BLDC terminal sliding mode control method and device based on Luenberger observer

Abstract

The invention relates to a BLDC terminal sliding mode control method and device based on a Luenberger observer, and the method comprises the steps: building a state equation for describing the rotating speed and load torque of a motor under a synchronous rotating coordinate system based on a permanent magnet synchronous equivalent model of the BLDC motor; according to the state equation, a nonsingular terminal sliding mode surface is constructed with a motor rotating speed tracking error as a state variable, a terminal sliding mode control law is formed according to the nonsingular terminal sliding mode surface, and a control quantity used for adjusting the electromagnetic torque of the motor is obtained; constructing a Luenberger observer based on the state equation, and observing a load torque in real time to obtain an observed load torque; and combining the observed load torque serving as a feedforward compensation quantity with a control quantity output by the terminal sliding mode control law to form a control signal for driving the brushless direct current motor. According to the invention, through the combination of the sliding mode control law and the Luenberger observer, the robustness of the BLDC system is improved, and the torque ripple existing in low-speed operation is suppressed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of magnetic synchronous motor control, and particularly relates to a BLDC terminal sliding mode control method and device based on a Luenberger observer. BACKGROUND

[0002] A brushless direct current motor (BLDC) is frequently used as a single-rotor compressor in the small-power products of the heating and ventilation industry due to its high power density, long service life, low noise and low cost. Therefore, how to realize efficient and stable control of the BLDC has become a research hotspot in the heating and ventilation industry. In the control strategy of the BLDC, the vector control strategy is widely used due to its high control efficiency and control accuracy. The structure of the vector control strategy is a control structure in which a speed loop and two current loops are connected in series. In the control design of the speed loop and the current loop, the traditional PI control technology is generally used due to its simple implementation. However, in the actual BLDC, there are nonlinear internal and external disturbances and uncertainties, which usually include unmodeled dynamics, parameter perturbation, load disturbance and torque ripple. In this case, the traditional linear control method represented by the PI control is difficult to make the BLDC single-rotor compressor have satisfactory robustness. In order to improve the robustness of the motor system, various nonlinear methods are developed and applied to the motor.

[0003] Among various nonlinear control strategies, the sliding mode control has attracted widespread attention and has been successfully applied to the BLDC speed regulation system due to its advantages of being insensitive to model errors, parameter perturbation and external disturbances. Although the sliding mode control significantly improves the robustness of the BLDC system compared with the PI control, there are still problems to be solved in the sliding mode control. For example, the traditional linear sliding mode control can only asymptotically drive the system state to converge to the origin, and cannot suppress the torque ripple existing in the low-speed operation of the BLDC system. SUMMARY

[0004] To solve the problem of torque pulsation and external disturbance of the BLDC single rotor compressor system based on the vector control strategy during operation, a BLDC terminal sliding mode control method based on a Luenberger observer is provided in the first aspect of the application, comprising: based on the permanent magnet synchronous equivalent model of the brushless direct current motor, a state equation describing the motor speed and load torque is established in the synchronous rotating coordinate system; according to the state equation, a non-singular terminal sliding mode surface is constructed with the motor speed tracking error as the state variable, and a terminal sliding mode control law is formed according to the non-singular terminal sliding mode surface, and a control amount for adjusting the motor electromagnetic torque is obtained; based on the state equation, a Luenberger observer is constructed to observe the load torque in real time, and an observed load torque is obtained; the observed load torque is combined with the control amount output by the terminal sliding mode control law as a feedforward compensation amount to form a control signal for driving the brushless direct current motor.

[0005] In some embodiments of the application, the non-singular terminal sliding mode surface includes the motor speed tracking error and the derivative of the motor speed tracking error, and is constructed through a nonlinear power function relationship.

[0006] Further, the non-singular terminal sliding mode surface uses a non-smooth nonlinear function to transform the motor speed tracking error and / or the derivative of the motor speed tracking error.

[0007] In some embodiments of the application, the terminal sliding mode control law includes: an equivalent control term for making the system state move along the non-singular terminal sliding mode surface under the condition of the permanent magnet synchronous equivalent model; a switching control term for driving the system state to reach and remain in the state set corresponding to the non-singular terminal sliding mode surface when there is a disturbance, wherein the control gain of the switching control term is greater than the predetermined upper bound of the lumped disturbance of the brushless direct current motor system.

[0008] Further, the control signal is configured to generate a pulse width modulation signal for driving the three-phase inverter bridge of the brushless direct current motor according to the compensated control law, to adjust the motor phase current and achieve speed tracking.

[0009] In some embodiments of the application, the Luenberger observer takes the control signal and the measured motor speed as input and output respectively, and the observer gain is configured to make the poles of the observation error dynamic stability located in the left half plane of the complex plane.

[0010] A second aspect of the present invention provides a BLDC terminal sliding mode control device based on a Luenberger observer, comprising: a setup module for establishing a state equation describing the motor speed and load torque in a synchronous rotating coordinate system based on a permanent magnet synchronous equivalent model of a brushless DC motor; an adjustment module for constructing a non-singular terminal sliding surface according to the state equation, using the motor speed tracking error as the state variable, and forming a terminal sliding mode control law according to the non-singular terminal sliding surface to obtain a control quantity for adjusting the electromagnetic torque of the motor; an observation module for constructing a Luenberger observer based on the state equation to observe the load torque in real time to obtain the observed load torque; and an output module for combining the observed load torque as a feedforward compensation quantity with the control quantity output by the terminal sliding mode control law to form a control signal for driving the brushless DC motor.

[0011] A third aspect of the present invention provides an electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the BLDC terminal sliding mode control method based on the Lumberjack observer provided in the first aspect of the present invention.

[0012] In a fourth aspect, the present invention provides a computer-readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the BLDC terminal sliding mode control method based on a Luneburg observer provided in the first aspect of the present invention.

[0013] The beneficial effects of this invention are: This invention constructs a non-singular terminal sliding mode controller, which enables the speed tracking error to converge to the origin in a finite time, thus avoiding the singularity problem; by designing a Luenberger torque observer as feedforward compensation for the controller, torque ripple is suppressed; and by using a terminal sliding mode controller based on a Luenberger observer, the disturbance rejection performance of the BLDC system can be improved. Attached Figure Description

[0014] Figure 1 This is a basic flowchart of the BLDC terminal sliding mode control method based on the Lumberjack observer in some embodiments of the present invention; Figure 2 This is a schematic diagram illustrating the specific process of the BLDC terminal sliding mode control method based on the Lumberjack observer in some embodiments of the present invention; Figure 3 This is a schematic diagram of the structure of a BLDC terminal sliding mode control device based on a Luneburg observer in some embodiments of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device in some embodiments of the present invention. Detailed Implementation

[0015] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0016] Example 1 refer to Figure 1 and Figure 2 In a first aspect of the present invention, a BLDC terminal sliding mode control method based on a Luenberger observer is provided, comprising: S100. Establishing a state equation describing the motor speed and load torque in a synchronous rotating coordinate system based on a permanent magnet synchronous equivalent model of a brushless DC motor; S200. Constructing a non-singular terminal sliding surface with the motor speed tracking error as the state variable according to the state equation, and forming a terminal sliding mode control law according to the non-singular terminal sliding surface to obtain a control quantity for adjusting the electromagnetic torque of the motor; S300. Constructing a Luenberger observer based on the state equation to observe the load torque in real time to obtain the observed load torque; S400. Combining the observed load torque as a feedforward compensation quantity with the control quantity output by the terminal sliding mode control law to form a control signal for driving the brushless DC motor.

[0017] It's understandable that if the back EMF of a BLDC is close to sinusoidal (e.g., in some "sinusoidal BLDC" or high pole arc coefficient designs), a dq model can be approximated, and vector control (FOC) can be used to improve performance. For typical trapezoidal BLDCs, forcibly using a dq model will introduce modeling errors, leading to decreased control performance (such as increased torque ripple and reduced efficiency). For typical BLDCs, six-step commutation control (based on Hall sensors or zero-crossing detection of back EMF) can be used. If high performance (low noise, low torque ripple) is desired, a sinusoidal drive + FOC can be used, treating the motor as a PMSM (in which case the dq model is applicable).

[0018] In step S100 of some embodiments of the present invention, based on the permanent magnet synchronous equivalent model of a brushless DC motor, a state equation describing the motor speed and load torque is established in a synchronous rotating coordinate system. Specifically, a mathematical model of the surface-mounted permanent magnet synchronous motor in the synchronous rotating coordinate system was established based on the principle of coordinate transformation. It was assumed that the motor system was in an ideal state, and the following was adopted: The vector control scheme for the surface-mounted permanent magnet synchronous motor in the synchronous rotating coordinate system is as follows: , The torque equation is: , in, and These are the stator current, voltage, and inductance, respectively. The components of the axis; and Stator current and inductance are respectively The components of the axis; This refers to the rotor's mechanical angular velocity; and These are the load torque and the electromagnetic torque, respectively. This represents the number of pole pairs of the motor. Phase resistance; It is the moment of inertia; The coefficient of friction; This refers to the motor flux linkage. It's worth noting that when a BLDC motor operates at high speeds, torque ripple is naturally filtered out to some extent by the rotor or load inertia; therefore, torque ripple is more noticeable at low speeds.

[0019] In step S200 of some embodiments of the present invention, a non-singular terminal sliding surface is constructed according to the state equation, with the motor speed tracking error as the state variable, and a terminal sliding control law is formed according to the non-singular terminal sliding surface to obtain the control quantity for adjusting the electromagnetic torque of the motor. The non-singular terminal sliding surface includes the motor speed tracking error and the derivative of the motor speed tracking error, and is constructed through a nonlinear power function relationship.

[0020] Specifically, the state equation for the motor speed tracking error can be constructed as follows: , In the formula The desired angular velocity of the rotor; This refers to the speed tracking error; This is the derivative of the speed tracking error.

[0021] Furthermore, the non-singular terminal sliding surface uses a non-smooth nonlinear function to transform the motor speed tracking error and / or the derivative of the motor speed tracking error.

[0022] That is: for state variables and Further differentiation yields: , In the formula ; To control the input signal; For the lumped disturbance of the permanent magnet synchronous motor system, satisfy and It is a bounded positive number; The load torque of the motor to be observed is denoted as .

[0023] Without loss of generality, traditional non-singular terminal sliding surfaces for: , In the formula It is a positive number; and It is a positive odd number and satisfies .because The system state will not exhibit any singular issues during sliding mode motion.

[0024] To achieve faster and higher tracking accuracy in the motor control system, the traditional non-singular terminal sliding surface is... Traditional functions in Replace with a non-smooth function ,in It is a positive integer that satisfies Operator The operation rules are as follows Therefore, traditional non-singular terminal sliding surfaces It can be improved as follows:

[0025] As can be seen, compared to traditional non-singular terminal sliding surfaces... Improved non-singular terminal sliding surface medium state variables index The selection criteria are more flexible.

[0026] In step S200 of some embodiments of the present invention, the terminal sliding mode control law includes: an equivalent control term for causing the system state to move along the non-singular terminal sliding surface under the condition of the permanent magnet synchronous equivalent model; and a switching control term for driving the system state to reach and remain within the state set corresponding to the non-singular terminal sliding surface when there is a disturbance, wherein the control gain of the switching control term is greater than a predetermined upper bound of the lumped disturbance of the brushless DC motor system.

[0027] Specifically, to achieve the control objective, a non-singular terminal sliding mode controller is designed. Firstly, an improved non-singular terminal sliding surface is... Differentiation yields: , Based on equivalent control theory, combined with the state equation of speed tracking error and non-singular terminal sliding surface make Design an equivalent controller for: , Ideally, equivalent control can maintain the system's motion on the sliding surface. However, equivalent control may not be able to move the system state from the arrival phase to the sliding phase, so an additional action called switching control is needed, which should act on the system in conjunction with the equivalent control. Therefore, a non-singular terminal sliding mode controller can be designed. for: , In the formula To control the gain. To ensure the controller can stabilize the motor system, the control gain... It needs to be greater than the upper bound of the disturbance, that is, the condition is met. .

[0028] In step S300 of some embodiments of the present invention, a Lumberjack observer is constructed based on the state equation to observe the load torque in real time and obtain the observed load torque. The Luneburger observer takes the control signal and the measured motor speed as input and output, respectively, and the observer gain is configured such that the pole of the observation error is located in the left half of the complex plane.

[0029] To further improve the non-singular terminal sliding mode controller The torque ripple suppression capability is assessed by constructing a Luneburg torque observer to observe the load torque based on the mathematical model of the permanent magnet synchronous motor. , In the formula, State variables , and Input variables and output variables ; For the system matrix , For the input matrix , For the output matrix , Feedback matrix It should be noted that, in order to ensure that the observation error converges to zero in a timely manner, the matrix... The eigenvalues ​​must be less than 0. J This represents the total moment of inertia of the rotor and load (kg·m²). For example, Ω represents the motor angular velocity (rad / s), Te represents the electromagnetic torque (generated by the stator current), TL represents the load torque (external disturbance), and B represents the viscous friction coefficient (often ignored or combined).

[0030] Furthermore, the control signal is configured to generate a pulse width modulation signal for driving the three-phase inverter bridge of the brushless DC motor according to the compensated control law, so as to adjust the motor phase current and achieve speed tracking.

[0031] In step S400 of some embodiments of the present invention, the observed load torque is combined with the control quantity output by the terminal sliding mode control law as a feedforward compensation quantity to form a control signal for driving the brushless DC motor.

[0032] Specifically, the output observation torque of the Luneburger observer As a feedforward signal, it is used to compensate for the non-singular terminal sliding mode controller. In this way, a new terminal sliding mode controller can be constructed. for: , Among them, control gain satisfy The final designed terminal sliding mode controller This enables the speed tracking error of the permanent magnet synchronous motor system to be within the non-singular terminal sliding surface. It converges to the origin.

[0033] In one specific embodiment of the present invention, the following specific implementation steps are included: Step 1: A mathematical model of the permanent magnet synchronous motor in the synchronous rotating coordinate system was established based on the principle of coordinate transformation; Step 2: Based on the improved mathematical model of the permanent magnet synchronous motor in Step 1, define the tracking error of the motor speed as the system state variable, and design a non-singular terminal sliding surface. Step 3: To improve the non-singular terminal sliding surface in Step 2, a novel non-smooth function is introduced to replace the traditional function, enabling the motor control system to have faster and higher tracking accuracy. Step 4: Based on the improved non-singular terminal sliding surface in Step 3, design a non-singular terminal sliding controller to enable the actual motor speed to quickly and stably track the given speed. Step 5: To further improve the torque ripple suppression capability of the controller proposed in Step 4, a Luneburg observer is introduced to estimate the load torque. Step 6: Compensate the Lumberjack torque observer from Step 5 into the controller designed in Step 4 to obtain a BLDC terminal sliding mode control method based on the Lumberjack observer.

[0034] It is understood that this invention constructs a mathematical model of a surface-mounted permanent magnet synchronous motor, defines the system's state variables, and designs a non-singular terminal sliding mode controller to ensure that the motor speed stably tracks the given signal; and constructs a Luneburg observer to feed the observed torque forward to the sliding mode controller to suppress torque pulsation.

[0035] Example 2 refer to Figure 3 In a second aspect, the present invention provides a BLDC terminal sliding mode control device 1 based on a Luenberger observer, comprising: a setup module 11, used to establish a state equation describing the motor speed and load torque in a synchronous rotating coordinate system based on a permanent magnet synchronous equivalent model of a brushless DC motor; an adjustment module 12, used to construct a non-singular terminal sliding surface according to the state equation, with the motor speed tracking error as the state variable, and to form a terminal sliding mode control law according to the non-singular terminal sliding surface, thereby obtaining a control quantity for adjusting the electromagnetic torque of the motor; an observation module 13, used to construct a Luenberger observer based on the state equation, to observe the load torque in real time, thereby obtaining the observed load torque; and an output module 14, used to combine the observed load torque as a feedforward compensation quantity with the control quantity output by the terminal sliding mode control law to form a control signal for driving the brushless DC motor.

[0036] Furthermore, the adjustment module 12 includes: a construction unit, used to construct a non-singular terminal sliding surface based on the state equation and with the motor speed tracking error as the state variable; and an adjustment unit, used to form a terminal sliding control law based on the non-singular terminal sliding surface to obtain a control quantity for adjusting the electromagnetic torque of the motor.

[0037] Example 3 refer to Figure 4 In a third aspect, the present invention provides an electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the BLDC terminal sliding mode control method based on the Lumberjack observer of the first aspect of the present invention.

[0038] Electronic device 500 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 502 or a program loaded from storage device 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of electronic device 500. The processing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. An input / output (I / O) interface 505 is also connected to bus 504.

[0039] Typically, the following devices can be connected to I / O interface 505: input devices 506 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 507 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 508 including, for example, hard disks; and communication devices 509. Communication device 509 allows electronic device 500 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 500 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 4 Each box shown can represent a device or multiple devices as needed.

[0040] Specifically, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by a processing device 501, it performs the functions defined in the methods of embodiments of this disclosure. It should be noted that the computer-readable medium described in embodiments of this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0041] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more computer programs, which, when executed by the electronic device, cause the electronic device to: Computer program code for performing the operations of embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, C++, and Python—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0042] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A BLDC terminal sliding mode control method based on a Luneburg observer, characterized in that, include: Based on the permanent magnet synchronous equivalent model of a brushless DC motor, a state equation describing the motor speed and load torque is established in a synchronous rotating coordinate system. Based on the state equation, a non-singular terminal sliding surface is constructed with the motor speed tracking error as the state variable, and a terminal sliding control law is formed based on the non-singular terminal sliding surface to obtain the control quantity used to adjust the electromagnetic torque of the motor. A Luenberger observer is constructed based on the state equation to observe the load torque in real time and obtain the observed load torque. The observed load torque is used as a feedforward compensation quantity and combined with the control quantity output by the terminal sliding mode control law to form a control signal for driving the brushless DC motor.

2. The BLDC terminal sliding mode control method based on a Luneburger observer according to claim 1, characterized in that, The non-singular terminal sliding surface includes the motor speed tracking error and the derivative of the motor speed tracking error, and is constructed through a nonlinear power function relationship.

3. The BLDC terminal sliding mode control method based on a Luneburger observer according to claim 2, characterized in that, The non-singular terminal sliding surface uses a non-smooth nonlinear function to transform the motor speed tracking error and / or the derivative of the motor speed tracking error.

4. The BLDC terminal sliding mode control method based on a Luneburg observer according to claim 1, characterized in that, The terminal sliding mode control law includes: An equivalent control term is used to make the system state move along the non-singular terminal sliding surface under the condition based on the permanent magnet synchronous equivalent model; A switching control term is used to drive the system state to reach and remain within the state set corresponding to the non-singular terminal sliding surface when a disturbance exists, wherein the control gain of the switching control term is greater than a predetermined upper bound of the lumped disturbance of the brushless DC motor system.

5. The BLDC terminal sliding mode control method based on a Luneburg observer according to claim 4, characterized in that, The control signal is configured to generate a pulse width modulation signal to drive the three-phase inverter bridge of the brushless DC motor according to the compensated control law, so as to adjust the motor phase current and achieve speed tracking.

6. The BLDC terminal sliding mode control method based on a Luneburg observer according to claim 1, characterized in that, The Luneburger observer takes the control signal and the measured motor speed as input and output, respectively, and the observer gain is configured such that the poles of the observation error are located in the left half of the complex plane.

7. A BLDC terminal sliding mode control device based on a Luneburg observer, characterized in that, include: A module is established to create a permanent magnet synchronous equivalent model based on a brushless DC motor, and to establish state equations describing the motor speed and load torque in a synchronous rotating coordinate system. The adjustment module is used to construct a non-singular terminal sliding surface based on the state equation, with the motor speed tracking error as the state variable, and to form a terminal sliding control law based on the non-singular terminal sliding surface to obtain the control quantity for adjusting the electromagnetic torque of the motor. The observation module is used to construct a Luneburger observer based on the state equation, observe the load torque in real time, and obtain the observed load torque. The output module is used to combine the observed load torque as a feedforward compensation quantity with the control quantity output by the terminal sliding mode control law to form a control signal for driving the brushless DC motor.

8. The BLDC terminal sliding mode control device based on the Lumberjack observer according to claim 7, characterized in that, The adjustment module includes: A construction unit is used to construct a non-singular terminal sliding surface based on the state equation, with the motor speed tracking error as the state variable; The adjustment unit is used to form a terminal sliding mode control law based on the non-singular terminal sliding mode surface to obtain a control quantity for adjusting the electromagnetic torque of the motor.

9. An electronic device, comprising: One or more processors; A storage device for storing one or more programs, characterized in that, when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the BLDC terminal sliding mode control method based on the Lumberjack observer as described in any one of claims 1 to 6.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the BLDC terminal sliding mode control method based on the Lumberjack observer as described in any one of claims 1 to 6.

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