an incremental DPCC controller, specifically including the following steps: S1: Construct an incremental extended state observer, which is used to estimate the lumped disturbance of the permanent magnet synchronous motor and output the predicted current of the permanent magnet synchronous motor; S2: Construct an incremental DPCC controller based on the lumped disturbance estimation result and the predicted current output by the incremental extended state observer; S3: Use the fixed-time gradient descent method to perform inductance parameter self-correction processing on the difference between the predicted current output by the incremental extended state observer and the actual current of the permanent magnet synchronous motor, thereby obtaining the identification of the inductance parameter; S4: Feed back the identification result of the inductance parameter to the incremental extended state observer and the incremental DPCC controller, perform online identification and real-time updating of the inductance parameter, and realize robust current control of the permanent magnet synchronous motor.

[0022] It should be noted that this invention first designs an incremental extended state observer to estimate the lumped disturbance of a permanent magnet synchronous motor, improving the robustness of the incremental DPCC controller under inductor parameter mismatch conditions, and simultaneously realizing the design of an incremental DPCC controller that does not rely on the motor flux linkage and resistance parameters. Secondly, based on the incremental extended state observer, an inductor self-calibration mechanism is introduced to achieve online identification and real-time updating of inductor parameters, ensuring the accuracy of the inductor parameters used by the incremental DPCC controller and the incremental extended state observer.

[0023] Furthermore, such as Figure 2 As shown, on the one hand, when the inductance parameters of the permanent magnet synchronous motor drift during operation, the inductance self-calibration module uses the difference between the predicted current value output by the incremental ESO (abbreviation for incremental extended state observer) and the actual current value of the motor, and employs the fixed-time gradient descent method to correct the inductance parameters in the incremental DPCC controller and the incremental ESO, thereby achieving robust current control of the incremental DPCC. On the other hand, the incremental ESO provides the incremental DPCC controller with the predicted current and lumped disturbance estimate for the next moment, thereby actively suppressing the lumped disturbance in the current loop control system and providing better current control performance. Through the synergistic effect of parameter correction and disturbance suppression, this invention effectively improves the control accuracy and robustness of the current loop.

[0024] To eliminate the influence of resistance and flux linkage parameters on the control system, an incremental extended state observer for the permanent magnet synchronous motor current loop is established. The incremental extended state observer can be represented as follows: (1); (2); In the formula, , These are permanent magnet synchronous motors shaft current at Increment of time, and Corresponding to and The predicted value, and It is a permanent magnet synchronous motor. shaft current at Increment in time. and These represent permanent magnet synchronous motors. Axis disturbance in Increment of time, and These represent permanent magnet synchronous motors. Axis disturbance in The increment estimate at time step. , and , These represent permanent magnet synchronous motors. Axis in Time and the Predicted current at time t. Indicates the first The electric angular velocity of the motor at any given time, Indicates the control period. These are the inductance parameters used by the incremental extended state observer and the incremental DPCC controller. and Both are bandwidth gains of incremental extended state observers.

[0025] To ensure the stability of the incremental extended state observer, and to guarantee that all its eigenvalues ​​fall within the range of... Among them Gain can be defined as: (3); By compensating for the total disturbance and predicted current estimated by the incremental extended state observer, the proposed incremental DPCC controller can be obtained, with the following expression: (4); (5); In the formula, and They represent time k+2 respectively Shaft reference current, where and The speed is supplied by the speed loop output of the motor control system. and They represent Incremental reference voltage at time, and They represent Moment Shaft reference voltage, and They represent Moment The shaft reference voltage is inverted and then provided to the SVPWM module for processing.

[0026] To analyze the proposed incremental DPCC controller based on an incremental extended state observer, the permanent magnet synchronous motor model is incrementally modified. This is because the resistance of the permanent magnet synchronous motor... Much smaller than the ratio of inductance to sampling period And the load is an inductive load, with resistance parameters... This can be ignored. Therefore, the current model of the incremental permanent magnet synchronous motor can be simplified to: (6); (7); To demonstrate that the proposed incremental extended state observer can improve tolerance to inductor mismatch, the proposed incremental DPCC controller is constructed by combining equations (1)-(7). It can be represented as: (8); in, , , , , , , , , , , .

[0027] like Figure 3 and Figure 4 The diagram shows the pole-zero distribution of a traditional incremental DPCC controller and the pole-zero distribution of an incremental DPCC based on an incremental ESO. The incremental ESO of this invention... It is 0.9. For example... Figure 3 As shown, when At that time, the extreme point First, when the stability boundary is crossed, the system becomes unstable. Conversely, when... As the value increases from 1 to 1.4, the three poles gradually move away from the origin; when At that time, the extreme point With the extreme point Simultaneously crossing the stability boundary, the system became unstable again. This demonstrates that, compared to traditional DPCC controllers... Compared to the stable range of the incremental DPCC controller, the inductive robustness is significantly reduced. For example... Figure 4 As shown, this invention adds a zero point and a pole, which can control the root locus direction, allowing the closed-loop pole to avoid undesirable regions. At the same time, it can pull the pole away from the boundary of the unit circle, which helps to improve the response speed of the control system. Furthermore, the tolerance of this invention for inductor parameter mismatch far exceeds that of traditional incremental DPCC controllers.

[0028] For equations (6) and (7), consider the rate of change of the d-axis due to disturbance. and the rate of change of the q-axis due to disturbance The incremental model of a permanent magnet synchronous motor, including the effects of lumped disturbances, can be expressed as: (9); (10); in, Let be the d-axis current of the permanent magnet synchronous motor at time k. Let be the d-axis current of the permanent magnet synchronous motor at time k+1. Let be the q-axis current of the permanent magnet synchronous motor at time k. Let q be the q-axis current of the permanent magnet synchronous motor at time k+1.

[0029] The incremental ESO estimation perturbation is established based on equations (1), (2), (9), and (10). With actual disturbance Transfer function between : (11); Perturbation estimation error It can be represented as: (12); like Figure 5 and Figure 6 The figure shows the Bode plots of the perturbation estimation transfer function and the perturbation estimation error transfer function of the incremental extended state observer and the traditional extended state observer, respectively, using a bandwidth of [missing information]. Both are 0.9. From Figure 5 As can be seen, under the same bandwidth, the incremental ESO proposed in this invention has a significantly lower perturbation observation error at low frequencies than the traditional ESO, and from... Figure 5 It can be seen that, under the same bandwidth, the incremental ESO proposed in this invention has a significantly wider disturbance observation range than the traditional ESO, indicating that it has stronger disturbance observation and compensation capabilities. Therefore, the incremental ESO has stronger disturbance tracking characteristics. Meanwhile, from... Figure 4 and Figure 5 As can be seen from the phase response curve, the incremental ESO also effectively improves the impact of phase lag on the control system.

[0030] Next, the inductor self-calibration method based on finite gradient descent effectively improves the robustness of inductor parameters and achieves good current control performance. The inductor parameters are self-calibrated online based on the relationship between the difference between the predicted current and the sampled current output by the incremental extended state observer and the inductor mismatch.

[0031] When the inductance parameters of a permanent magnet synchronous motor are mismatched, i.e. At time k+1, after ignoring the lumped disturbance term in the IESO (incremental ESO) expression, by subtracting equations (1) and (2) from equations (6) and (7), the lumped disturbance term in the IESO (incremental ESO) expression is obtained. The incremental current prediction error of the shaft can be expressed as follows: (13); (14); in, At time k+1 Incremental prediction of current error in shaft axis At time k+1 Incremental current prediction error.

[0032] Equations (13) and (14) show that at each sampling time, the incremental current prediction error is affected by inductance mismatch, and the incremental current prediction error and incremental voltage are approximately linearly related. This indicates that inductance information can be extracted from the incremental current prediction error using the incremental voltage. Therefore, this invention proposes an easy-to-implement inductance parameter extraction method based on the fixed-time gradient descent (FGM) method, which uses the error between the incremental predicted current and the actual motor current based on the incremental ESO, to improve the robustness of motor inductance parameters in the incremental DPCC controller and the incremental extended state observer.

[0033] The FGM used in this invention can be expressed as: (15); in, It is a differentiable function, in There is a unique extreme value at that point. It is an adaptive step size, and , It is used for adjustment The two coefficients, equation (15) will guide Move along the direction of the normalized negative gradient, and It will be dynamically adjusted according to the magnitude of the gradient. Equation (15) will converge to the desired value in a finite time. Furthermore, according to and Given the initial conditions, the convergence conditions and the upper limit of the settling time can be explicitly derived as follows: (16); As shown in equation (15), in order to ensure The gradient descent converges to the actual inductance value of the permanent magnet synchronous motor. It is necessary to build a connection with The relevant objective function. For convenience, let's use... Taking the axis as an example, the objective function based on equation (13) is constructed as follows: (17); in, express Incremental current prediction error.

[0034] (18); because , and The inherent fluctuations in the objective function can cause significant changes in its gradient, which may severely affect the accuracy of the extracted inductance parameters. To address this issue, the gradient expression in equation (18) is processed using a discrete low-pass filter, resulting in a filtered gradient expression: (19); in, and Let represent the gradient values ​​after low-pass filtering at time k+1 and time k, respectively. This represents the gradient value at time k before low-pass filtering. This is the cutoff frequency of the low-pass filter.

[0035] To address potential issues during gradient descent, such as modeling errors, low-pass filter delays, and numerical interference, which could lead to incorrect gradient directions, and thus... To address the issues of poor convergence or even system instability, this invention introduces a correction sign factor to adjust the gradient direction, thereby ensuring the convergence and robustness of FGM (Fixed-Time Gradient Descent). (20); in, Represents a symbolic function. This represents the corrected gradient of the objective function.

[0036] By substituting the result of equation (20) into equation (15) and discretizing it, a discrete form of the motor inductance parameter identification based on FGM, which is suitable for implementation on a digital signal processor, is obtained as follows: (twenty one); The above process completes the online identification of incremental DPCC inductor parameters. The identification process is as follows: Figure 7 As shown, by updating the identified inductance parameter values ​​in real time to the parameter models of the incremental DPCC controller and the incremental extended state observer, strong robustness of current control performance is achieved, and model-free current loop controller is realized.

[0037] Figure 8The inductor parameter self-correction process under the condition of a 2x initial mismatch in the current loop controller parameters shows that the inductor self-correction can be completed in 1 second, bringing the inductor parameters of the incremental DPCC controller to the actual inductor parameters of the permanent magnet synchronous motor. This indicates that the inductor self-correction algorithm proposed in this invention can effectively solve the problem of inductor parameter mismatch during the operation of the permanent magnet synchronous motor.

[0038] Figure 9 The results show a comparison of the steady-state current on the q-axis between a traditional incremental DPCC and the enhanced DPCC controller proposed in this invention. It can be seen that, thanks to the incremental extended state observer proposed in this invention, the present invention exhibits smaller current fluctuations and achieves higher precision current control.

[0039] Figure 10 This paper presents a comparison of the dynamic response curves of a traditional incremental DPCC and the enhanced DPCC controller proposed in this invention when tracking a step reference signal with q-axis current, under conditions of no inductor self-calibration method and a 2x inductor parameter mismatch. It can be seen that the present invention exhibits a shorter settling time, smaller overshoot, and lower current ripple, demonstrating its superior dynamic performance.

[0040] Therefore, the enhanced DPCC controller of the present invention has better disturbance rejection capability, higher tolerance to inductor mismatch and better dynamic performance compared with the traditional incremental DPCC.

[0041] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0042] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A current control method for a permanent magnet synchronous motor based on an incremental DPCC controller, characterized in that: Specifically, the steps include the following: S1: Construct an incremental extended state observer, which is used to estimate the lumped disturbance of the permanent magnet synchronous motor and output the predicted current of the permanent magnet synchronous motor. S2: Construct an incremental DPCC controller based on the lumped disturbance estimation results and predicted current output by the incremental extended state observer; S3: The difference between the predicted current output by the incremental extended state observer and the actual current of the permanent magnet synchronous motor is processed by inductance parameter self-correction using the fixed-time gradient descent method to obtain the identification of inductance parameters. S4: Feedback the identification results of the inductance parameters to the incremental extended state observer and the incremental DPCC controller to identify and update the inductance parameters online in real time, thereby achieving robust current control of the permanent magnet synchronous motor.

2. The method for current control of a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 1, characterized in that: In step S1, the expression for the incremental extended state observer is: ； ； in, For the d-axis current of the permanent magnet synchronous motor Increment of time, For the q-axis current of the permanent magnet synchronous motor Increment of time, For incremental extended state observers of the d-axis current of permanent magnet synchronous motors The incremental predicted value at time step, For incremental extended state observers of the q-axis current of permanent magnet synchronous motors The incremental predicted value at time step, For the d-axis voltage of the permanent magnet synchronous motor Increment of time, For the q-axis voltage of the permanent magnet synchronous motor Increment of time, For the d-axis disturbance of the permanent magnet synchronous motor Incremental estimation at time step, For the q-axis disturbance of the permanent magnet synchronous motor Incremental estimation at time step, For the d-axis of the permanent magnet synchronous motor in Predicted current at time of day For the q-axis of the permanent magnet synchronous motor Predicted current at time of day For the first electric angular velocity at time t, To control the cycle, The inductance parameters used by the incremental extended state observer and the incremental DPCC controller. and All are incremental extended state observer gains. For the d-axis current of the permanent magnet synchronous motor The incremental predicted value at time step, For the d-axis current of the permanent magnet synchronous motor Predicted current at time +1 For the d-axis disturbance of the permanent magnet synchronous motor Incremental estimation at time step, For the q-axis current of the permanent magnet synchronous motor The incremental predicted value at time step, For the q-axis current of the permanent magnet synchronous motor Predicted current at time of day For the q-axis disturbance of the permanent magnet synchronous motor Incremental estimation at time step, for The difference between the d-axis current increment of the permanent magnet synchronous motor at time t and the d-axis current increment predicted by the incremental extended state observer. for The difference between the q-axis current increment of the permanent magnet synchronous motor at any given time and the q-axis current increment predicted by the incremental extended state observer.

3. The current control method for a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 2, characterized in that: Gain of incremental extended state observer and gain The expression is: ； in, Let the bandwidth be a constant and satisfy the condition that... .

4. The current control method for a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 2, characterized in that: In step S2, the expression for the incremental DPCC controller is: ； ； in, Let d be the reference current at time k+2. Let q be the reference current at time k+2. for The d-axis incremental reference voltage at time t. for The q-axis incremental reference voltage at time t. for The d-axis reference voltage at time t. for The d-axis reference voltage at time t. for The q-axis reference voltage at time t. for The q-axis reference voltage at time t.

5. The current control method for a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 3, characterized in that: In step S2, the transfer function of the incremental DPCC controller The expression is: ； in, , , , , , , , , , , j is the imaginary unit. This is the actual inductance value of the permanent magnet synchronous motor. , , , , , , , , , and These are all intermediate parameters and have no physical meaning. Let be the transfer function of the dq-axis current in the z-domain. Let be the transfer function of the dq-axis reference current in the z-domain. For complex variables, For bandwidth.

6. The current control method for a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 5, characterized in that: The transfer function of the incremental DPCC controller is calculated based on the incremental extended state observer, the incremental DPCC controller, and the current model of the incremental permanent magnet synchronous motor. The expression for the current model of the incremental permanent magnet synchronous motor is as follows: ； ； in, For the d-axis current of the permanent magnet synchronous motor Increment of time, For the q-axis current of the permanent magnet synchronous motor Increment of time, Let be the d-axis current of the permanent magnet synchronous motor at time k. Let be the d-axis current of the permanent magnet synchronous motor at time k+1. Let be the q-axis current of the permanent magnet synchronous motor at time k. Let q be the q-axis current of the permanent magnet synchronous motor at time k+1.

7. The current control method for a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 2, characterized in that: Estimated perturbation of incremental extended state observer With actual disturbance The transfer function between them is expressed as: ； in, Estimation of perturbations for incremental extended state observers With actual disturbance The transfer function between them It is a complex variable.

8. The current control method for a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 1, characterized in that: In step S3, the expression for the fixed-time gradient descent method is: ； in, It is a differentiable function. For adaptive step size, and For adjusting adaptive step size The two coefficients, where x is the position variable. The derivative of the position variable. The derivative of the step size, Here, ||·|| represents the gradient operator, and ||·|| represents the modulo operation.

9. The current control method for a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 8, characterized in that: In step S3, in the fixed-time gradient descent method, the gradient direction is adjusted by introducing a correction sign factor: ； in, The corrected gradient for the objective function. Let be the inductance coefficient at time k. For symbolic functions, This is the gradient value after low-pass filtering at time k.

10. The current control method for a permanent magnet synchronous motor based on an incremental DPCC controller according to claim 9, characterized in that: The formula for identifying inductance parameters is as follows: 。

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