A method and system for controlling a permanent magnet synchronous motor

Abstract

The application relates to a permanent magnet synchronous motor control method and system, wherein the method comprises the following steps: constructing a mathematical model of a permanent magnet synchronous motor containing disturbance, and rewriting the mathematical model of the permanent magnet synchronous motor; constructing a sliding surface according to the rewritten mathematical model of the permanent magnet synchronous motor, and designing a control law according to the rewritten mathematical model of the permanent magnet synchronous motor and the sliding surface; constructing a generalized proportional integral observer according to the rewritten mathematical model of the permanent magnet synchronous motor, observing the lumped disturbance in the operation of the permanent magnet synchronous motor in real time by using the generalized proportional integral observer, compensating the control law according to the observed lumped disturbance, and realizing the control of the permanent magnet synchronous motor according to the compensated control law. The application can effectively improve the control precision of the permanent magnet synchronous motor and reduce the chattering phenomenon by designing a novel control law.

Description

Technical Field

[0001] This invention relates to the field of permanent magnet synchronous motor control technology, and in particular to a permanent magnet synchronous motor control method and system. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) offer advantages such as simple structure, small size, light weight, high efficiency, and a wide operating range. Based on advanced control algorithms, PMSMs have seen significant development and widespread application. They are widely used in various industrial sectors, including home appliances, electric vehicles, rail transportation, and aerospace.

[0003] However, the control of permanent magnet synchronous motors (PMSMs) presents certain challenges due to their strong coupling, nonlinear characteristics, and various disturbances. These disturbances include unmodeled dynamics, parameter uncertainties, and load disturbances. Furthermore, in some specialized applications, ensuring a high level of control performance is crucial. Therefore, addressing these challenges and improving control performance in PMSM control system design has attracted widespread attention from both academia and industry.

[0004] Proportional-integral (PI) controllers have been widely used in permanent magnet synchronous motors. However, when faced with rapidly changing loads, the response performance of PI controllers can no longer meet engineering requirements. To improve the performance of permanent magnet synchronous motor control systems, many advanced nonlinear control methods have been applied, such as sliding mode control, robust control, model predictive control, and backstepping control.

[0005] Traditional sliding mode control, a nonlinear control method, generates control signals directly using switching functions, which easily leads to chattering. This makes it difficult to apply to practical permanent magnet synchronous motor control systems, and its control accuracy and chattering issues need to be improved. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the problem that in the prior art, the permanent magnet synchronous motor control system, which uses sliding mode control to directly generate control signals by switching functions, is prone to chattering, which in turn leads to low control accuracy.

[0007] To solve the above technical problems, the present invention provides a control method for a permanent magnet synchronous motor, comprising:

[0008] Step S1: Construct a mathematical model of a permanent magnet synchronous motor with disturbances, and rewrite the mathematical model of the permanent magnet synchronous motor;

[0009] Step S2: Construct a sliding surface based on the modified mathematical model of the permanent magnet synchronous motor, and design a control law based on the modified mathematical model of the permanent magnet synchronous motor and the sliding surface;

[0010] Step S3: Construct a generalized proportional-integral observer based on the rewritten mathematical model of the permanent magnet synchronous motor. Use the generalized proportional-integral observer to observe the lumped disturbance during the operation of the permanent magnet synchronous motor in real time. Substitute the observed lumped disturbance into the control law to compensate for it. Use the compensated control law to control the permanent magnet synchronous motor.

[0011] In one embodiment of the present invention, step S1 constructs a mathematical model of the permanent magnet synchronous motor with disturbances, expressed as follows:

[0012] ;

[0013] in, The first derivative of the rotor's electric angular velocity. The rotor's electric angular velocity, For rotational inertia, The coefficient of viscous friction, For extreme logarithms, It is a permanent magnet flux chain. for shaft current, This represents the load torque.

[0014] In one embodiment of the present invention, the mathematical model parameters of the permanent magnet synchronous motor differ from the actual permanent magnet synchronous motor parameters, as expressed as follows:

[0015] ;

[0016] in, This is the nominal flux linkage value of the motor. This is the flux linkage error value. For nominal inductance, For inductance error, The nominal moment of inertia, This refers to the error in rotational inertia.

[0017] Based on the existence of parameter errors, the mathematical model of the permanent magnet synchronous motor is rewritten as follows:

[0018] ;

[0019] in, .

[0020] In one embodiment of the present invention, step S2 involves constructing a sliding surface based on the modified mathematical model of the permanent magnet synchronous motor, and designing a control law based on the modified mathematical model of the permanent magnet synchronous motor and the sliding surface, comprising:

[0021] Based on the revised mathematical model of the permanent magnet synchronous motor, the sliding surface is selected as:

[0022] ;

[0023] in, For sliding surface, For reference rotor electric angular velocity, The rotor's electric angular velocity;

[0024] Let the sliding surface The time derivative is:

[0025] ;

[0026] in, For synovial surface Time derivative, for The first derivative;

[0027] According to the sliding surface and The control law for a permanent magnet synchronous motor is designed using the following formula:

[0028] ;

[0029] in, This is the control law for a permanent magnet synchronous motor. For aggregated disturbances, For symbolic functions, , , , , , , These are the parameters that need to be designed.

[0030] In one embodiment of the present invention, step S2 verifies the stability of the sliding mode controller using a Lyapunov function, the method comprising:

[0031] The Lyapunov function is chosen as follows:

[0032] ;

[0033] in, , , for ;

[0034] ;

[0035] in, for The abbreviation, due to , Therefore, the Lyapunov function Positive definite and radially unbounded;

[0036] Let Lyapunov function derivative for:

[0037] ;

[0038] but The derivative is abbreviated as: ,in Finally, we can obtain:

[0039] ;

[0040] in, and , and ,therefore According to the Lyapunov stability criterion, the controller used for the output control law is stable. It is the smallest eigenvalue. It is the largest eigenvalue.

[0041] In one embodiment of the present invention, step S3 involves constructing a generalized proportional-integral observer based on the rewritten mathematical model of the permanent magnet synchronous motor, using the generalized proportional-integral observer to observe the lumped disturbances during the operation of the permanent magnet synchronous motor in real time, and substituting the observed lumped disturbances into the control law to compensate for them.

[0042] Based on the revised mathematical model of the permanent magnet synchronous motor, the generalized proportional-integral observer is designed as follows:

[0043] ;

[0044] in, , , , for and The estimated value, For aggregated disturbances, These are the parameters of the generalized proportional-integral observer;

[0045] The lumped disturbance during the operation of the permanent magnet synchronous motor is observed in real time using the generalized proportional-integral observer. ;

[0046] Based on real-time observed lumped disturbances The control law of the permanent magnet synchronous motor is substituted for compensation.

[0047] To solve the above technical problems, the present invention provides a permanent magnet synchronous motor control system, comprising:

[0048] Construction module: used to construct a mathematical model of a permanent magnet synchronous motor with disturbances, and to rewrite the mathematical model of the permanent magnet synchronous motor;

[0049] Design module: used to construct the sliding surface based on the modified mathematical model of the permanent magnet synchronous motor, and to design the control law based on the modified mathematical model of the permanent magnet synchronous motor and the sliding surface;

[0050] Compensation and Control Module: This module is used to construct a generalized proportional-integral observer based on the rewritten mathematical model of the permanent magnet synchronous motor. The generalized proportional-integral observer is used to observe the lumped disturbances during the operation of the permanent magnet synchronous motor in real time. The observed lumped disturbances are substituted into the control law to compensate for them. The control of the permanent magnet synchronous motor is achieved based on the compensated control law.

[0051] To solve the above-mentioned technical problems, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the permanent magnet synchronous motor control method described above.

[0052] To solve the above-mentioned technical problems, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the permanent magnet synchronous motor control method described above are implemented.

[0053] To solve the above-mentioned technical problems, the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the permanent magnet synchronous motor control method described above.

[0054] The technical solution of the present invention has the following advantages compared with the prior art:

[0055] The permanent magnet synchronous motor control method described in this invention employs an adaptive super-helical sliding diaphragm control algorithm (control law). By replacing fixed parameters with adaptive parameter terms, the dynamic performance of the system can be improved and chattering can be suppressed. This invention combines the proposed adaptive super-helical sliding diaphragm control algorithm (control law) with GPIO feedforward compensation to construct a composite control law, which enhances robustness and improves the control accuracy of the permanent magnet synchronous motor.

[0056] This invention employs a generalized proportional-integral observer (GPIO) for disturbance observation and compensation, which avoids selecting an excessively large gain in the controller. Furthermore, an adaptive gain is introduced ( This is to suppress chattering and alleviate the problem of sawtooth wave dynamic characteristics caused by discontinuous integral terms. Attached Figure Description

[0057] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0058] Figure 1 This is a flowchart of the method of the present invention;

[0059] Figure 2 This is a system control block diagram of a permanent magnet synchronous motor in an embodiment of the present invention;

[0060] Figure 3 This is a phase diagram of the sliding surface of the present invention and the conventional super-spiral sliding surface for controlling the sliding surface;

[0061] Figure 4 This is a performance comparison chart of the control law (OA SMC) of this invention, the PI controller, and the traditional super spiral sliding diaphragm controller (STSMC) during the motor startup phase.

[0062] Figure 5 This is a performance comparison diagram of the control law of the present invention, the PI controller, and the traditional super-spiral sliding diaphragm control law when the motor is subjected to a sudden load torque.

[0063] Figure 6 This is a comparison diagram of the rotational speed during the stable phase between the control law in this embodiment and the traditional super-spiral sliding diaphragm control law;

[0064] Figure 7 This invention is based on the set model parameters ( Wb) and the case where the two model parameters are inaccurate ( Wb、 Wb) Motor speed comparison diagram;

[0065] Figure 8 This is a comparison diagram of the GPIO and linear extended state observers of this invention observing sinusoidal perturbations. Detailed Implementation

[0066] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0067] Example 1

[0068] Reference Figure 1 As shown, this invention relates to a control method for a permanent magnet synchronous motor, comprising:

[0069] Step S1: Construct a mathematical model of a permanent magnet synchronous motor with disturbances, and rewrite the mathematical model of the permanent magnet synchronous motor;

[0070] Step S2: Construct a sliding surface based on the modified mathematical model of the permanent magnet synchronous motor, and design a control law based on the modified mathematical model of the permanent magnet synchronous motor and the sliding surface;

[0071] Step S3: Construct a generalized proportional-integral observer based on the rewritten mathematical model of the permanent magnet synchronous motor. Use the generalized proportional-integral observer to observe the lumped disturbance during the operation of the permanent magnet synchronous motor in real time. Substitute the observed lumped disturbance into the control law to compensate for it. Use the compensated control law to control the permanent magnet synchronous motor.

[0072] Combination Figure 1 and Figure 2 The following is a detailed description of this embodiment:

[0073] (a) Step S1 is as follows:

[0074] First, considering the changes in internal parameters of the motor and external load disturbances, a mathematical model of the permanent magnet synchronous motor with disturbances and the motor state equations are established, and a controller design method for the current loop is given.

[0075] Let the mathematical model of the permanent magnet synchronous motor be expressed as:

[0076] (1)

[0077] in, This is the first derivative of the rotor electric angular velocity of a permanent magnet synchronous motor and belongs to the speed loop formula. The rotor's electric angular velocity, For rotational inertia, The coefficient of viscous friction, For extreme logarithms, It is a permanent magnet flux chain. for shaft current, For load torque, This refers to the d-axis voltage of the permanent magnet synchronous motor. For stator resistance, This refers to the d-axis current of the permanent magnet synchronous motor. For stator inductance, for The first derivative, This refers to the q-axis voltage of the permanent magnet synchronous motor. This refers to the q-axis current of the permanent magnet synchronous motor. for The first derivative, and This belongs to the current loop formula.

[0078] Since the parameters of the mathematical model of a permanent magnet synchronous motor cannot be completely consistent with the actual motor parameters, there is an error in the parameters, which is expressed as:

[0079] (2)

[0080] in, For nominal magnetic flux, For magnetic flux linkage error, For nominal stator inductance, For stator inductance error, The nominal moment of inertia, For rotational inertia error, The nominal stator resistance, This refers to the stator resistance error.

[0081] Considering the existence of parameter errors, the speed loop formula in the mathematical model of permanent magnet synchronous motor (formula (1)) is changed. Rewritten as:

[0082] (3)

[0083] in, .

[0084] In order to decouple the d-axis current from the q-axis current (i.e., the d-axis current and the q-axis current do not affect each other), the current loop formula in formula (1) is changed (i.e., ... and Rewrite it as follows:

[0085] (4)

[0086] in, , This is the output of the current loop PI controller for the permanent magnet synchronous motor. The electric angular velocity of the permanent magnet synchronous motor and , For d-axis inductance, It is the q-axis inductance. For time, Given the stator resistance, the closed-loop transfer function of the q-axis current loop can be written as:

[0087] (5)

[0088] in, It is a complex frequency; , For the parameters of the q-axis PI controller, the selected parameters are:

[0089] (6)

[0090] in, For the desired system bandwidth, For the stator resistance, substituting formula (6) into formula (5), the current loop becomes a first-order system without overshoot and oscillation, expressed as:

[0091] (7)

[0092] It should be noted that the above formulas (4)-(7) are explained in detail to take into account the overall control of the permanent magnet synchronous motor. The following calculations do not use formulas (4)-(7).

[0093] (II) Step S2 is as follows:

[0094] In S2, this embodiment proposes a new adaptive superspiral sliding membrane control algorithm (i.e., the control law of formula (10)). The feasibility of the control law and the stability of the system are proved by Lyapunov function, and the fast convergence and chatter suppression capabilities of the control law are analyzed.

[0095] For the rewritten permanent magnet synchronous motor model (i.e., formula (3)), in this embodiment, the sliding surface is selected as:

[0096] (8)

[0097] in, For the synovial surface, The rotor's electric angular velocity, ω is the rotor's electric angular velocity.

[0098] Furthermore, the synovial surface The time derivative is:

[0099] (9)

[0100] in, The time derivative of the synovial surface. for The first derivative.

[0101] According to formula (8), the sliding surface And formula (9) The control law for a permanent magnet synchronous motor (i.e., an adaptive superspiral sliding membrane control law) is expressed as follows:

[0102] (10)

[0103] in, This is the control law for a permanent magnet synchronous motor. For aggregated disturbances, For symbolic functions, , , , , , , These are the parameters that need to be designed.

[0104] Substituting formula (10) into formula (9) yields:

[0105] (11)

[0106] Construct the Lyapunov function based on formulas (8) and (11). , represented as:

[0107] (12)

[0108] in, It can be written as a quadratic form. ,in , ,because middle , Therefore, the Lyapunov function It is positive definite and radially unbounded.

[0109] Furthermore, set derivative for:

[0110] (13)

[0111] Formula (13) can be simplified as follows: ,in Finally, we can obtain:

[0112] (14)

[0113] in, , , It is the smallest eigenvalue. It is the largest eigenvalue;

[0114] It is not difficult to find in formula (14) , The system converges in finite time, and the time will not exceed [a certain value]. ,in This is the start time. From this, we can derive formula (14). According to the Lyapunov stability criterion, the controller used for the output control law is stable.

[0115] In this embodiment, during the motor start-up phase, the sliding surface Larger Approaching This is a relatively large value, which accelerates the motor's starting speed. When the system state is at the sliding surface... nearby, Approaching As the gain decreases, system chattering decreases.

[0116] (III) Step S3 is as follows:

[0117] In S3, a generalized proportional-integral observer (GPIO) is used to observe the disturbances faced by the system in real time and substitute them into the control law of formula (10) for calculation and compensation.

[0118] Since the system parameters are bounded and do not change suddenly, it is reasonable to assume that the lumped disturbance... It is differentiable and its higher-order derivatives , satisfy , It is the highest order of the derivative.

[0119] In this embodiment, the generalized proportional-integral observer (GPIO) is designed in the following form based on the mathematical model of the permanent magnet synchronous motor (formula (3)):

[0120] (15)

[0121] in, , , , for and The estimated value, For aggregated disturbances, These are the observer parameters.

[0122] Considering formula (15), let the error be... The differential of the error is:

[0123] (16)

[0124] Continuing to differentiate formula (16), we can obtain:

[0125] (17)

[0126] because Formula (17) can be rewritten as:

[0127] (18)

[0128] Applying a Laplace transform to equation (18) yields the polynomial. In formula (18) The polynomial is This means that if the parameter Make polynomial If the Hurwitz is stable (i.e., all roots have real parts less than 0, thus it is stable), then the generalized proportional-integral observer (GPIO) can asymptotically observe lumped perturbations. , for of Second-rate, for of Second-rate.

[0129] Furthermore, based on the lumped disturbance observed in real time Substitute the control law of the permanent magnet synchronous motor (formula (10)) into the calculation compensation, and realize the control of the permanent magnet synchronous motor according to the compensated control law.

[0130] The experimental analysis is as follows:

[0131] To verify the effectiveness of the control method of the present invention, a simulation model of the control method was built in the MATLAB / Simulink environment, and the performance of the control method was verified under various experimental conditions.

[0132] When the permanent magnet synchronous motor is in normal operating condition, the system parameters are as follows: , Ω, mH, , Wb.

[0133] The experimental conditions were as follows: a load torque of 8 N·m was suddenly applied at 1 second, and the speed curves of the motor under different control laws were observed.

[0134] Depend on Figure 3 It can be seen that compared with the traditional superspiral sliding membrane control law (traditional STA), the adaptive superspiral sliding membrane control law (adaptive STA) proposed in this invention has a faster approach speed.

[0135] Depend on Figure 4 It can be seen that all three controllers, including the controller of this embodiment (OA SMC), the PI controller, and the traditional super-spiral sliding diaphragm controller (ST SMC), can track the speed reference value of 1000 rpm well. Among them, the method of this embodiment (OASMC) has the smallest speed peak and the shortest settling time.

[0136] Depend on Figure 5It can be seen that compared with the other two methods (ST SMC and PI controller), the method proposed in this invention (OA SMC) has less speed reduction when facing load torque, shorter time required to recover to the reference speed, and stronger robustness.

[0137] Depend on Figure 6 It can be seen that, in steady state, the method proposed in this invention (OA SMC) exhibits less chattering and higher control accuracy compared to the traditional super-spiral sliding membrane controller (ST SMC).

[0138] The system's nominal flux linkage is Wb, by Figure 7 It can be seen that when the magnetic flux is set to Wb and At Wb, the system still has high control accuracy compared to the nominal model, meaning the system has strong robustness to parameter mismatch.

[0139] Figure 8 The values ​​represent the sinusoidal perturbation observed by GPIO and the linear extended state observer ESO in this embodiment, indicating that GPIO can better observe rapidly changing non-constant perturbations compared to the linear extended state observer ESO.

[0140] Example 2

[0141] This embodiment provides a permanent magnet synchronous motor control system, including:

[0142] Construction module: used to construct a mathematical model of a permanent magnet synchronous motor with disturbances, and to rewrite the mathematical model of the permanent magnet synchronous motor;

[0143] Design module: used to construct the sliding surface based on the modified mathematical model of the permanent magnet synchronous motor, and to design the control law based on the modified mathematical model of the permanent magnet synchronous motor and the sliding surface;

[0144] Compensation and Control Module: This module is used to construct a generalized proportional-integral observer based on the rewritten mathematical model of the permanent magnet synchronous motor. The generalized proportional-integral observer is used to observe the lumped disturbances during the operation of the permanent magnet synchronous motor in real time. The observed lumped disturbances are substituted into the control law to compensate for them. The control of the permanent magnet synchronous motor is achieved based on the compensated control law.

[0145] Example 3

[0146] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the permanent magnet synchronous motor control method described in Embodiment 1.

[0147] Example 4

[0148] This embodiment provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of the permanent magnet synchronous motor control method described in Embodiment 1.

[0149] Example 5

[0150] This embodiment provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the permanent magnet synchronous motor control method as described in Embodiment 1.

[0151] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0152] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0153] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0154] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0155] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0156] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A control method for a permanent magnet synchronous motor, characterized in that: include: Step S1: Construct a mathematical model of a permanent magnet synchronous motor with disturbances, and rewrite the mathematical model of the permanent magnet synchronous motor; Based on the existence of parameter errors, the mathematical model of the permanent magnet synchronous motor is rewritten as follows: ； in, , The first derivative of the rotor's electric angular velocity. The rotor's electric angular velocity, For extreme logarithms, This is the nominal flux linkage value of the motor. The nominal moment of inertia, for shaft current, This is the flux linkage error value. For rotational inertia error, For rotational inertia, The coefficient of viscous friction, This is the load torque; Step S2: Construct a sliding surface based on the modified mathematical model of the permanent magnet synchronous motor, and design a control law based on the modified mathematical model of the permanent magnet synchronous motor and the sliding surface; Step S2 involves constructing a sliding mode surface based on the modified mathematical model of the permanent magnet synchronous motor. The method for designing the control law based on the modified mathematical model of the permanent magnet synchronous motor and the sliding mode surface includes: Based on the revised mathematical model of the permanent magnet synchronous motor, the sliding surface is selected as: ； in, For sliding surface, For reference rotor electrical angular velocity, The rotor's electric angular velocity; Let the sliding surface The time derivative is: ； in, For synovial surface Time derivative, for The first derivative; According to the sliding surface and The control law for a permanent magnet synchronous motor is designed using the following formula: ； in, This is the control law for a permanent magnet synchronous motor. For aggregated disturbances, For symbolic functions, , , , , , , For the parameters that need to be designed; Step S3: Construct a generalized proportional-integral observer based on the rewritten mathematical model of the permanent magnet synchronous motor. Use the generalized proportional-integral observer to observe the lumped disturbance during the operation of the permanent magnet synchronous motor in real time. Substitute the observed lumped disturbance into the control law to compensate for it. Use the compensated control law to control the permanent magnet synchronous motor. Step S3 involves constructing a generalized proportional-integral (PII) observer based on the rewritten mathematical model of the permanent magnet synchronous motor. The method of using this PPI observer to monitor the lumped disturbances during the operation of the permanent magnet synchronous motor in real time, and then substituting the observed lumped disturbances into the control law for compensation, includes: Based on the revised mathematical model of the permanent magnet synchronous motor, the generalized proportional-integral observer is designed as follows: ； in, , , , for and The estimated value, For aggregated disturbances, These are the parameters of the generalized proportional-integral observer; The lumped disturbance during the operation of the permanent magnet synchronous motor is observed in real time using the generalized proportional-integral observer. ; Based on real-time observed lumped disturbances The control law of the permanent magnet synchronous motor is substituted for compensation.

2. The permanent magnet synchronous motor control method according to claim 1, characterized in that: Step S1 constructs a mathematical model of the permanent magnet synchronous motor with disturbances, expressed as follows: ； in, The first derivative of the rotor's electric angular velocity. The rotor's electric angular velocity, For rotational inertia, The coefficient of viscous friction, For extreme logarithms, It is a permanent magnet flux linkage. for shaft current, This represents the load torque.

3. The permanent magnet synchronous motor control method according to claim 2, characterized in that: The mathematical model parameters of the permanent magnet synchronous motor differ from the actual permanent magnet synchronous motor parameters, as expressed below: ； in, This is the nominal flux linkage value of the motor. This is the flux linkage error value. For nominal inductance, For inductance error, The nominal moment of inertia, This represents the error in rotational inertia.

4. The permanent magnet synchronous motor control method according to claim 1, characterized in that: Step S2 verifies the stability of the sliding mode controller using Lyapunov functions, and the method includes: The Lyapunov function is chosen as follows: ； in, , , for ; ； in, for The abbreviation, due to , Therefore, the Lyapunov function Positive definite and radially unbounded; Let Lyapunov function derivative for: ； but The derivative is abbreviated as: ,in Finally, we can obtain: ； in, and , and ,therefore According to the Lyapunov stability criterion, the controller used for the output control law is stable. It is the smallest eigenvalue. It is the largest eigenvalue.

5. A permanent magnet synchronous motor control system, used to implement the permanent magnet synchronous motor control method as described in any one of claims 1 to 4, characterized in that: include: Construction module: used to construct a mathematical model of a permanent magnet synchronous motor with disturbances, and to rewrite the mathematical model of the permanent magnet synchronous motor; Design module: used to construct the sliding surface based on the modified mathematical model of the permanent magnet synchronous motor, and to design the control law based on the modified mathematical model of the permanent magnet synchronous motor and the sliding surface; Compensation and Control Module: This module is used to construct a generalized proportional-integral observer based on the rewritten mathematical model of the permanent magnet synchronous motor. The generalized proportional-integral observer is used to observe the lumped disturbances during the operation of the permanent magnet synchronous motor in real time. The observed lumped disturbances are substituted into the control law to compensate for them. The control of the permanent magnet synchronous motor is achieved based on the compensated control law.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the steps of the permanent magnet synchronous motor control method as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the permanent magnet synchronous motor control method as described in any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that: When the computer program is executed by the processor, it implements the steps of the permanent magnet synchronous motor control method as described in any one of claims 1 to 4.

Images