Permanent magnet synchronous motor two-degree-of-freedom active disturbance rejection position control method, system and device

Abstract

The application discloses a two-degree-of-freedom active disturbance rejection position control method, system and device of a permanent magnet synchronous motor, relates to the technical field of motor control and servo driving, and comprises the following steps: acquiring a reference position instruction and an actual position feedback signal of the permanent magnet synchronous motor; inputting the actual position feedback signal and a current control amount into a two-degree-of-freedom extended observer with a pure differential observation structure, and outputting a state observation value; calculating a system tracking error based on a smoothed position tracking signal and the state observation value; generating a preliminary control amount according to the system tracking error by using a linear state error feedback control law, and combining a total disturbance observation value to perform feedforward compensation, and generating a final control instruction to drive the permanent magnet synchronous motor; and the method enables the permanent magnet synchronous motor servo system to realize the ability of no overshoot, fast response, small steady-state error and strong disturbance suppression under the reference position instruction.

Description

Technical Field

[0001] This invention relates to the field of motor control and servo drive technology, specifically to a method, system, and device for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in modern AC servo systems due to their simple structure, high power density, high reliability, and ease of control, especially in fields such as electric vehicles, industrial robots, aerospace, and precision CNC machining, where high motor performance and control accuracy are required. To meet the control demands of high-end applications, extremely high requirements are placed on the position control accuracy, dynamic response speed, and anti-interference capabilities of PMSM servo systems.

[0003] Among many advanced control strategies, Active Disturbance Rejection Control (ADRC) has attracted widespread attention due to its low dependence on the accuracy of the system model and its ability to actively estimate and compensate for internal and external disturbances. Traditional linear ADRC usually uses a linear extended state observer (LESO) to estimate the total disturbance of the system (including unmodeled dynamics, parameter perturbations, changes in external load torque, etc.) in real time and compensates for it through a linear state feedback control law.

[0004] However, the dynamic performance and disturbance rejection performance of traditional linear active disturbance rejection control are coupled, and the control parameter tuning process is complicated, making it impossible to simultaneously achieve optimal dynamic response and strongest disturbance suppression. In addition, the observation error of the linear extended state observer does not satisfy the pure differential relationship, which causes the position observation error to amplify the velocity and disturbance observation errors, resulting in error accumulation and reducing the overall observation accuracy. Summary of the Invention

[0005] To address the shortcomings of existing technologies, such as the inability to simultaneously achieve optimal dynamic response and strongest disturbance suppression, as well as poor observation capabilities for time-varying disturbances, this invention proposes a two-degree-of-freedom active disturbance rejection position control method, system, and device for permanent magnet synchronous motors. By constructing a true two-degree-of-freedom control architecture, the system's dynamic response and disturbance rejection performance are made completely independent and do not affect each other. By introducing a super-helical sliding mode nonlinear compensation term, the problem of insufficient accuracy and convergence speed of linear extended observers in estimating complex disturbances is solved, thereby resolving the problems existing in the prior art.

[0006] A method for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor includes the following steps: The reference position command and actual position feedback signal of the permanent magnet synchronous motor are obtained; and the reference position command is smoothed by a linear tracking differentiator to obtain a smooth position tracking signal. The actual position feedback signal and the current motor control quantity are input into the two-degree-of-freedom extended observer. Based on the pure differential observation structure adopted by the two-degree-of-freedom extended observer, the error between the actual position feedback signal and the current internal position observation value is calculated to update the position observation value and velocity observation value in real time. An enhanced composite sliding surface is constructed based on the error between the actual position feedback signal and the real-time updated position observation. A super-spiral approach law is used to generate a nonlinear sliding compensation term based on the enhanced composite sliding surface. The total disturbance observation is output after low-pass filtering correction based on the linear compensation term and the nonlinear sliding compensation term of the error between the actual position feedback signal and the current internal position observation. The system tracking error is calculated based on the difference between the smoothed position tracking signal and the final position and velocity observations output by the two-degree-of-freedom extended observer. Based on the system tracking error, a preliminary control quantity is generated using a linear state error feedback control law. The initial control quantity is fed forward and compensated by combining the total disturbance observation value to generate the final control command to drive the permanent magnet synchronous motor.

[0007] Furthermore, the pure differential observation structure adopted by the two-degree-of-freedom extended observer updates the position and velocity observations in real time by calculating the error between the actual position feedback signal and the current internal position observation. This process is expressed as follows: ; ; in, It is a mechanical angle The observed values, It is mechanical angular velocity The observed values, , , These are the system's position observation error, velocity observation error, and disturbance observation error, respectively. , , The error coefficient, , , The derivatives of the observed values ​​Z1, Z2, and Z3 are respectively. This represents the total disturbance. For perturbation observations, Represents the inherent coefficient of the velocity loop. To control the quantity.

[0008] Furthermore, the method of employing a superspiral reaching law to generate a nonlinear sliding mode compensation term based on the enhanced composite sliding surface specifically includes the following steps: Based on the error between the actual position feedback signal and the real-time updated position observation, an enhanced composite sliding surface is constructed, which is represented as follows: ; Among them, the linear error term , , , , All are positive numbers; Using the superspiral reaching law, a nonlinear sliding mode compensation term is generated based on the enhanced composite sliding surface. Its superhelical tendency law is expressed as: ; in, , Greater than 0.

[0009] Furthermore, the two-degree-of-freedom extended observer is represented as: ; in, These are the perturbation observations corrected by a low-pass filter. , This is the cutoff frequency of the low-pass filter.

[0010] Furthermore, based on the system tracking error, a preliminary control quantity is generated using a linear state error feedback control law, which is expressed as follows: ; in, , For controller gain, It is the smoothed reference signal , It is a mechanical angle The observed values, It is mechanical angular velocity The observed values, Represents the inherent coefficient of the velocity loop. For extreme logarithms, For magnetic linkage, For rotational inertia, These are the perturbation observations corrected by a low-pass filter.

[0011] The present invention also includes a two-degree-of-freedom active disturbance rejection position control system for a permanent magnet synchronous motor, comprising: The acquisition module is used to acquire the reference position command and the actual position feedback signal of the permanent magnet synchronous motor; and to smooth the reference position command through a linear tracking differentiator to obtain a smooth position tracking signal. The observation module is used to input the actual position feedback signal and the current motor control quantity into the two-degree-of-freedom extended observer. Based on the pure differential observation structure adopted by the two-degree-of-freedom extended observer, the error between the actual position feedback signal and the current internal position observation value is calculated to update the position observation value and velocity observation value in real time. The perturbation module is used to construct an enhanced composite sliding surface based on the error between the actual position feedback signal and the real-time updated position observation; it uses a super-spiral reaching law to generate a nonlinear sliding compensation term based on the enhanced composite sliding surface; and it outputs the total perturbation observation value after low-pass filtering correction based on the linear compensation term and the nonlinear sliding compensation term of the error between the actual position feedback signal and the current internal position observation value. The preliminary control quantity calculation module is used to calculate the system tracking error based on the difference between the smoothed position tracking signal and the final output position and velocity observations of the two-degree-of-freedom extended observer; and to generate the preliminary control quantity using a linear state error feedback control law based on the system tracking error. The control module is used to perform feedforward compensation on the preliminary control quantity by combining the total disturbance observation value, and generate the final control command to drive the permanent magnet synchronous motor.

[0012] The present invention also includes a computer device for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor, comprising: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the two-degree-of-freedom active disturbance rejection position control method for the permanent magnet synchronous motor.

[0013] The present invention also includes a readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, are used to perform the steps of the two-degree-of-freedom active disturbance rejection position control method for a permanent magnet synchronous motor.

[0014] This invention provides a two-degree-of-freedom active disturbance rejection position control method for a permanent magnet synchronous motor, which has the following beneficial effects: This invention, based on the traditional linear extended observer, first constructs a two-degree-of-freedom control architecture with complete decoupling between dynamic tracking and disturbance suppression, enabling independent adjustment of tracking performance and disturbance rejection performance, thus solving the performance coupling problem of traditional linear active disturbance rejection control. Simultaneously, in the disturbance observation channel of this architecture, the introduction of a superspiral sliding mode compensation term endows the observer with finite-time convergence characteristics, resulting in faster and more accurate estimation of time-varying and nonlinear disturbances, fundamentally improving the system's anti-interference capability. Combining an enhanced composite sliding surface and the superspiral algorithm, the disturbance observer not only converges quickly but also possesses the theoretical advantages of finite-time convergence and strong robustness. This method retains the advantages of traditional linear active disturbance rejection control, such as no overshoot and independence from precise mathematical models, and achieves a new breakthrough in the disturbance observation performance of the extended observer through nonlinear compensation. Compared with other nonlinear algorithms, it does not exhibit high-frequency jitter and is more suitable for high-precision position control. Attached Figure Description

[0015] Figure 1 This is a block diagram of the three-phase PMSM active disturbance rejection position tracking control structure in an embodiment of the present invention; Figure 2 This is a structural diagram of a two-degree-of-freedom extended observer based on superhelical sliding mode compensation in an embodiment of the present invention; Figure 3 The traditional algorithm and sliding mode compensation algorithm in the embodiments of the present invention are used to address disturbances. f A comparative diagram of observation performance; Figure 4 This is a schematic diagram comparing the anti-interference performance of the traditional algorithm and the sliding mode compensation algorithm in an embodiment of the present invention. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0017] This invention proposes a two-degree-of-freedom active disturbance rejection (ADDR) position control method for permanent magnet synchronous motors (PMSMs). The method involves constructing a two-degree-of-freedom control architecture to ensure that the system's dynamic response and disturbance rejection performance are completely independent and do not affect each other. It also introduces a super-helical sliding mode nonlinear compensation term to address the insufficient accuracy and convergence speed of linear extended observers for complex disturbance estimation. By combining these two technologies, the PMSM servo system can achieve zero overshoot, fast response, small steady-state error, and strong disturbance suppression capabilities under reference position commands.

[0018] This invention uses a surface-mounted permanent magnet synchronous motor ( Taking (e.g.,) the disturbance torque in the speed loop is generated by gear rotation torque, mechanical parameter disturbance, current sampling error, and unmodeled dynamics, etc. The method specifically includes the following steps: S1. Based on the mathematical model of the permanent magnet synchronous motor, a second-order system motion equation is established. By establishing a unified view of the mechanical motion equation and various disturbances (such as load torque, friction, parameter changes, etc.) as the total disturbance, the system is further defined. The mathematical model laid the foundation for the subsequent design of the active disturbance rejection controller.

[0019] The equation of motion for a permanent magnet synchronous motor considering the total disturbance is shown in equation (1): (1) In the formula, For the mechanical angle of the motor, For mechanical angular velocity, For extreme logarithms, For magnetic linkage, For rotational inertia, For load torque, Represents the interference torque. This represents the total disturbance. This represents the inherent coefficient of the velocity loop. i q represent dq coordinate system q Axis current.

[0020] S2. Construct the equations for the linear differential tracker and the linear feedback control law. Analyze the shortcomings of the traditional scheme using the traditional extended observer equation, and design an extended observer equation that satisfies the pure differential relationship for the observation error, as shown in equation (7). Figure 1 In this model, the LTD smooths the given position command, and the LSEF generates an initial control signal based on the error between the command and the observation state. By analyzing the error accumulation problem of traditional LESO, a design motivation is provided for introducing an improved observer with a pure differential structure.

[0021] A traditional linear active disturbance rejection position-velocity integrated controller consists of three parts: a linear differential tracker, a linear extended observer, and a linear feedback control law.

[0022] Traditional linear extended observer equation: (2) In the formula, It is a mechanical angle The observed values, It is mechanical angular velocity The observed values, It is the total disturbance The observed values, To control the quantity, , , These represent the derivatives of the observed values ​​Z1, Z2, and Z3, respectively. , , The observer gain is represented by the bandwidth parameterization method. To make equation (2) converge, all eigenvalues ​​of the observer are set to the bandwidth parameterization method. place, thereby obtaining , , ,in This represents the bandwidth of the observer.

[0023] Linear Differential Tracker Equation: (3) The linear differential tracker is introduced to smooth the reference signal, balancing the response rate and overshoot. In the equation... This represents the reference position signal. For smoothed , for The derivative, For tracking factors.

[0024] When the observer achieves precise observation, the system functions as a second-order integral element; therefore, a proportional-derivative (PD) controller can be used to achieve stable control of the system. To avoid [further issues]... The oscillation problem caused by rapid changes in the PD controller. will use replace.

[0025] Linear feedback control law: (4) In the formula , For controller gain, It is the smoothed reference signal After disturbance compensation, a dual-integral system is constructed using PD control. Based on the pole placement theory of second-order closed-loop systems, the following is obtained: , Parameter settings, The bandwidth of the controller. Combining equations (3) and (4), the structure of the second-order position tracking active disturbance rejection control strategy is as follows: Figure 1 As shown. Figure 1 This is a block diagram of a three-phase PMSM active disturbance rejection position tracking control structure. First, refer to the position command... The input is smoothed by a linear tracking differentiator (LTD) to generate an overshoot-free position reference signal. Next, the Linear State Error Feedback Controller (LSEF) receives the smoothed reference signal and the state estimate provided by the Extended State Observer (LESO). By calculating the position error and disturbance feedforward compensation, it outputs a q-axis reference current command using proportional-derivative control. The current-loop PI controller ensures that the motor current tracks the command value quickly and accurately, and drives the three-phase inverter after coordinate transformation and SVPWM modulation. Simultaneously, the actual motor position and current signals are sampled by sensors and fed back to the extended state observer, forming a complete closed-loop control. In this structure, the third-order linear extended state observer provides accurate feedback information to the controller by estimating the position, velocity, and total disturbance state in real time, ensuring that the system maintains excellent tracking performance under model uncertainties and external disturbances.

[0026] Traditional linear active disturbance rejection control has some problems. Equation (5) is the observation error equation of the linear extended observer, where... , , These are the system's position observation error, velocity observation error, and disturbance observation error, respectively. Since the observation errors do not satisfy a pure differential relationship, when… When observation error exists, ,and , , and It will further affect and This leads to the problem of error accumulation.

[0027] (5) Furthermore, the closed-loop transfer function of a traditional linear active disturbance rejection control system is as follows: and It is an external input. It is system output. The transfer function represents the dynamic performance of the system. The transfer function reflects the system's anti-interference performance. It can be seen that the system's dynamic performance depends on... The disturbance suppression capability is determined by and This mutual dependence indicates a coupling between the system's dynamic performance and anti-interference performance, which complicates the parameter tuning process.

[0028] (6) To address the problems encountered in traditional linear active disturbance rejection control (ADRC), a sliding mode compensation-based observer is designed. The error accumulation problem caused by non-pure differential relationships is solved through a designed observer equation. , The error coefficient, For error observations, , At this point, as shown in the equation, the pure differential relation of the error is obtained.

[0029] (7) (8) in, , These are the derivatives of the observed mechanical angle Z1 and the observed mechanical angular velocity Z2, respectively.

[0030] S3. By introducing a low-pass filter-type compensation function into the observer. As shown in equation (9), the observer equation (10) is obtained, which effectively solves the traditional LESO error accumulation problem pointed out in step two and improves the perturbation observation accuracy of the system.

[0031] To improve observation accuracy, a compensation function was designed. infinitely close to And a correction function in the form of a low-pass filter is introduced as shown in the equation, where, , Let be the cutoff frequency of the low-pass filter; the observer equation obtained after introducing the compensation function is equation (10). , The observed values ​​are the total disturbances that include the compensation function.

[0032] (9) (10).

[0033] S4. Introduce a nonlinear sliding mode function into the perturbation observation equation. To enhance the ability to observe nonlinear disturbances, specifically through enhanced composite sliding surface (11) and super-spiral sliding mode approaching law (12), this step is a key innovation of the present invention, corresponding to Figure 2 In The module, designed to enable the observer to converge in finite time and to estimate complex nonlinear perturbations with high accuracy, has its stability rigorously proven using Lyapunov functions.

[0034] According to equations (9) and (10), right The degree of approximation depends on ,but As controller parameters, they have certain range limitations, and the observation of disturbances only depends on linear errors, resulting in limited accuracy in observing nonlinear disturbances. Therefore, it is necessary to add a nonlinear function part to the disturbance observation equation to further improve the estimation accuracy of nonlinear disturbances.

[0035] nonlinear functions A superspiral reaching law based on an enhanced composite sliding surface is used for compensation, making... .

[0036] Sliding surface function: (11) in, , , , All are positive numbers. Guarantee non-singularity.

[0037] Superspiral sliding mode reaching law: (12) Among them, the parameters in the superhelical algorithm , All are greater than 0.

[0038] Construct Lyapunov functions ,satisfy Stability requirements.

[0039] S5. Based on the above steps, complete the integration of the entire control system, and finally obtain the observer equation: (13) Among them, among them, These are the perturbation observations corrected by a compensation function in the form of a low-pass filter. , This is the cutoff frequency of the low-pass filter.

[0040] The linear feedback control law is calculated based on the observed values: (14).

[0041] The designed observer structure based on superspiral sliding mode compensation is as follows: Figure 2 As shown, the output state estimate is fed back to Figure 1 The LSEF module was used; and pole placement was performed on the error equation. For ease of stability analysis, the parameters were set to... , , ,and .

[0042] Figure 2 The diagram shows the structure of a two-degree-of-freedom extended observer based on superhelical sliding mode compensation, illustrating an innovative structure that is the core module for achieving high-performance perturbation estimation. First, the observer receives the actual position feedback from the motor encoder. and speed and control quantity As input, calculate the position observation error. and velocity observation error Next, by updating the position and velocity observation states using the observer dynamics equation (13) of a purely differential structure, the error accumulation problem of traditional LESO can be avoided; then, the linear error term With superspiral sliding mode compensation term The combined effect on the disturbance observation channel involves a sliding mode compensator that generates a nonlinear compensation signal based on the enhanced composite sliding surface and the superspiral reaching law. The compensation term... As a sliding mode convergence law, it provides additional "driving force" by influencing This indirectly and rapidly drives the observation error to converge to zero, significantly enhancing the estimation capability for time-varying perturbations; finally, the perturbation observations are corrected by a low-pass filter. The output is sent to the controller to achieve precise feedforward compensation. In this observer structure, the designed super-helical sliding mode mechanism ensures that the disturbance estimate converges in a finite time, while the pure differential relation fundamentally solves the problem of observation error amplification, enabling the system to simultaneously possess fast dynamic response and strong robust two-degree-of-freedom control characteristics.

[0043] Figure 3 The super-helical sliding mode compensation algorithm in this invention differs from traditional algorithms in its handling of disturbances. f A comparative diagram of observation performance. f ( t In ) w ( t ) represents a random disturbance; where, Figure 3 In the diagram, (a) shows the observation results of the two observers on nonlinear time-varying disturbances, and (b) shows the disturbance observation errors of the two methods.

[0044] Finally, this invention verifies the two-degree-of-freedom decoupling. By deriving and analyzing the closed-loop transfer function formula (15), it is theoretically proven that the dynamic performance and disturbance rejection performance are separated, i.e. Control dynamic performance, The disturbance suppression performance was controlled, and a complete two-degree-of-freedom active disturbance rejection position control method for permanent magnet synchronous motors based on super-helical sliding mode compensation was realized.

[0045] When performing two-degree-of-freedom property analysis, due to , It can be seen as containing The function, let , For about From the time-varying gain, the closed-loop transfer function of the system can be obtained as equation (15), which shows that the dynamic performance and disturbance rejection performance are separated. Control dynamic performance, Control disturbance suppression performance.

[0046] (15).

[0047] The present invention has the following beneficial effects: (1) Through the unique controller structure design, true two-degree-of-freedom control is realized from the root, making the tracking performance and disturbance rejection performance independently adjustable, solving the performance coupling problem of traditional linear active disturbance rejection control, and greatly simplifying the engineering parameter tuning.

[0048] (2) By introducing a super-helical sliding mode compensation term, the observer is given finite-time convergence characteristics, which makes the estimation of time-varying and nonlinear disturbances faster and more accurate, fundamentally improving the anti-interference capability of the system.

[0049] (3) It retains the advantages of traditional linear active disturbance rejection control, such as no overshoot and no dependence on precise mathematical models, and achieves a new breakthrough in the disturbance observation performance of the extended observer through nonlinear compensation.

[0050] (4) It has strong versatility and can be easily extended to other motion control strategies and other servo motors.

[0051] Based on the same inventive concept, this invention also proposes a two-degree-of-freedom active disturbance rejection position control system for a three-phase permanent magnet synchronous motor, comprising: The acquisition module is used to acquire the reference position command and the actual position feedback signal of the permanent magnet synchronous motor; and to smooth the reference position command through a linear tracking differentiator to obtain a smooth position tracking signal.

[0052] The observation module is used to input the actual position feedback signal and the current motor control quantity into the two-degree-of-freedom extended observer. Based on the pure differential observation structure adopted by the two-degree-of-freedom extended observer, the error between the actual position feedback signal and the current internal position observation value is calculated to update the position observation value and velocity observation value in real time.

[0053] The perturbation module is used to construct an enhanced composite sliding surface based on the error between the actual position feedback signal and the real-time updated position observation; it uses a superspiral reaching law to generate a nonlinear sliding compensation term based on the enhanced composite sliding surface; and it outputs the total perturbation observation value after low-pass filtering correction based on the linear compensation term and the nonlinear sliding compensation term of the error between the actual position feedback signal and the current internal position observation value.

[0054] The preliminary control quantity calculation module is used to calculate the system tracking error based on the difference between the smoothed position tracking signal and the final output position and velocity observations of the two-degree-of-freedom extended observer; based on the system tracking error, the preliminary control quantity is generated using a linear state error feedback control law.

[0055] The control module is used to perform feedforward compensation on the preliminary control quantity by combining the total disturbance observation value, and generate the final control command to drive the permanent magnet synchronous motor.

[0056] The present invention also proposes a computer device for two-degree-of-freedom active disturbance rejection position control of a three-phase permanent magnet synchronous motor, comprising: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the two-degree-of-freedom active disturbance rejection position control method for the three-phase permanent magnet synchronous motor.

[0057] The present invention also proposes a readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, are used to perform the steps of a two-degree-of-freedom active disturbance rejection position control method for a three-phase permanent magnet synchronous motor.

[0058] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor, characterized in that, Includes the following steps: The reference position command and actual position feedback signal of the permanent magnet synchronous motor are obtained; and the reference position command is smoothed by a linear tracking differentiator to obtain a smooth position tracking signal. The actual position feedback signal and the current motor control quantity are input into the two-degree-of-freedom extended observer. Based on the pure differential observation structure adopted by the two-degree-of-freedom extended observer, the error between the actual position feedback signal and the current internal position observation value is calculated to update the position observation value and velocity observation value in real time. An enhanced composite sliding surface is constructed based on the error between the actual position feedback signal and the real-time updated position observation; a super-spiral reaching law is used to generate a nonlinear sliding compensation term based on the enhanced composite sliding surface; Based on the linear compensation term and nonlinear sliding mode compensation term of the error between the actual position feedback signal and the current internal position observation value, the total disturbance observation value is output after low-pass filtering correction. The system tracking error is calculated based on the difference between the smoothed position tracking signal and the final position and velocity observations output by the two-degree-of-freedom extended observer. Based on the system tracking error, a preliminary control quantity is generated using a linear state error feedback control law; The initial control quantity is fed forward and compensated by combining the total disturbance observation value to generate the final control command to drive the permanent magnet synchronous motor.

2. The method for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor according to claim 1, characterized in that, The pure differential observation structure used by the two-degree-of-freedom extended observer updates the position and velocity observations in real time by calculating the error between the actual position feedback signal and the current internal position observation. The process is as follows: ； ； in, It is a mechanical angle The observed values, It is mechanical angular velocity The observed values, , , These are the system's position observation error, velocity observation error, and disturbance observation error, respectively. , , The error coefficient, , , The derivatives of the observed values ​​Z1, Z2, and Z3 are respectively. This represents the total disturbance. For perturbation observations, Represents the inherent coefficient of the velocity loop. To control the quantity.

3. The method for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor according to claim 2, characterized in that, The method employs a superspiral reaching law to generate a nonlinear sliding mode compensation term based on the enhanced composite sliding surface, specifically including the following steps: Based on the error between the actual position feedback signal and the real-time updated position observation, an enhanced composite sliding surface is constructed, which is represented as follows: ； Among them, the linear error term , , , , All are positive numbers; Using the superspiral reaching law, a nonlinear sliding mode compensation term is generated based on the enhanced composite sliding surface. Its superhelical tendency law is expressed as: ； in, , Greater than 0.

4. The method for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor according to claim 3, characterized in that, The two-degree-of-freedom extended observer is represented as follows: ； in, These are the perturbation observations corrected by a compensation function in the form of a low-pass filter. , This is the cutoff frequency of the low-pass filter.

5. The method for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor according to claim 1, characterized in that, The initial control quantity is generated using a linear state error feedback control law based on the system tracking error, and it is expressed as follows: ； in, , For controller gain, It is the smoothed reference signal , It is a mechanical angle The observed values, It is mechanical angular velocity The observed values, Represents the inherent coefficient of the velocity loop. For extreme logarithms, For magnetic linkage, For rotational inertia, These are the perturbation observations corrected by a low-pass filter.

6. A two-degree-of-freedom active disturbance rejection position control system for a permanent magnet synchronous motor, characterized in that, include: The acquisition module is used to acquire the reference position command and the actual position feedback signal of the permanent magnet synchronous motor. The reference position command is smoothed by a linear tracking differentiator to obtain a smooth position tracking signal; The observation module is used to input the actual position feedback signal and the current motor control quantity into the two-degree-of-freedom extended observer. Based on the pure differential observation structure adopted by the two-degree-of-freedom extended observer, the error between the actual position feedback signal and the current internal position observation value is calculated to update the position observation value and velocity observation value in real time. The perturbation module is used to construct an enhanced composite sliding surface based on the error between the actual position feedback signal and the real-time updated position observation; a superspiral reaching law is used to generate a nonlinear sliding compensation term based on the enhanced composite sliding surface; Based on the linear compensation term and nonlinear sliding mode compensation term of the error between the actual position feedback signal and the current internal position observation value, the total disturbance observation value is output after low-pass filtering correction. The preliminary control quantity calculation module is used to calculate the system tracking error based on the difference between the smoothed position tracking signal and the final output position and velocity observations of the two-degree-of-freedom extended observer; and to generate the preliminary control quantity using a linear state error feedback control law based on the system tracking error. The control module is used to perform feedforward compensation on the preliminary control quantity by combining the total disturbance observation value, and generate the final control command to drive the permanent magnet synchronous motor.

7. A computer device for two-degree-of-freedom active disturbance rejection position control of a permanent magnet synchronous motor, characterized in that, include: The memory, the processor, and the computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the two-degree-of-freedom active disturbance rejection position control method for a permanent magnet synchronous motor according to any one of claims 1-5.

8. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions are used to perform the steps of the two-degree-of-freedom active disturbance rejection position control method for a permanent magnet synchronous motor according to any one of claims 1-5.

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