CN104601071B - Permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer - Google Patents

Abstract

The invention relates to a current loop sliding mode control method of a permanent magnet synchronous motor based on a disturbance observer. By constructing a multi-input and multi-output sliding mode controller, the solution of the current loop is realized by utilizing the coupling relationship between multiple input quantities. Coupled tracking control, so that the current control inner loop has only one controller, that is, the sliding mode controller. At the same time, considering that when external disturbances and system parameters change, the robustness of sliding mode variable structure control will be weakened. Therefore, in order to further improve the robustness of the system, a disturbance observer is added to the control strategy for online prediction. The uncertainty caused by parameter changes and external disturbances in the estimation system is compensated to the sliding mode controller to realize the error compensation of the system current, ensure the precise control of the current, and improve the speed regulation performance of the permanent magnet synchronous motor. The sliding mode controller based on the disturbance observer designed in this paper can make the permanent magnet synchronous motor have better robustness and anti-interference ability while maintaining fast tracking response, and the system structure is simple and stable, which can be applied to engineering Practice.

Description

Current Loop Sliding Mode Control System of Permanent Magnet Synchronous Motor Based on Disturbance Observer

technical field

The invention relates to the field of motor control, in particular to a disturbance observer-based permanent magnet synchronous motor current loop sliding mode control system and a control method thereof.

Background technique

The permanent magnet synchronous motor is a new type of motor developed in recent years. It has the advantages of small rotor inertia, high efficiency, high power density, and high reliability. Therefore, it is very suitable for high-performance servo systems, such as in CNC In machine tools and other occasions, permanent magnet synchronous motors are gradually replacing DC motors and induction motors. At the same time, since the permanent magnet synchronous motor does not need an excitation winding, it significantly reduces the size, weight, loss, avoids motor heating, and improves efficiency and power factor. Therefore, the application of permanent magnet synchronous motors will become more and more in the future. widely.

The sliding mode variable structure control method is suitable for nonlinear systems with uncertain parameters. Through the control strategy, the control quantity is continuously switched, that is, the structure of the system is constantly changing, and the system is forced to slide into the preset sliding mode surface in a targeted manner. After the system enters the sliding mode state, the stability and dynamic quality of the system only depend on the sliding surface and the parameters of the sliding surface. Since the sliding mode can be designed and has nothing to do with system parameter changes and external disturbances, it has strong robustness and high reliability. Therefore, in recent years, the sliding mode variable structure control method has been paid more and more attention by the control field. However, the robustness of the sliding mode variable structure control method is also limited. When the external disturbance and system parameters change greatly, the robustness of the sliding mode variable structure control will be weakened, and the system parameters and external disturbance cannot be suppressed. To further improve the robustness of the system, many scholars have introduced disturbance observers. By designing disturbance observers to estimate these uncertainties and compensate for system errors, the system's adaptability and robustness can be improved while improving system performance. Stickiness.

Contents of the invention

The purpose of the present invention is to provide a permanent magnet synchronous motor current loop sliding mode control method based on a disturbance observer, so that the system has good tracking performance and good robustness and anti-interference ability.

To achieve the above object, the technical solution of the present invention is a permanent magnet synchronous motor current loop sliding mode control system based on a disturbance observer, including a main circuit and a control circuit; the main circuit includes an AC power supply, and the AC The power supply is connected through a rectifier to a three-phase inverter for supplying power to the operation of the permanent magnet synchronous motor; the control circuit includes a current control inner loop, a speed control outer loop and a power supply for supplying power to the control circuit circuit, a sliding mode controller for controlling the permanent magnet stepping motor and a disturbance observer for realizing the connection between the permanent magnet synchronous motor and the sliding mode controller are arranged in the described current control inner loop; the sliding mode controller It is connected with the three-phase inverter through a SVPWM module.

Further, the power supply circuit includes a 1.8V DC power supply, a 3.3V DC power supply, a 5V DC power supply and a 15V DC power supply.

Further, the speed control outer loop includes a speed controller, the output end of the speed controller is connected to the input end of the sliding mode controller.

Further, it also includes a current sensor for detecting the stator current of each phase of the permanent magnet stepping motor, the output terminal of the current sensor is connected with the input terminal of the sliding mode controller.

Based on the above-mentioned control method of a permanent magnet synchronous motor current loop sliding mode control system based on a disturbance observer, the method comprises the following steps:

Step S1: Set the sliding mode parameters of the sliding mode controller, and obtain the sliding mode surface equation;

Step S2: Obtain the control law of the sliding mode controller;

Step S3: Design a disturbance observer, obtain the state space equation of the disturbance observer, and obtain the uncertainties of the system according to the disturbance observer;

Step S4: Obtain the control law of the sliding mode controller based on the disturbance observer;

Step S5: Perform SVPWM modulation to obtain the actual driving signal of the permanent magnet stepping motor.

further,

In the step S1, according to the known permanent magnet synchronous motor voltage equation:

Among them, v _d , v _q are the stator voltages in the _dq -axis coordinate system, id , i _q are the stator currents in the dq-axis coordinate system respectively; R ₀ is the stator resistance of each phase of the permanent magnet synchronous motor, L ₀ is the stator inductance of each phase of the permanent magnet synchronous motor, φ ₀ is the flux linkage of the permanent magnet synchronous motor, w is the angular velocity of the permanent magnet synchronous motor, n _p is the number of pole pairs of the permanent magnet synchronous motor; the error signal e of the stator current _q and e _d are the sliding mode parameters of the sliding mode controller, and e _q and e _d constitute the parameter vector e=[e _q e _d ] ^T , and the sliding mode surface equation is obtained as: S=e+C∫edt, where

Further, in said step S2, according to the sliding mode surface equation obtained in step 1, the reaching law is selected as Where ε and K are diagonal matrices, and sgn(S) is a column vector, namely The control law to obtain the sliding mode controller is:

Further, the step S3 also includes the following steps:

Step S31: When the parameters R, L, and φ of the permanent magnet synchronous motor change, the voltage equation obtained after the parameters of the permanent magnet synchronous motor change is:

The uncertainty of defining the permanent magnet synchronous motor is:

Step S32: Simplify the uncertainties in step S31 to the voltage equation after the parameters of the permanent magnet synchronous motor are changed to obtain:

Among them, ΔR, ΔL, and Δφ are the changes in the parameters R, L, and φ of the permanent magnet synchronous motor, respectively, and ε _d and ε _q are the remaining uncertainties in the current loop of the permanent magnet stepping motor;

Step S33: Set the derivative of the uncertain quantity to be zero, namely Taking the uncertain quantity δ=[δ _q δ _d ] ^T as the state variable, define its estimated value as Combined with the voltage equation after the parameters of the permanent magnet synchronous motor are changed, the state space equation of the disturbance observer is obtained as:

Among them, x=[i _q i _d ] ^T , v=[v _q v _d ] ^T ,

Step S34: According to the state space equation of the disturbance observer in step S33, the uncertainty of the system is obtained as:

is the response of the open-loop disturbance observer;

Step S35: According to the response of the open-loop disturbance observer in step S34, the dynamic response of the closed-loop disturbance observer is obtained as:

Among them, the matrix λ and L are the gain matrix of the disturbance observer, and T is determined by the matrix L.

Further, the uncertainty obtained by the disturbance observer in step S34 is compensated to the output of the sliding mode controller, and the control law of the sliding mode controller based on the disturbance observer is obtained as:

Compared with the prior art, the present invention has the following beneficial effects:

(1) The present invention makes the control of the current loop not subject to the parameter variation of the permanent magnet stepper motor and the influence of external disturbances by increasing the disturbance observer in the current control inner loop, and improves the tracking accuracy and the accuracy of the permanent magnet stepper motor current loop. Anti-interference performance;

(2) Compared with the traditional sliding mode control, the sliding mode controller based on the disturbance observer designed in this paper can realize the decoupling control of the current loop, reduce the fluctuation in the steady state of the system, and improve the steady state accuracy;

(3) Compared with the traditional disturbance observer, the disturbance observer is a second-order linear observer with fast response speed and simple structure;

(4) The system provided by the present invention has simple structure and high stability, and can be applied in engineering practice.

Description of drawings

Fig. 1 is a block diagram of the multivariable sliding mode control system of the present invention.

Fig. 2 is a structural design block diagram of the disturbance observer of the present invention.

detailed description

The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

As shown in Figures 1-2, a permanent magnet synchronous motor current loop sliding mode control system based on a disturbance observer provided by an embodiment of the present invention includes a main circuit and a control circuit; the main circuit includes an AC power supply, The AC power supply is connected through a rectifier to a three-phase inverter used to supply power to the permanent magnet synchronous motor; the control circuit includes a current control inner loop, a speed control outer loop and a control circuit for A power supply circuit for power supply, a sliding mode controller for controlling the permanent magnet stepping motor and a disturbance observer for realizing the connection between the permanent magnet synchronous motor and the sliding mode controller are provided in the inner loop of the current control; The modulus controller is connected with the three-phase inverter through a SVPWM module.

As can be seen from the above, the present invention increases the disturbance observer in the current control inner loop, so that the current loop control is not affected by the parameter changes and external disturbances of the permanent magnet stepping motor, and improves the tracking accuracy and accuracy of the permanent magnet stepping motor current loop. Anti-interference performance; compared with the traditional sliding mode control, the sliding mode controller is a multivariable sliding mode controller, which can realize the decoupling control of the current loop, reduce the fluctuation of the system in steady state, and improve the steady state accuracy; Compared with the traditional disturbance observer, the disturbance observer is a second-order linear observer with fast response speed and simple structure; the system provided by the invention has simple structure and high stability, and can be applied in engineering practice.

In this embodiment, the power supply circuit includes a 1.8V DC power supply, a 3.3V DC power supply, a 5V DC power supply and a 15V DC power supply.

In this embodiment, the speed control outer loop includes a speed controller, and the output end of the speed controller is connected to the input end of the sliding mode controller.

In this embodiment, a current sensor for detecting the stator current of each phase of the permanent magnet stepping motor is also included, and the output terminal of the current sensor is connected with the input terminal of the sliding mode controller.

Based on the above-mentioned control method of a permanent magnet synchronous motor current loop sliding mode control system based on a disturbance observer, the method comprises the following steps:

Step S1: Set the sliding mode parameters of the sliding mode controller, and obtain the sliding mode surface equation;

Step S2: Obtain the control law of the sliding mode controller;

Step S3: Design a disturbance observer, obtain the state space equation of the disturbance observer, and obtain the uncertainties of the system according to the disturbance observer;

Step S4: Obtain the control law of the sliding mode controller based on the disturbance observer;

Step S5: Perform SVPWM modulation to obtain the actual driving signal of the permanent magnet stepping motor.

In this embodiment, in the step S1, according to the known permanent magnet synchronous motor voltage equation:

Among them, v _d , v _q are the stator voltages in the _dq -axis coordinate system, id , i _q are the stator currents in the dq-axis coordinate system respectively; R ₀ is the stator resistance of each phase of the permanent magnet synchronous motor, L ₀ is the stator inductance of each phase of the permanent magnet synchronous motor, φ ₀ is the flux linkage of the permanent magnet synchronous motor, w is the angular velocity of the permanent magnet synchronous motor, n _p is the number of pole pairs of the permanent magnet synchronous motor; the error signal e of the stator current _q and e _d are the sliding mode parameters of the sliding mode controller, and e _q and e _d constitute the parameter vector e=[e _q e _d ] ^T , and the sliding mode surface equation is obtained as: S=e+C∫edt, where

In this embodiment, in the step S2, according to the sliding mode surface equation obtained in step 1, the reaching law is selected as Where ε and K are diagonal matrices, and sgn(S) is a column vector, namely The control law to obtain the sliding mode controller is:

In this embodiment, the step S3 also includes the following steps:

Step S31: When the parameters R, L, and φ of the permanent magnet synchronous motor change, the voltage equation obtained after the parameters of the permanent magnet synchronous motor change is:

The uncertainty of defining the permanent magnet synchronous motor is:

Step S32: Simplify the uncertainties in step S31 to the voltage equation after the parameters of the permanent magnet synchronous motor are changed to obtain:

Among them, ΔR, ΔL, and Δφ are the changes in the parameters R, L, and φ of the permanent magnet synchronous motor, respectively, and ε _d and ε _q are the remaining uncertainties in the current loop of the permanent magnet stepping motor;

Step S33: Set the derivative of the uncertain quantity to be zero, namely Taking the uncertain quantity δ=[δ _q δ _d ] ^T as the state variable, define its estimated value as Combined with the voltage equation after the parameters of the permanent magnet synchronous motor are changed, the state space equation of the disturbance observer is obtained as:

Among them, x=[i _q i _d ] ^T , v=[v _q v _d ] ^T ,

Step S34: According to the state space equation of the disturbance observer in step S33, the uncertainty of the system is obtained as:

is the response of the open-loop disturbance observer;

Step S35: According to the response of the open-loop disturbance observer in step S34, the dynamic response of the closed-loop disturbance observer is obtained as:

Among them, the matrix λ and L are the gain matrix of the disturbance observer, and T is determined by the matrix L. The disturbance observer is a second-order disturbance observer with fast response speed and simple structure.

In this embodiment, the uncertainty obtained by the disturbance observer in step S34 is compensated to the output of the sliding mode controller, and the control law of the sliding mode controller based on the disturbance observer is obtained as:

It can be known from the above that the present invention is designed using mature vector control technology. First, the stator three-phase currents i _A , i _B , and i _C of the permanent magnet synchronous linear motor are detected by the current sensor, and the three-phase stator currents are transformed by Clark. Get the current i _α and i _β in the two-phase stationary coordinate system, and then transform the current i _α and i _β in the two-phase stationary coordinate system into the current i _d and i _q in the two-phase rotating coordinate system through Park transformation, i _d and i _q are the feedback current of the current loop. In the permanent magnet synchronous motor vector control technology, in order to improve the power factor of the motor and reduce the torque ripple, the d-axis current setting is i _d ^* = 0, and the q-axis current setting value is the speed control outer loop PI controller output i _q ^* .

To sum up, the disturbance observer-based permanent magnet synchronous motor current loop sliding mode control system and control method provided by the present invention enable the control system to have good tracking performance and good robustness and anti-interference ability.

The above are the preferred embodiments of the present invention, and all changes made according to the technical solution of the present invention, when the functional effect produced does not exceed the scope of the technical solution of the present invention, all belong to the protection scope of the present invention.

Claims (5)

1. A permanent magnet synchronous motor current loop sliding mode control system based on a disturbance observer, is characterized in that: comprise a main circuit and a control circuit; Described main circuit comprises an AC power supply, and described AC power supply is through a rectifier and A three-phase inverter used to supply power to the permanent magnet synchronous motor is connected; the control circuit includes a current control inner loop, a speed control outer loop and a power supply circuit for supplying power to the control circuit, the current A sliding mode controller for controlling the permanent magnet synchronous motor and a disturbance observer for realizing the connection between the permanent magnet synchronous motor and the sliding mode controller are provided in the control inner loop; the sliding mode controller communicates with the The three-phase inverter is connected; the control method of the permanent magnet synchronous motor current loop sliding mode control system based on the disturbance observer includes the following steps: Step S1: Set the sliding mode parameters of the sliding mode controller, and obtain the sliding mode surface equation; Step S2: Obtain the control law of the sliding mode controller; Step S3: Design a disturbance observer, obtain the state space equation of the disturbance observer, and obtain the uncertainties of the system according to the disturbance observer; Step S4: Obtain the control law of the sliding mode controller based on the disturbance observer; Step S5: Perform SVPWM modulation to obtain the actual drive signal of the permanent magnet synchronous motor; In the step S1, according to the known permanent magnet synchronous motor voltage equation: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\frac{{\mathrm{<span\; class="notranslate">\; di</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; w</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; \&phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; w</span>}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\frac{{\mathrm{<span\; class="notranslate">\; di</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\mathrm{<span\; class="notranslate">\; w</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\end{array}\right.<span\; class="notranslate">\; ;</span>$ Among them, v _d , v _q are the stator voltages in the _dq -axis coordinate system, id , i _q are the stator currents in the dq-axis coordinate system respectively; R ₀ is the stator resistance of each phase of the permanent magnet synchronous motor, L ₀ is the stator inductance of each phase of the permanent magnet synchronous motor, φ ₀ is the flux linkage of the permanent magnet synchronous motor, w is the angular velocity of the permanent magnet synchronous motor, n _p is the number of pole pairs of the permanent magnet synchronous motor; the error signal e of the stator current _q and ed are the sliding mode parameters of the sliding mode controller, e _q and _ed constitute the parameter vector e=[e _{q e d ]} ^T , and the sliding mode surface equation is obtained: S=e+C∫edt, where the integral term coefficient matrix In said step S2, according to the sliding mode surface equation obtained in step 1, the reaching law is selected as Where ε and K are diagonal matrices, and sgn(S) is a column vector, namely The control law to obtain the sliding mode controller is: $\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\\ {\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}}_{\mathrm{<span\; class="notranslate">\; q</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; w</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; \&phi;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; w</span>}\\ {\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}}_{\mathrm{<span\; class="notranslate">\; d</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; w</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\end{array}\right]<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; K</span>}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; C</span>}\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; ;</span>$ Among them, u _q and u _d are respectively q and d axis voltages; i _q ^* and i _d * are respectively q and d axis reference input currents; Said step S3 also includes the following steps: Step S31: When the resistance, inductance and flux linkage parameters R, L, and φ of the permanent magnet synchronous motor change, the voltage equation obtained after the parameters of the permanent magnet synchronous motor change is: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; )</span>\frac{{\mathrm{<span\; class="notranslate">\; di</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; w</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&phi;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; )</span>\frac{{\mathrm{<span\; class="notranslate">\; di</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; w</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\end{array}\right.<span\; class="notranslate">\; ;</span>$ Among them, ε _d and ε _q are the remaining uncertainties of the permanent magnet synchronous motor current loop; The uncertainty of defining the permanent magnet synchronous motor is: Among them, ΔR, ΔL, and Δφ are the changes in the parameters R, L, and φ of the permanent magnet synchronous motor; Step S32: Simplify the uncertainties in step S31 to the voltage equation after the parameters of the permanent magnet synchronous motor are changed to obtain: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\frac{{\mathrm{<span\; class="notranslate">\; di</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\mathrm{<span\; class="notranslate">\; wi</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; \&phi;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&delta;</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\frac{{\mathrm{<span\; class="notranslate">\; di</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\mathrm{<span\; class="notranslate">\; wi</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&delta;</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\end{array}\right.<span\; class="notranslate">\; ;</span>$ Among them, δ _q and δ _d are uncertain quantities of q and d axes; Step S33: Set the derivative of the uncertain quantity to be zero, namely Taking the uncertain quantity δ=[δ _q δ _d ] ^T as the state variable, define its estimated value as Combined with the voltage equation after the parameters of the permanent magnet synchronous motor are changed, the state space equation of the disturbance observer is obtained as: $\left(\begin{array}{c}\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}\\ \stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; \&delta;</span>}}\end{array}\right)<span\; class="notranslate">\; =</span>\left(\begin{array}{cc}{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}& {\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}\\ {\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; one</span>}}& {\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; two</span>}}\end{array}\right)\left(\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}\\ \mathrm{<span\; class="notranslate">\; \&delta;</span>}\end{array}\right)<span\; class="notranslate">\; +</span>\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right)\mathrm{<span\; class="notranslate">\; v</span>}<span\; class="notranslate">\; +</span>\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; G</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right)$ Among them, x=[i _q i _d ] ^T , v=[v _q v _d ] ^T , ${\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; =</span>\left[\begin{array}{cc}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}}{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}\mathrm{<span\; class="notranslate">\; w</span>}\\ {\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}\mathrm{<span\; class="notranslate">\; w</span>}& <span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}}{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}}\end{array}\right]<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; =</span>\left[\begin{array}{cc}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}}\end{array}\right]<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\left[\begin{array}{cc}\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}}\end{array}\right]<span\; class="notranslate">\; ;</span>$ Step S34: According to the state space equation of the disturbance observer in step S33, the uncertainty of the system is obtained as: is the response of the open-loop disturbance observer; Step S35: According to the response of the open-loop disturbance observer in step S34, the dynamic response of the closed-loop disturbance observer is obtained as: Among them, the matrix λ and L are the gain matrix of the disturbance observer, and T is determined by the matrix L. 2. A kind of permanent magnet synchronous motor current loop sliding mode control system based on disturbance observer according to claim 1, is characterized in that: described power supply circuit comprises 1.8V DC power supply, 3.3V DC power supply, 5V DC power supply and 15V DC power supply. 3. A kind of permanent magnet synchronous motor current loop sliding mode control system based on disturbance observer according to claim 1, is characterized in that: described speed control outer loop comprises a speed controller, the output of described speed controller The end is connected with the input end of the sliding mode controller. 4. a kind of permanent magnet synchronous motor current loop sliding mode control system based on disturbance observer according to claim 1, is characterized in that: also comprise a current sensor that is used to detect every phase stator current of permanent magnet synchronous motor, so The output terminal of the current sensor is connected with the input terminal of the sliding mode controller. 5. A kind of permanent magnet synchronous motor current loop sliding mode control system based on disturbance observer according to claim 1, is characterized in that: the uncertainty that disturbance observer obtains in the step S34 is compensated to sliding mode controller From the output of , the control law of the sliding mode controller based on the disturbance observer is obtained as: $\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\\ {\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}}_{\mathrm{<span\; class="notranslate">\; q</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; w</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; \&phi;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; w</span>}\\ {\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}}_{\mathrm{<span\; class="notranslate">\; d</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; w</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}\end{array}\right]<span\; class="notranslate">\; +</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&delta;</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; K</span>}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\mathrm{<span\; class="notranslate">\; C</span>}\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; .</span>$