A flux linkage state identification and permanent magnet motor flux linkage prediction control method and system

Abstract

The application discloses a kind of flux linkage state identification and permanent magnet motor flux linkage prediction control method and system, including obtaining the operating condition data of permanent magnet motor, the mismatch amount of inductance and flux linkage is identified by designing flux linkage state sliding mode observer, the speed and dq axis flux linkage of next time are obtained;Design compensates the predicted flux linkage controller after one step delay, according to given flux linkage, response flux linkage, updated parameter to calculate command voltage, by inverse Park conversion, SVPWM module modulation generates PWM pulse signal, to drive permanent magnet motor work.The application can realize the high dynamic robust prediction control of permanent magnet motor speed and dq flux linkage, significantly improve the control precision and operation reliability of permanent magnet motor.The application is helpful to promote the widespread use of permanent magnet motor system in the application scene of harsh environmental conditions and extremely high reliability requirements.

Description

Technical Field

[0001] This invention relates to the field of permanent magnet motor control technology, specifically to a method and system for flux linkage state identification and predictive control of permanent magnet motor flux linkage. Background Technology

[0002] Permanent magnet motor systems are widely used in electric power transmission equipment due to their high power density, high efficiency, and excellent dynamic performance. With the development of modern control technology, higher demands are placed on the dynamic response speed and accuracy of motor control systems. Model predictive control, as an advanced control strategy, has received widespread attention in the field of motor control in recent years due to its simple structure, ease of handling multivariate constraints, and excellent dynamic response characteristics. Unlike traditional PI control, predictive control predicts future state variables (such as flux linkage and current) by constructing a mathematical model of the motor and optimizes the control output accordingly. However, in actual digital implementation, the unavoidable one-beat delay in calculation and PWM update reduces the system's control bandwidth and may lead to system instability. Therefore, a delay compensation mechanism must be introduced to improve system performance.

[0003] Despite the numerous advantages of predictive control, its performance is highly dependent on the accuracy of motor parameters. In actual operation, motor parameters (especially stator resistance, inductance, and permanent magnet flux linkage) are perturbed by factors such as temperature, magnetic circuit saturation, and permanent magnet demagnetization. Parameter mismatch in inductance and permanent magnet flux linkage significantly increases prediction error, leading to deterioration in predictive control performance. Currently, existing technologies primarily employ current-state-based parameter identification and compensation strategies to address the impact of parameter mismatch on predictive control system performance; however, these strategies suffer from large starting inrush currents and poor robustness. Summary of the Invention

[0004] To address the technical problems of large starting inrush current and poor robustness in existing current-state-based parameter identification and compensation strategies, this invention provides a flux linkage state identification and permanent magnet motor flux linkage predictive control method and system. This invention achieves an integrated design of parameter mismatch robust predictive control and multivariable parameter identification through a flux linkage predictive control strategy. It avoids the limitations of traditional PI controllers on system dynamic response and significantly improves the control performance of permanent magnet motors under parameter perturbations. Furthermore, by introducing a one-step delay compensation mechanism and a sliding mode observer, this invention effectively eliminates the influence of computational delay, stator resistance, inductance, and permanent magnet flux linkage parameter mismatch on the system, thereby improving the control accuracy and operational robustness of the permanent magnet motor.

[0005] To achieve the above technical objectives, the technical solution adopted by this invention is as follows:

[0006] On one hand, the present invention provides a method for flux linkage state identification and predictive control of permanent magnet motor flux linkage, comprising the following steps:

[0007] Step 1: Obtain the current operating condition data of the permanent magnet motor;

[0008] Step 2: Based on the stator flux linkage state equation under parameter mismatch, establish a flux linkage state sliding mode observer; then input the operating condition data obtained in Step 1 to obtain the observed value of the total motor disturbance, and then identify the observed values ​​of the motor parameters after mismatch based on the observed value of the total motor disturbance, including the inductance observed value and the flux linkage observed value.

[0009] Step 3: Discretize the flux linkage state sliding mode observer for recursion, and then substitute it with the observed value of the total motor disturbance obtained in Step 2 to recursively obtain the speed observation value and flux linkage observation value in the operating condition data of the next moment, which can be used as the operating condition prediction data.

[0010] Step 4: Establish a predictive flux linkage controller, then set the current control target and command speed, and based on the observed values ​​of the mismatched motor parameters obtained in Step 2, use the predictive flux linkage controller to solve for the required command current value; then use the command current value, combined with the mismatched motor parameters at the current moment, to calculate the corresponding command flux linkage value.

[0011] Step 5: To compensate for the one-beat delay, the command flux obtained in Step 4 is used as the control target. The operating condition prediction data obtained in Step 3 is used to replace the current operating condition data. Combined with the motor parameters after mismatch identified in Step 2, the required command voltage is calculated.

[0012] Step 6: Transform the command voltage obtained in Step 5 from the rotating coordinate system to the two-phase stationary coordinate system to obtain the voltage command in the two-phase stationary coordinate system.

[0013] Step 7: The voltage command obtained in step 6 is subjected to space vector pulse width modulation to generate the power switching signal required to drive the permanent magnet motor.

[0014] Preferably, in step 1, the operating condition data includes the speed of the permanent magnet motor and shaft voltage, shaft voltage, shaft flux and Axial magnetic flux.

[0015] Preferably, in step 2, the observed motor parameters obtained from the observed total motor disturbance include the mismatched inductance. Observations and mismatched magnetic flux The observed value is calculated using the following formula:

[0016]

[0017] in express The observed values, This is the inductance value. This indicates the rotational speed at the current moment. This represents the q-axis current at the current moment. This is the stator resistance value. It is a permanent magnet flux linkage. The d-axis flux perturbation under parameter mismatch conditions The observed values, express The observed values, The q-axis flux perturbation under parameter mismatch conditions The observed values, This refers to the rotational speed of the permanent magnet motor.

[0018] Preferably, in step 3, the flux linkage state sliding mode observer is discretized into an expression for recursion:

[0019]

[0020] in The sampling period is Indicates the coefficient of friction, For rotational inertia, For extreme logarithms, It is a permanent magnet flux linkage. For load torque, This is the stator resistance value. This is the inductance value. The voltage across the d-axis at the current moment. This represents the q-axis voltage at the current moment.

[0021] The observed value of the total motor disturbance was substituted. , and , respectively, represent the speed disturbance under parameter mismatch conditions. d-axis flux disturbance and q-axis flux perturbation The observed values ​​of these three disturbances; the obtained operating condition prediction data includes the observed speed at the next moment. Next time step d-axis flux linkage observation and the q-axis flux linkage observation at the next time step ;

[0022] In the expression This is the observed rotational speed at the current moment. This represents the current d-axis flux linkage observation value. The current q-axis flux linkage observation value is based on the operating condition prediction from the previous moment, and the obtained permanent magnet motor operating condition data is used as the initial value.

[0023] Preferably, in step 4, the expression for the established predictive flux linkage controller is:

[0024]

[0025] The speed observation value at the next moment Substitute the values ​​to compensate for a one-beat delay and set the command speed. The predetermined value is used as the basis for calculation, which is the required command current value, i.e., the q-axis current command value at time k. Then set the current control target, i.e. Command value of shaft current Thus, the d-axis command flux is obtained. and q-axis command flux ;

[0026] in For rotational inertia, For extreme logarithms, For mismatched magnetic flux The observed values, The sampling period is Indicates the coefficient of friction, For load torque, Indicates the inductance value after mismatch. The observed values.

[0027] Preferably, in step 5, the required command voltage is the d-axis command voltage at time k. and q-axis command voltage at time k The calculation formula is:

[0028]

[0029] in, , This represents the d-axis command flux observation value at the next moment. This represents the q-axis command flux observation value at the next moment. The sampling period is This is the stator resistance value. Indicating the inductance after mismatch The observed values, This represents the observed rotational speed at the current moment;

[0030] The d-axis flux linkage observation value obtained in step 3 for the next time step and the q-axis flux linkage observation at the next time step And the inductance value after mismatch obtained in step 2. Observations Substitute them in, and then calculate. and .

[0031] Secondly, the present invention also provides a flux linkage state identification and permanent magnet motor flux linkage prediction and control device, comprising:

[0032] The operating condition extraction module is used to obtain the current operating condition data of the permanent magnet motor.

[0033] The motor parameter observation module is used to establish a flux linkage state sliding mode observer based on the stator flux linkage state equation under parameter mismatch conditions. Then, the operating condition data obtained in step 1 is input to obtain the observed value of the total motor disturbance. Based on the observed value of the total motor disturbance, the motor parameter observation values ​​after mismatch are identified, including the inductance observation value and the flux linkage observation value.

[0034] The operating condition prediction module is used to discretize the flux linkage state sliding mode observer for recursion, and then substitute it into the observed value of the total motor disturbance obtained from the motor parameter observation module, so as to recursively obtain the speed observation value and flux linkage observation value in the operating condition data of the next moment, which can be used as the operating condition prediction data.

[0035] The command flux linkage calculation module establishes a predictive flux linkage controller, then sets the current control target and command speed, and based on the motor parameter observation values ​​after mismatch obtained by the motor parameter observation module, the predictive flux linkage controller solves for the required command current value; then, based on the command current value and the motor parameters after mismatch at the current moment, the corresponding command flux linkage value is calculated.

[0036] To compensate for the one-beat delay, the command voltage calculation module uses the command flux obtained by the command flux value calculation module as the control target, replaces the current operating condition data with the operating condition prediction data obtained by the operating condition prediction module, and combines the mismatched motor parameters identified by the motor parameter observation module to calculate the required command voltage.

[0037] The voltage command transformation module is used to transform the command voltage obtained by the command voltage calculation module from the rotating coordinate system to the two-phase stationary coordinate system to obtain the voltage command in the two-phase stationary coordinate system.

[0038] The power switch signal generation module is used to generate the power switch signal required to drive the permanent magnet motor by performing space vector pulse width modulation on the voltage command obtained by the voltage command conversion module.

[0039] In three aspects, the present invention also provides an electronic device, comprising:

[0040] One or more processors;

[0041] Storage device for storing one or more programs;

[0042] The one or more processors execute the one or more programs to implement the methods described above.

[0043] Fourthly, the present invention also provides a computer-readable medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method as described above.

[0044] The technical advantages of this invention lie in its ability to address the problems of traditional model predictive control algorithms, such as strong dependence on motor parameters and performance degradation due to single-step delays. It achieves an integrated design of robust predictive control with parameter mismatch and multivariable parameter identification, significantly improving the dynamic response speed and operational stability of permanent magnet motors. To address the issues of inductance parameter perturbation and permanent magnet flux mismatch during permanent magnet motor operation, this invention proposes a sliding mode observer based on flux linkage state to identify stator resistance, inductance, and permanent magnet flux linkage parameters in real time. Compared to traditional identification methods based on current state equations, this method offers advantages such as higher identification accuracy, stronger anti-interference capability, and less impact during startup. Furthermore, the flux linkage predictive control strategy proposed in this invention eliminates the need for complex weight factor tuning to balance flux linkage and torque control, as is required in traditional methods, thus avoiding tedious weight factor adjustments. Attached Figure Description

[0045] Figure 1 This is a basic flowchart of an embodiment of the present invention.

[0046] Figure 2 This is a schematic diagram of the control principle of an embodiment of the present invention. Detailed Implementation

[0047] like Figure 1 and Figure 2 As shown, the implementation steps of the flux linkage state identification and permanent magnet motor flux linkage predictive control method in this embodiment include:

[0048] 1) Obtain the operating condition data of the permanent magnet motor at time k, i.e., the current time, including the rotational speed. , shaft voltage , shaft voltage , Axial flux as well as Axial flux .

[0049] 2) Establish the stator flux linkage state equation under the parameter mismatch state of the permanent magnet motor, so as to convert the mathematical model mismatch of the permanent magnet motor caused by parameter perturbation into the total motor disturbance, and the expression of the total motor disturbance is composed of operating condition data and motor parameters after mismatch.

[0050] The established stator flux linkage state equation under the parameter mismatch state of the permanent magnet motor is shown in equation (1) below:

[0051] (1)

[0052] In the above formula (1), It is a vector composed of the rotational speed of the permanent magnet motor, the d-axis flux linkage of the permanent magnet motor, and the q-axis flux linkage of the permanent magnet motor. for The derivative of It is a matrix composed of the q-axis current, d-axis voltage, and q-axis voltage of the permanent magnet motor. For load torque, This is the total disturbance term; and These are the coefficient terms of the state equation. The specific functional expressions for each term are as follows:

[0053]

[0054] in, This refers to the rotational speed of the permanent magnet motor. For the d-axis flux linkage of a permanent magnet motor. This refers to the q-axis flux linkage of a permanent magnet motor. For permanent magnet motors shaft current, For permanent magnet motors shaft voltage, For permanent magnet motors shaft voltage, For permanent magnet motors shaft current, The coefficient of friction is the resistance. For rotational inertia, This is the stator resistance value. This is the inductance value. For extreme logarithms, For load torque, It is a permanent magnet flux linkage. For electromagnetic torque, , , This represents the mismatched inductance value. The value of the mismatched flux linkage. , These represent the mismatch between inductance and flux linkage, respectively. , and These represent the rotational speed disturbance, d-axis flux disturbance, and q-axis flux disturbance under parameter mismatch conditions.

[0055] 3) Design a flux linkage state sliding mode observer to analyze the rotational speed obtained in step 1). and shaft voltage , shaft voltage , Axial flux as well as Axial flux The observed values ​​of the total motor disturbance are obtained by inputting the flux linkage state sliding mode observer. Then, based on the expression for the total motor disturbance, the observed values ​​of the motor parameters, including the inductance after mismatch, are obtained from the observed values ​​of the total motor disturbance. Observations and mismatched magnetic flux Observations .

[0056] The detailed process of step 3) is as follows:

[0057] 3.1) Design a flux linkage state sliding mode observer as shown in equation (2):

[0058] (2)

[0059] In the above formula (2), for The observed values, It is a sliding mode control function. It is the sliding gain of the observer. The integral terminal sliding surface considering state estimation and perturbation estimation. Selected as

[0060] (3)

[0061] The error between observed and actual values , These are the design parameters of the Disturbance Design Terminal (SMO). Indicates error The symbolic function.

[0062] 3.2) Differentiating equation 3), i.e., the sliding surface, yields the following:

[0063] (4)

[0064] in , The system state matrix, The system's time-invariant coefficient matrix, Let be the rotational speed coupling coefficient matrix, and

[0065]

[0066] According to Equation 2), changes in rotational speed affect the observer, so let To isolate changes in rotational speed.

[0067] 3.3) Design the sliding gain of the observer As shown in equation (5):

[0068] (5)

[0069] in Substituting into equation 4), it can be simplified to:

[0070] (6)

[0071] 3.4) Design the sliding mode control function as shown in equation (7);

[0072] (7)

[0073] in and These represent the linear feedback gain and nonlinear feedback gain of the sliding mode observer, respectively.

[0074] 3.5) Substituting equation 7) into equation 2), we can obtain the total disturbance observation under parameter mismatch:

[0075] = (8)

[0076] in Represents the total disturbance term The observed values, , and They represent , and Observed values; , and These represent the rotational speed error, d-axis flux linkage error, and q-axis flux linkage error, respectively. The error value is the difference between the observed value and the actual value. Indicates the current moment.

[0077] 3.6) The mismatched inductance is calculated using the following formula (9). Observations and mismatched magnetic flux Observations

[0078] (9)

[0079] 4) Discretize the flux linkage state sliding mode observer for recursion, and then substitute it with the observed value of the total motor disturbance obtained in step 2 to recursively obtain the speed observation value and flux linkage observation value in the operating condition data at the next time step, i.e., time k+1, as the operating condition prediction data. Specifically, this includes the speed observation value at time k+1. , Axial flux linkage observations and Axial flux linkage observations .

[0080] The functional expression of the discretized flux linkage state sliding mode observer is shown in the following equation;

[0081]

[0082] in, The sampling period is The voltage across the d-axis at the current moment. This represents the q-axis voltage at the current moment.

[0083] 5) Design a predictive flux linkage controller, and then use the parameter observations obtained from the flux linkage state sliding mode observer. and Solve for the q-axis command current. Then use Shaft command current , Shaft command current Calculate the d-axis command flux linkage q-axis command link .

[0084] In step 5), the magnetic flux observation values ​​are... After substituting the values, calculate the q-axis current command value, and then solve for the d-axis command flux linkage based on the current command value. and q-axis command flux As shown in the following formula;

[0085]

[0086] In this embodiment, the observed rotational speed at the next moment is... Substitute to compensate for the one-beat delay, then Set the value to 20 as needed, and then calculate the required command current value, i.e., the q-axis current command value at time k. Then set the current control target, i.e. Command value of shaft current Thus, the d-axis command flux is obtained. and q-axis command flux .

[0087] 6) According to the d-axis command flux linkage q-axis command link and the flux linkage state sliding mode observer obtained and Calculate the compensation for one beat delay Shaft command voltage and Shaft command voltage .

[0088] Specifically, to compensate for a one-beat delay, the magnetic flux observation value is used. Replacement sampling magnetic flux And the previously obtained d-axis flux linkage observation values ​​for the next time step. and the q-axis flux linkage observation at the next time step and the results obtained in step 2 Observations Substitute into the following formula:

[0089]

[0090] In the above formula, , Therefore, the calculation is obtained. and .

[0091] 7) Shaft command voltage and Shaft command voltage The α-phase command voltage in the two-phase stationary coordinate system is obtained after the inverse Park transformation. and β phase command voltage ;

[0092] 8) The α-phase command voltage in the two-phase stationary coordinate system and β phase command voltage After modulation by the SVPWM module, six PWM pulse signals are generated to drive the permanent magnet motor.

[0093] This embodiment also provides a flux linkage state identification and permanent magnet motor flux linkage prediction and control device, including:

[0094] The operating condition extraction module is used to obtain the current operating condition data of the permanent magnet motor.

[0095] The motor parameter observation module is used to establish a flux linkage state sliding mode observer based on the stator flux linkage state equation under parameter mismatch conditions. Then, the operating condition data obtained in step 1 is input to obtain the observed value of the total motor disturbance. Based on the observed value of the total motor disturbance, the motor parameter observation values ​​after mismatch are identified, including the inductance observation value and the flux linkage observation value.

[0096] The operating condition prediction module is used to discretize the flux linkage state sliding mode observer for recursion, and then substitute it into the observed value of the total motor disturbance obtained from the motor parameter observation module, so as to recursively obtain the speed observation value and flux linkage observation value in the operating condition data of the next moment, which can be used as the operating condition prediction data.

[0097] The command flux linkage calculation module establishes a predictive flux linkage controller, then sets the current control target and command speed, and based on the motor parameter observation values ​​after mismatch obtained by the motor parameter observation module, the predictive flux linkage controller solves for the required command current value; then, based on the command current value and the motor parameters after mismatch at the current moment, the corresponding command flux linkage value is calculated.

[0098] To compensate for the one-beat delay, the command voltage calculation module uses the command flux obtained by the command flux value calculation module as the control target, replaces the current operating condition data with the operating condition prediction data obtained by the operating condition prediction module, and combines the mismatched motor parameters identified by the motor parameter observation module to calculate the required command voltage.

[0099] The voltage command transformation module is used to transform the command voltage obtained by the command voltage calculation module from the rotating coordinate system to the two-phase stationary coordinate system to obtain the voltage command in the two-phase stationary coordinate system.

[0100] The power switch signal generation module is used to generate the power switch signal required to drive the permanent magnet motor by performing space vector pulse width modulation on the voltage command obtained by the voltage command conversion module.

[0101] According to embodiments of the present invention, the present invention also provides an electronic device and a computer-readable medium.

[0102] Electronic devices include:

[0103] One or more processors;

[0104] Storage device for storing one or more programs.

[0105] When the one or more programs are executed by the one or more processors, the one or more processors implement the flux linkage state parameter identification and permanent magnet motor flux linkage predictive control method.

[0106] In practical use, users can interact with servers, which are also electronic devices, via a network to receive or send messages. Terminal devices are generally various electronic devices equipped with a display and used through a human-computer interface, including but not limited to smartphones, tablets, laptops, and desktop computers. Various specific application software can be installed on these terminal devices as needed, including but not limited to web browsers, instant messaging software, social media platforms, and shopping apps.

[0107] A server is a network service that provides various services. The flux linkage state parameter identification and permanent magnet motor flux linkage predictive control method provided in this embodiment is generally executed by the server. In practical applications, under necessary conditions, the terminal device can also directly execute the flux linkage state parameter identification and permanent magnet motor flux linkage predictive control method.

[0108] Similarly, the computer-readable medium of the present invention stores a computer program thereon, which, when executed by a processor, implements the flux linkage state parameter identification and permanent magnet motor flux linkage predictive control method of the embodiments of the present invention.

[0109] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for flux linkage state identification and predictive control of permanent magnet motor flux linkage, characterized in that, Includes the following steps: Step 1: Obtain the current operating condition data of the permanent magnet motor; Step 2: Based on the stator flux linkage state equation under parameter mismatch conditions, establish a flux linkage state sliding mode observer; Then input the operating condition data obtained in step 1 to obtain the observed value of the total motor disturbance. Then, based on the observed value of the total motor disturbance, identify the observed values ​​of the motor parameters after mismatch, including the observed values ​​of inductance and flux linkage. Step 3: Discretize the flux linkage state sliding mode observer for recursion, and then substitute it with the observed value of the total motor disturbance obtained in Step 2 to recursively obtain the speed observation value and flux linkage observation value in the operating condition data of the next moment, which can be used as the operating condition prediction data. Step 4: Establish a predictive flux linkage controller, then set the current control target and command speed, and based on the observed values ​​of the mismatched motor parameters obtained in Step 2, the predictive flux linkage controller solves for the required command current value. Then, based on the command current value and the motor parameters after the mismatch at the current moment, the corresponding command flux value is calculated. Step 5: To compensate for the one-beat delay, the command flux obtained in Step 4 is used as the control target. The operating condition prediction data obtained in Step 3 is used to replace the current operating condition data. Combined with the motor parameters after mismatch identified in Step 2, the required command voltage is calculated. Step 6: Transform the command voltage obtained in Step 5 from the rotating coordinate system to the two-phase stationary coordinate system to obtain the voltage command in the two-phase stationary coordinate system. Step 7: The voltage command obtained in step 6 is subjected to space vector pulse width modulation to generate the power switching signal required to drive the permanent magnet motor.

2. The method according to claim 1, characterized in that, In step 1, the operating condition data includes the speed of the permanent magnet motor and shaft voltage, shaft voltage, shaft flux and Axial magnetic flux linkage.

3. The method according to claim 1, characterized in that, In step 2, the observed values ​​of motor parameters obtained from the observed values ​​of the total motor disturbance include the inductance after mismatch. Observations and mismatched magnetic flux The observed value is calculated using the following formula: in express The observed values, This is the inductance value. This indicates the rotational speed at the current moment. This represents the q-axis current at the current moment. This is the stator resistance value. It is a permanent magnet flux linkage. The d-axis flux perturbation under parameter mismatch conditions The observed values, express The observed values, The q-axis flux perturbation under parameter mismatch conditions The observed values, This refers to the rotational speed of the permanent magnet motor.

4. The method according to claim 1, characterized in that, In step 3, the flux linkage state sliding mode observer is discretized into an expression used for recursion: in The sampling period is Indicates the coefficient of friction, For rotational inertia, For extreme logarithms, It is a permanent magnet flux linkage. For load torque, This is the stator resistance value. This is the inductance value. The voltage across the d-axis at the current moment. This represents the q-axis voltage at the current moment. The observed value of the total disturbance of the motor is substituted. , and , respectively, represent the speed disturbance under parameter mismatch conditions. d-axis flux disturbance and q-axis flux perturbation The observed values ​​of these three disturbances; the obtained operating condition prediction data includes the observed speed at the next moment. Next time step, d-axis flux linkage observation value and the q-axis flux linkage observation at the next time step ; In the expression This is the observed rotational speed at the current moment. This represents the current d-axis flux linkage observation value. The current q-axis flux linkage observation value is based on the operating condition prediction from the previous moment, and the obtained permanent magnet motor operating condition data is used as the initial value.

5. The method according to claim 1, characterized in that, In step 4, the expression for the predictive flux linkage controller is established as follows: The speed observation value at the next moment Substitute the values ​​to compensate for a one-beat delay and set the command speed. The predetermined value is used as the basis for calculation, which is the required command current value, i.e., the q-axis current command value at time k. ; Then set the current control target, i.e. Command value of shaft current Thus, the d-axis command flux is obtained. and q-axis command flux ; in For rotational inertia, For extreme logarithms, For mismatched magnetic flux The observed values, The sampling period is Indicates the coefficient of friction, For load torque, Indicates the inductance value after mismatch. The observed values.

6. The method according to claim 1, characterized in that, In step 5, the required command voltage is the d-axis command voltage at time k. and q-axis command voltage at time k The calculation formula is: in, , This represents the d-axis command flux observation value at the next moment. This represents the q-axis command flux observation value at the next moment. The sampling period is This is the stator resistance value. Indicating the inductance after mismatch The observed values, This represents the observed rotational speed at the current moment; The d-axis flux linkage observation value obtained in step 3 for the next time step and the q-axis flux linkage observation at the next time step and the mismatched inductance value obtained in step 2. Observations Substitute the values ​​to obtain the result. and .

7. A flux linkage state identification and permanent magnet motor flux linkage prediction and control device, characterized in that, include: The operating condition extraction module is used to obtain the operating condition data of the permanent magnet motor at the current moment; The motor parameter observation module is used to establish a flux linkage state sliding mode observer based on the stator flux linkage state equation under parameter mismatch conditions. Then input the operating condition data obtained in step 1 to obtain the observed value of the total motor disturbance. Then, based on the observed value of the total motor disturbance, identify the observed values ​​of the motor parameters after mismatch, including the observed values ​​of inductance and flux linkage. The operating condition prediction module is used to discretize the flux linkage state sliding mode observer for recursion, and then substitute it into the observed value of the total motor disturbance obtained from the motor parameter observation module, so as to recursively obtain the speed observation value and flux linkage observation value in the operating condition data of the next moment, which can be used as the operating condition prediction data. The command flux linkage value calculation module establishes a predictive flux linkage controller, then sets the current control target and command speed, and based on the mismatched motor parameter observation values ​​obtained by the motor parameter observation module, the predictive flux linkage controller solves for the required command current value. Then, based on the command current value and the motor parameters after the mismatch at the current moment, the corresponding command flux value is calculated. To compensate for the one-beat delay, the command voltage calculation module uses the command flux obtained by the command flux value calculation module as the control target, replaces the current operating condition data with the operating condition prediction data obtained by the operating condition prediction module, and combines the mismatched motor parameters identified by the motor parameter observation module to calculate the required command voltage. The voltage command transformation module is used to transform the command voltage obtained by the command voltage calculation module from the rotating coordinate system to the two-phase stationary coordinate system to obtain the voltage command in the two-phase stationary coordinate system. The power switch signal generation module is used to generate the power switch signal required to drive the permanent magnet motor by performing space vector pulse width modulation on the voltage command obtained by the voltage command conversion module.

8. An electronic device, comprising: One or more processors; Storage device for storing one or more programs; The feature is that the one or more processors execute the one or more programs to implement the method as described in any one of claims 1-6.

9. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-6.

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