CN108111077A - The fault-tolerant prediction stator flux regulation method and system of permanent magnet synchronous motor - Google Patents

Abstract

The invention discloses a fault-tolerant predictive stator flux linkage control method and system for a permanent magnet synchronous motor. The method adopts double closed-loop control and designs a stator flux linkage sliding mode observer, a fault-tolerant predictive speed controller, and a fault-tolerant predictive stator flux linkage controller. , the outer loop of the double closed loop is a fault-tolerant predictive speed controller, and the inner loop is a fault-tolerant predictive stator flux controller. The stator flux sliding mode observer is used to observe the load torque, external disturbance, stator flux linkage, and rotor position estimation deviation angle and the permanent magnet loss rate; the fault-tolerant predictive speed controller is used to calculate the q-axis stator flux command value; the fault-tolerant predictive stator flux controller is used to calculate the d, q-axis command voltage, and then realize the control of the permanent magnet synchronous motor. The invention can not only effectively eliminate the current deviation caused by the loss of magnetism of the permanent magnet and the inaccurate estimation of the rotor position, but also effectively suppress the pulsation of the torque.

Description

Fault-tolerant predictive stator flux linkage control method and system for permanent magnet synchronous motor

technical field

The invention relates to the control technology of a permanent magnet synchronous motor, in particular to a fault-tolerant predictive stator flux linkage control method and system for a permanent magnet synchronous motor.

Background technique

In recent years, with the continuous improvement of the computing speed and performance of the microprocessor, more complex control algorithms can be realized in one control cycle. Therefore, predictive control has been widely concerned and researched due to its advantages of simple structure, fast dynamic response and high control precision. Current predictive control can make permanent magnet synchronous motor current obtain good dynamic and steady-state response, but there are certain problems. Since the predictive control is a model-based control method, the predictive controller has a strong dependence on parameters such as the flux linkage of the motor, and is strictly dependent on the position information of the motor rotor.

Due to the poor service conditions and harsh environment of permanent magnet synchronous motors, and with the increase of service life, permanent magnets are prone to demagnetization failures. In addition, under some harsh working conditions, the rotor position information is difficult to obtain or the obtained rotor position information is inaccurate, which will reduce the accuracy and reliability of the predictive control system. In electric vehicles, aerospace, national defense equipment and other occasions with harsh environments and high reliability requirements, when the permanent magnet loses its magnetism or the position information of the rotor is inaccurate, it will cause a static difference in current, resulting in a decrease in system efficiency and failure Output rated torque, and unable to work in torque control mode and other issues. This greatly limits the application range of permanent magnet synchronous motors.

Contents of the invention

The technical problem to be solved by the present invention: Aiming at the above-mentioned problems of the prior art, a fault-tolerant predictive stator flux linkage control method and system for a permanent magnet synchronous motor is provided. The present invention does not depend on the rotor permanent magnet flux linkage parameters of the permanent magnet synchronous motor And without accurately detecting the position of the rotor, this is a predictive control method with strong fault tolerance, which effectively eliminates the influence of the traditional predictive control algorithm from the loss of magnetism of the rotor and the inaccurate estimation of the rotor position.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

A fault-tolerant predictive stator flux linkage control method for a permanent magnet synchronous motor, the implementation steps comprising:

1) Obtain the speed ω(k) of the permanent magnet synchronous motor at any time k, the d-axis voltage u _d (k), the q-axis voltage u _q (k), the d-axis current _id (k) and the q-axis current i _q (k);

2) Input the rotational speed ω(k), d-axis voltage u _d (k), q-axis voltage u _q (k), d-axis current i _d (k) and q-axis current i _q (k) into the preset stator magnetic The load torque is obtained in the chain sliding mode observer external disturbance d-axis stator flux linkage q-axis stator flux linkage Rotor position angle deviation and permanent magnet loss rate

3) According to the load torque obtained in the stator flux sliding mode observer external disturbance Rotor position angle deviation Permanent magnet loss rate And the speed command value ω ^ref and the motor response speed ω(k) perform fault-tolerant predictive speed control through the preset fault-tolerant predictive speed controller to calculate the q-axis stator flux command value at time k

4) Set the d-axis stator flux linkage command value at time k Where ψ _ro is the permanent magnet flux linkage, and the Lagrangian expansion is used to calculate the d and q axis stator flux command values at k+2

5) According to the command value of the d-axis stator flux linkage q-axis stator flux linkage command value The d-axis stator flux obtained in the stator flux sliding mode observer q-axis stator flux linkage Rotor position angle deviation Permanent magnet loss rate Fault-tolerant predictive stator flux control through the preset fault-tolerant predictive stator flux controller to calculate the d-axis command voltage and _q- axis command voltage

6) Set the d-axis command voltage and _q- axis command voltage After the inverse Park transformation, the α-phase command voltage u _α (k+1) and the β-phase command voltage u _β (k+1) in the two-phase stationary coordinate system are obtained;

7) The α-phase command voltage u _α (k+1) and the β-phase command voltage u _β (k+1) in the two-phase stationary coordinate system are modulated by the SVPWM module to generate 6 channels for driving the permanent magnet synchronous motor. PWM pulse signal.

Preferably, the detailed steps of step 2) include:

2.1) Establish the permanent magnet synchronous motor state equation under the condition of permanent magnet demagnetization and rotor position estimation inaccurate as shown in formula (1);

In formula (1), x is the vector composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed, is the integral of matrix x, A, B, D, C, E are the matrix of state equation coefficient items, u is the matrix composed of d-axis voltage, q-axis voltage and q-axis stator flux linkage, f _ψ is the permanent magnet flux linkage item, f _a is an uncertain item, x ₁ is a vector composed of d-axis current, q-axis current and rotational speed, and the function expressions of each parameter in formula (1) are shown in formula (1-1) ~ formula (1-4) ;

f _ω ＝3n _p [ψ _ro △ψ _rq + △ψ _rd ψ _q + △ψ _rd △ψ _rq ] (1-4)

In formula (1-1) ~ formula (1-4), ψ _d is the d-axis stator flux linkage, ψ _q is the q-axis stator flux linkage, ω is the speed of permanent magnet synchronous motor, i _d is the d-axis current, i _q is the q-axis current, u _d is the d-axis voltage, u _q is the q-axis voltage, ψ _ro is the flux linkage of the permanent magnet, △ψ _rd is the virtual flux linkage variable of the d-axis after the permanent magnet is demagnetized, △ψ _rq is the permanent magnet The q-axis virtual flux linkage variable after demagnetization, T _L is the load torque, f _ω is the uncertain item, L _d is the d-axis inductance value, L _q is the q-axis inductance value, R is the stator resistance value, n _p is the pole logarithm, J is moment of inertia;

2.2) For the permanent magnet synchronous motor state equation, select the sliding mode surface shown in formula (2);

In formula (2), e is the vector x composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed and its observed value the difference between is the observed value of the vector x composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed, is the observed value of vector _x1 composed of d-axis current, q-axis current and rotational speed, E is the state equation coefficient term matrix E shown in (1-3), is the observed value of the q-axis current _id , is the observed value of the q-axis current i _q , is the observed value of d-axis stator flux linkage ψ _d , is the observed value of the q-axis stator flux linkage ψ _q , is the observed value of the rotational speed ω of the permanent magnet synchronous motor, e ₁ is the d-axis stator flux linkage ψ _d and its observed value The difference, e ₂ is the q-axis stator flux linkage ψ _q and its observed value The difference, e ₃ is the speed ω of the permanent magnet synchronous motor and its observed value Difference;

2.3) Design the stator flux linkage sliding mode observer as shown in formula (3);

In formula (3), is the observed value of vector x composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed, is the observed value of the vector x composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed, sgn( ) is a sign function, A, B, C, E are the coefficient items of the state equation in formula (1), and u is The matrix composed of d-axis voltage, q-axis voltage and q-axis stator flux linkage, f _ψ is the permanent magnet flux linkage item, ω is the speed of permanent magnet synchronous motor, e is the d-axis stator flux linkage, q-axis stator flux linkage and speed A vector consisting of x and its observations The difference between L, the function expression of L is shown in formula (3-1), H is the matrix to be designed and its function expression is shown in formula (3-2);

In formula (3-2), h ₁ , h ₂ , h ₃ are the diagonal elements of the matrix H to be designed;

2.4) Design symbolic functions that can be called;

2.5) Solving formula (4) can obtain the observed value of the d-axis stator flux linkage and the observed value of the q-axis stator flux linkage;

In formula (4), is the observed value of the d-axis stator flux linkage at time k+1, is the observed value of q-axis stator flux linkage at time k+1, R is the stator resistance value, L _d is the d-axis inductance value, L _q is the q-axis inductance value, T _s is the sampling period, is the observed value of d-axis stator flux linkage ψ _d (k) at time k, is the observed value of q-axis stator flux linkage ψ _q (k) at time k, is the rotational speed at time k+1, is the observed value of the speed of the permanent magnet synchronous motor at time k, ω(k) is the speed of the permanent magnet synchronous motor at time k, u _d (k) is the d-axis voltage at time k, u _q (k) is the q-axis voltage at time k , ψ _ro is the permanent magnet flux linkage, e ₁ (k) is the d-axis stator flux linkage ψ _d (k) and its observed value at time k difference, e ₂ (k) is the q-axis stator flux linkage ψ _q (k) and its observed value at time k difference, e ₃ (k) is the rotational speed of the permanent magnet synchronous motor and its observed value at time k difference, sgn( ) is the sign function designed in step 2.4), h ₁ , h ₂ , h ₃ are the diagonal elements of the matrix H to be designed, n _p is the pole logarithm, and J is the moment of inertia;

2.6) Solve formulas (5) to (11) to obtain the observed value of load torque Observations of External Disturbances Observed value of rotor position angle deviation and the observed value of the loss rate of the permanent magnet

In formula (5)～(11), is the observed value of d-axis virtual flux linkage variable, is the observed value of the q-axis virtual flux linkage variable, h ₁ , h ₂ , h ₃ are the diagonal elements of the matrix H to be designed, e ₁ (k) is the d-axis stator flux linkage ψ _d (k) and its observed value difference, e ₂ (k) is the q-axis stator flux linkage ψ _q (k) and its observed value at time k difference, e ₃ (k) is the rotational speed of the permanent magnet synchronous motor and its observed value at time k The difference, sgn( ) is the sign function designed in step 2.4), is the load torque observation value, J is the moment of inertia, ω(k) is the speed of the permanent magnet synchronous motor at time k, n _p is the number of pole pairs, is the external disturbance observation value, L _q is the q-axis inductance value, ψ _ro is the flux linkage of the permanent magnet, is the observed value of d-axis virtual flux linkage variable △ψ _rd after the permanent magnet is demagnetized, is the observed value of the q-axis virtual flux linkage variable △ψ _rq after the permanent magnet loses magnetism, ψ _q (k) is the q-axis stator flux linkage at time k, is the observed value of rotor position angle deviation, is the observed value of the flux linkage after the permanent magnet is demagnetized, is the observed value of the permanent magnet loss rate.

Preferably, the functional expression of the symbolic function designed in step 2.4) is as shown in formula (12);

In formula (12), ν is the input parameter of the sign function, and p is a tiny constant.

Preferably, in step 3), the preset fault-tolerant predictive speed controller is used to perform fault-tolerant predictive speed control to calculate the q-axis stator flux linkage command value at time k The function expression of is shown in formula (13);

In formula (13), is the q-axis stator flux command value at time k, ω ^ref (k+1) is the speed command value at time k+1, ω(k) is the speed of permanent magnet synchronous motor at time k, n _p is the number of pole pairs, ψ _ro is the flux linkage of the permanent magnet, T _ds is the multiple of the sampling period T _s , J is the moment of inertia, L _q is the q-axis inductance value, is the observed value of d-axis virtual flux linkage variable △ψ _rd after the permanent magnet loses magnetism, ψ _q (k-1) is the q-axis stator flux linkage at k-1 time, is the load torque observation value, is the observed value of the external disturbance.

Preferably, in step 4), the Lagrangian expansion is used to calculate the d and q axis stator flux command values at k+2 time The function expression of is shown in formula (14);

In formula (14), is the d-axis stator flux command value at time k+2, is the d-axis stator flux command value at time k+1, is the d-axis stator flux command value at time k, ψ _ro is the permanent magnet flux linkage, L _d is the d-axis inductance value, is the d-axis current command value at time k; is the q-axis stator flux command value at time k+2, is the q-axis stator flux command value at time k, is the q-axis stator flux command value at time k-1, is the q-axis stator flux command value at time k-2.

Preferably, in step 5), a preset fault-tolerant predictive stator flux linkage controller is used to perform fault-tolerant predictive stator flux linkage control to calculate the d-axis command voltage and _q- axis command voltage The function expression of is shown in formula (15);

In formula (15), u _d (k+1) is the d-axis voltage at time k+1, is the q-axis voltage at time k+1, is the d-axis stator flux command value at time k+2, is the q-axis stator flux command value at time k+2, R is the stator resistance value, L _d is the d-axis inductance value, L _q is the q-axis inductance value, T _s is the sampling period, is the observed value of the d-axis stator flux linkage at time k+1, is the observed value of the q-axis stator flux linkage at time k+1, ω(k) is the speed of the permanent magnet synchronous motor at time k, ψ _ro is the flux linkage of the permanent magnet, is the observed value of the loss rate of the permanent magnet, is the observed value of the rotor position angle deviation.

The present invention also provides a fault-tolerant predictive stator flux linkage control system for permanent magnet synchronous motors, including a computer system programmed to execute the steps of the aforementioned fault-tolerant predictive stator flux linkage control method for permanent magnet synchronous motors of the present invention.

The fault-tolerant prediction stator flux linkage control method of the permanent magnet synchronous motor of the present invention has the following advantages:

1) On the basis of traditional predictive control, the present invention proposes a fault-tolerant predictive stator flux linkage control for the problem that traditional predictive control cannot effectively control permanent magnet synchronous motors due to the inaccurate estimation of permanent magnet demagnetization and rotor position method, which is simple and efficient and has strong fault tolerance.

2) The present invention can effectively eliminate the influence of permanent magnet demagnetization and inaccurate rotor position estimation on the control system, and at the same time, the torque ripple also plays a restraining role, thus ensuring the stable operation of the permanent magnet synchronous motor under special working conditions ability.

The fault-tolerant predictive stator flux linkage control system of the permanent magnet synchronous motor of the present invention is a system corresponding to the fault-tolerant predictive stator flux linkage control method of the permanent magnet synchronous motor of the present invention, so it also has the fault-tolerant predictive stator flux linkage control of the permanent magnet synchronous motor of the present invention The foregoing advantages of the method are not repeated here.

Description of drawings

Fig. 1 is a schematic diagram of the control principle of the method of the embodiment of the present invention.

FIG. 2 is a schematic diagram of a system framework structure according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of an experiment of torque control performance under the condition that the estimation of the rotor position is inaccurate according to the embodiment of the present invention.

FIG. 4 is a schematic diagram of an experiment of torque control performance of an embodiment of the present invention when the permanent magnet is demagnetized.

Fig. 5 is a schematic diagram of an experiment of torque control performance when the permanent magnet is demagnetized and the rotor position estimation is inaccurate according to the embodiment of the present invention.

Detailed ways

As shown in Figure 1, the implementation steps of the fault-tolerant predictive stator flux linkage control method for permanent magnet synchronous motors in this embodiment include:

1) Obtain the speed ω(k) of the permanent magnet synchronous motor at any time k, the d-axis voltage u _d (k), the q-axis voltage u _q (k), the d-axis current _id (k) and the q-axis current i _q (k);

2) Input the rotational speed ω(k), d-axis voltage u _d (k), q-axis voltage u _q (k), d-axis current i _d (k) and q-axis current i _q (k) into the preset stator magnetic The load torque is obtained in the chain sliding mode observer external disturbance d-axis stator flux linkage q-axis stator flux linkage Rotor position angle deviation and permanent magnet loss rate

3) According to the load torque obtained in the stator flux sliding mode observer external disturbance Rotor position angle deviation Permanent magnet loss rate And the speed command value ω ^ref and the motor response speed ω(k) are used to perform fault-tolerant predictive speed control through the preset fault-tolerant predictive speed controller to calculate the q-axis stator flux command value at time k

4) Set the d-axis stator flux linkage command value at time k Where ψ _ro is the permanent magnet flux linkage, and the Lagrangian expansion is used to calculate the d and q axis stator flux command values at k+2

5) According to the command value of the d-axis stator flux linkage q-axis stator flux linkage command value The d-axis stator flux obtained in the stator flux sliding mode observer q-axis stator flux linkage Rotor position angle deviation Permanent magnet loss rate Fault-tolerant predictive stator flux control through the preset fault-tolerant predictive stator flux controller to calculate the d-axis command voltage and _q- axis command voltage

6) Set the d-axis command voltage and _q- axis command voltage After the inverse Park transformation, the α-phase command voltage u _α (k+1) and the β-phase command voltage u _β (k+1) in the two-phase stationary coordinate system are obtained;

7) The α-phase command voltage u _α (k+1) and the β-phase command voltage u _β (k+1) under the two-phase static coordinate system are modulated by the SVPWM module to generate 6 circuits for driving the permanent magnet synchronous motor. PWM pulse signal.

In the present embodiment, the detailed steps of step 2) include:

2.1) Establish the permanent magnet synchronous motor state equation under the condition of permanent magnet demagnetization and rotor position estimation inaccurate as shown in formula (1);

In formula (1), x is the vector composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed, is the integral of matrix x, A, B, D, C, E are the matrix of state equation coefficient items, u is the matrix composed of d-axis voltage, q-axis voltage and q-axis stator flux linkage, f _ψ is the permanent magnet flux linkage item, f _a is an uncertain item, x ₁ is a vector composed of d-axis current, q-axis current and rotational speed, and the function expressions of each parameter in formula (1) are shown in formula (1-1) ~ formula (1-4) ;

f _ω ＝3n _p [ψ _ro △ψ _rq + △ψ _rd ψ _q + △ψ _rd △ψ _rq ] (1-4)

In formula (1-1) ~ formula (1-4), ψ _d is the d-axis stator flux linkage, ψ _q is the q-axis stator flux linkage, ω is the speed of permanent magnet synchronous motor, i _d is the d-axis current, i _q is the q-axis current, u _d is the d-axis voltage, u _q is the q-axis voltage, ψ _ro is the flux linkage of the permanent magnet, △ψ _rd is the virtual flux linkage variable of the d-axis after the permanent magnet is demagnetized, △ψ _rq is the permanent magnet The q-axis virtual flux linkage variable after demagnetization, T _L is the load torque, f _ω is the uncertain item, L _d is the d-axis inductance value, L _q is the q-axis inductance value, R is the stator resistance value, n _p is the pole logarithm, J is moment of inertia;

2.2) For the permanent magnet synchronous motor state equation, select the sliding mode surface shown in formula (2);

In formula (2), e is the vector x composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed and its observed value the difference between is the observed value of the vector x composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed, is the observed value of vector _x1 composed of d-axis current, q-axis current and rotational speed, E is the state equation coefficient term matrix E shown in (1-3), is the observed value of the q-axis current _id , is the observed value of the q-axis current i _q , is the observed value of d-axis stator flux linkage ψ _d , is the observed value of the q-axis stator flux linkage ψ _q , is the observed value of the rotational speed ω of the permanent magnet synchronous motor, e ₁ is the d-axis stator flux linkage ψ _d and its observed value The difference, e ₂ is the q-axis stator flux linkage ψ _q and its observed value The difference, e ₃ is the speed ω of the permanent magnet synchronous motor and its observed value Difference;

2.3) Design the stator flux linkage sliding mode observer as shown in formula (3);

In formula (3), is the observed value of vector x composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed, is the observed value of the vector x composed of d-axis stator flux linkage, q-axis stator flux linkage and rotational speed, sgn( ) is a sign function, A, B, C, E are the coefficient items of the state equation in formula (1), and u is The matrix composed of d-axis voltage, q-axis voltage and q-axis stator flux linkage, f _ψ is the permanent magnet flux linkage item, ω is the speed of permanent magnet synchronous motor, e is the d-axis stator flux linkage, q-axis stator flux linkage and speed A vector consisting of x and its observations The difference between L, the function expression of L is shown in formula (3-1), H is the matrix to be designed and its function expression is shown in formula (3-2);

In formula (3-2), h ₁ , h ₂ , h ₃ are the diagonal elements of the matrix H to be designed;

2.4) Design symbolic functions that can be called;

2.5) Solving formula (4) can obtain the observed value of the d-axis stator flux linkage and the observed value of the q-axis stator flux linkage;

In formula (4), is the observed value of the d-axis stator flux linkage at time k+1, is the observed value of q-axis stator flux linkage at time k+1, R is the stator resistance value, L _d is the d-axis inductance value, L _q is the q-axis inductance value, T _s is the sampling period, is the observed value of d-axis stator flux linkage ψ _d (k) at time k, is the observed value of q-axis stator flux linkage ψ _q (k) at time k, is the rotational speed at time k+1, is the observed value of the speed of the permanent magnet synchronous motor at time k, ω(k) is the speed of the permanent magnet synchronous motor at time k, u _d (k) is the d-axis voltage at time k, u _q (k) is the q-axis voltage at time k , ψ _ro is the permanent magnet flux linkage, e ₁ (k) is the d-axis stator flux linkage ψ _d (k) and its observed value at time k difference, e ₂ (k) is the q-axis stator flux linkage ψ _q (k) and its observed value at time k difference, e ₃ (k) is the rotational speed of the permanent magnet synchronous motor and its observed value at time k difference, sgn( ) is the sign function designed in step 2.4), h ₁ , h ₂ , h ₃ are the diagonal elements of the matrix H to be designed, n _p is the pole logarithm, and J is the moment of inertia;

2.6) Solve formulas (5) to (11) to obtain the observed value of load torque Observations of External Disturbances Observed value of rotor position angle deviation and the observed value of loss rate of permanent magnet

In formula (5)～(11), is the observed value of d-axis virtual flux linkage variable, is the observed value of the q-axis virtual flux linkage variable, h ₁ , h ₂ , h ₃ are the diagonal elements of the matrix H to be designed, e ₁ (k) is the d-axis stator flux linkage ψ _d (k) and its observed value difference, e ₂ (k) is the q-axis stator flux linkage ψ _q (k) and its observed value at time k difference, e ₃ (k) is the rotational speed of the permanent magnet synchronous motor and its observed value at time k The difference, sgn( ) is the sign function designed in step 2.4), is the load torque observation value, J is the moment of inertia, ω(k) is the speed of the permanent magnet synchronous motor at time k, n _p is the number of pole pairs, is the external disturbance observation value, L _q is the q-axis inductance value, ψ _ro is the flux linkage of the permanent magnet, is the observed value of d-axis virtual flux linkage variable △ψ _rd after the permanent magnet is demagnetized, is the observed value of the q-axis virtual flux linkage variable △ψ _rq after the permanent magnet loses magnetism, ψ _q (k) is the q-axis stator flux linkage at time k, is the observed value of rotor position angle deviation, is the observed value of the flux linkage after the permanent magnet is demagnetized, is the observed value of the permanent magnet loss rate.

In the present embodiment, the functional expression of the sign function designed in step 2.4) is as shown in formula (12);

In formula (12), ν is the input parameter of the sign function, and p is a tiny constant.

In this embodiment, in step 3), the preset fault-tolerant predictive speed controller is used to perform fault-tolerant predictive speed control to calculate the q-axis stator flux linkage command value at time k The function expression of is shown in formula (13);

In formula (13), is the q-axis stator flux command value at time k, ω ^ref (k+1) is the speed command value at time k+1, ω(k) is the speed of permanent magnet synchronous motor at time k, n _p is the number of pole pairs, ψ _ro is the flux linkage of the permanent magnet, T _ds is the multiple of the sampling period T _s , J is the moment of inertia, L _q is the q-axis inductance value, is the observed value of d-axis virtual flux linkage variable △ψ _rd after the permanent magnet loses magnetism, ψ _q (k-1) is the q-axis stator flux linkage at k-1 time, is the load torque observation value, is the observed value of the external disturbance.

In this embodiment, in step 4), the Lagrangian expansion is used to calculate the d and q axis stator flux command values at k+2 The function expression of is shown in formula (14);

In formula (14), is the d-axis stator flux command value at time k+2, is the d-axis stator flux command value at time k+1, is the d-axis stator flux command value at time k, ψ _ro is the permanent magnet flux linkage, L _d is the d-axis inductance value, is the d-axis current command value at time k; is the q-axis stator flux command value at time k+2, is the q-axis stator flux command value at time k, is the q-axis stator flux command value at time k-1, is the q-axis stator flux command value at time k-2.

In this embodiment, in step 5), the preset fault-tolerant predictive stator flux linkage controller is used to perform fault-tolerant predictive stator flux linkage control to calculate the d-axis command voltage and _q- axis command voltage The function expression of is shown in formula (15);

In formula (15), u _d (k+1) is the d-axis voltage at time k+1, is the q-axis voltage at time k+1, is the d-axis stator flux command value at time k+2, is the q-axis stator flux command value at k+2, R is the stator resistance value, L _d is the d-axis inductance value, L _q is the q-axis inductance value, T _s is the sampling period, is the observed value of the d-axis stator flux linkage at time k+1, is the observed value of the q-axis stator flux linkage at time k+1, ω(k) is the speed of the permanent magnet synchronous motor at time k, ψ _ro is the flux linkage of the permanent magnet, is the observed value of the loss rate of the permanent magnet, is the observed value of the rotor position angle deviation.

As shown in Figure 2, the system applying a fault-tolerant predictive stator flux linkage control method for a permanent magnet synchronous motor system in this embodiment includes a permanent magnet synchronous motor 1, a signal acquisition module 2, a stator flux sliding mode observer 3, Fault-tolerant predictive speed controller 4, Lagrangian operation module 5, fault-tolerant predictive stator flux controller 6, inverse park transformation 7, SVPWM modulation module 8, inverter 9. Wherein, the input end of the signal acquisition module 2 is linked with the permanent magnet synchronous motor 1, the output end of the signal acquisition module 2 is linked with the input end of the stator flux linkage sliding mode observer 3, and the output ends of the stator flux linkage sliding mode observer 3 are respectively It is linked with the input end of the fault-tolerant predictive speed controller 4 and the input end of the fault-tolerant predictive stator flux controller 6, and the output end of the fault-tolerant predictive speed controller 4 is linked with the input end of the Lagrangian operation module 5, and the Lagrange The output terminal of the calculation module 5 is linked with the input terminal of the fault-tolerant predictive stator flux controller 6, the output terminal of the fault-tolerant predictive stator flux controller 6 is linked with the input terminal of the inverse park transformation 7, and the output terminal of the inverse park transformation 7 is connected with the SVPWM The input end of the modulation module 8 is connected, the output end of the SVPWM modulation module 8 is connected with the input end of the inverter 9, and the output end of the inverter 9 is connected with the permanent magnet synchronous motor 1, wherein:

The signal acquisition module 2 is used to acquire the rotational speed ω(k), the d-axis voltage u _d (k), the q-axis voltage u _q (k), the d-axis current i _d (k) and the q-axis current i _q of the permanent magnet synchronous motor (k);

The stator flux sliding mode observer 3 is used to observe the load torque external disturbance d-axis stator flux linkage q-axis stator flux linkage Rotor position angle deviation and permanent magnet loss rate

The fault-tolerant predictive speed controller 4 is used to obtain the q-axis stator flux linkage command value at time k

The Lagrangian operation module 5 is used to obtain the d and q axis stator flux linkage command values at k+2 time

The fault-tolerant predictive stator flux controller 6 is used to obtain the d-axis command voltage and _q- axis command voltage

The inverse park transformation 7 is used to obtain the α-phase command voltage u _α (k+1) and the β-phase command voltage u _β (k+1) in the two-phase stationary coordinate system;

The SVPWM modulation module 8 is used to modulate and generate 6 channels of PWM pulse signals to drive the inverter to work.

Figure 3 is a schematic diagram of the torque control performance experiment under the condition that the estimation of the rotor position is inaccurate, where T _e represents the electromagnetic torque of the permanent magnet synchronous motor, and i _abc represents the three-phase stator current of the permanent magnet synchronous motor; the operation of the permanent magnet synchronous motor It is divided into the following three stages: the first stage, the permanent magnet synchronous motor is running normally; the second stage, the rotor position is inaccurately estimated, and the position deviation angle is positive; the third stage, the rotor position is inaccurately estimated , and the position deviation angle is negative; it can be seen from Figure 3 that in the first stage, the electromagnetic torque of the permanent magnet synchronous motor is 800N during normal operation; in the second and third stages, the rotor position estimation is not accurate Under normal circumstances, after adopting the method of the present invention, the torque performance of the permanent magnet synchronous motor is as superior as the torque performance under normal conditions. It can be seen from this that, under the inaccurate situation of rotor position estimation, the method proposed by the present invention can be very Good suppression of torque ripple.

Figure 4 is a schematic diagram of the torque control performance experiment under the condition of permanent magnet demagnetization, where the definitions of T _e and i _abc are exactly the same as those in Figure 4; the operation of the permanent magnet synchronous motor is divided into the following three stages: the first stage, the permanent magnet The synchronous motor is running normally; in the second stage, the permanent magnet has a demagnetization fault; in the third stage, the permanent magnet synchronous motor returns to normal operation; it can be seen from Figure 4 that in the first stage and the third stage, the permanent magnet synchronous motor is normal The electromagnetic torque during operation is 800N; In the second stage, under the situation that the permanent magnet loses magnetism fault, the torque performance of the permanent magnet synchronous motor after adopting the method of the present invention is as superior as the torque performance under normal conditions, It can be seen that, in the case of a permanent magnet demagnetization failure, the method proposed by the present invention can well suppress the torque ripple.

Figure 5 is a schematic diagram of the torque control performance experiment under the condition of permanent magnet demagnetization and inaccurate rotor position estimation, where the definition of T _e , i _abc is exactly the same as that in Figure 4; the operation of the permanent magnet synchronous motor is divided into the following three stages: In the first stage, the permanent magnet synchronous motor operates normally; in the second stage, the permanent magnet demagnetization and the inaccurate estimation of the rotor position occur simultaneously, but the position deviation angle is positive; in the third stage, the permanent magnet demagnetization and the rotor position occur simultaneously The estimation is inaccurate, but the position deviation angle is negative; it can be seen from Figure 5 that in the first stage, the electromagnetic torque of the permanent magnet synchronous motor is 800N during normal operation; in the second and third stages, the permanent magnet synchronous motor Under the inaccurate situation of magnet demagnetization and rotor position estimation, the torque performance of the permanent magnet synchronous motor after adopting the method of the present invention is as superior as the torque performance under normal conditions, thus it can be seen that in the permanent magnet demagnetization and rotor position In the case of inaccurate estimation, the method proposed by the invention can well suppress the ripple of the torque.

In summary, the fault-tolerant predictive stator flux linkage control method of the permanent magnet synchronous motor in this embodiment adopts double closed-loop control and designs a stator flux linkage sliding mode observer, a fault-tolerant predictive speed controller, and a fault-tolerant predictive stator flux controller. The outer loop of the closed loop is a fault-tolerant predictive speed controller, and the inner loop is a fault-tolerant predictive stator flux controller. The stator flux sliding mode observer can simultaneously observe the load torque and external disturbance according to the speed, voltage, and current of the permanent magnet synchronous motor. , stator flux linkage, rotor position estimation deviation angle and permanent magnet loss rate; the fault-tolerant predictive speed controller calculates the q-axis stator according to the observed value output by the stator flux linkage sliding mode observer, the command value of the rotational speed and the response speed of the motor Flux linkage command value; the fault-tolerant prediction stator flux linkage controller calculates the d and q-axis command voltages according to the observed value output by the stator flux linkage sliding mode observer and the q-axis stator flux linkage command value output by the fault-tolerant prediction speed controller, Furthermore, the control of the permanent magnet synchronous motor is realized. Through the above-mentioned technical means, not only the current deviation caused by the permanent magnet demagnetization and the inaccurate estimation of the rotor position can be effectively eliminated, but also the torque ripple can be effectively suppressed.

This embodiment also provides a fault-tolerant predictive stator flux linkage control system for a permanent magnet synchronous motor, including a computer system, which is programmed to execute the steps of the fault-tolerant predictive stator flux linkage control method for a permanent magnet synchronous motor described above in this embodiment, The computer system can be implemented based on CPU, DSP, FPGA and other processors as required.

The above descriptions are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention should also be regarded as the protection scope of the present invention.

Claims (7)

1. a kind of fault-tolerant prediction stator flux regulation method of permanent magnet synchronous motor, it is characterised in that implementation steps include：

1) rotational speed omega (k) and d shaft voltages u of arbitrary k moment permanent magnet synchronous motor are obtained_d(k), q shaft voltages u_q(k), d axis electricity Flow i_d(k) and q shaft currents i_q(k)；

2) by rotational speed omega (k) and d shaft voltages u_d(k), q shaft voltages u_q(k), d shaft currents i_d(k) and q shaft currents i_q(k) input is pre- If stator magnetic linkage sliding mode observer in obtain load torqueExternal disturbanceD axis stator magnetic linkagesQ axis stators Magnetic linkageRotor position angle deviationAnd permanent magnet loss of excitation rate

3) according to the load torque obtained in stator magnetic linkage sliding mode observerExternal disturbanceRotor position angle deviation Permanent magnet loss of excitation rateAnd rotational speed command value ω^refIt is controlled with motor response rotational speed omega (k) by default fault-tolerant prediction rotating speed Device carries out the q axis stator magnetic linkage command values that fault-tolerant prediction rotating speed control calculates the k moment

4) the d axis stator magnetic linkage command values at k moment are setWherein ψ_roFor permanent magnet flux linkage, Lagrange is used Expansion calculates d, q axis stator magnetic linkage command value at k+2 moment

5) according to d axis stator magnetic linkage command valuesQ axis stator magnetic linkage command valuesStator magnetic linkage sliding formwork is observed The d axis stator magnetic linkages obtained in deviceQ axis stator magnetic linkagesRotor position angle deviationPermanent magnet loss of excitation RateFault-tolerant prediction stator flux regulation is carried out by default fault-tolerant prediction stator flux regulation device and calculates d axis command voltagesWith_qAxis command voltage

6) by d axis command voltagesWith_qAxis command voltageThe static seat of two-phase is obtained after inverse Park conversion α phase command voltages u under mark system_α(k+1) and β phase command voltages u_β(k+1)；

7) by the α phase command voltages u under two-phase rest frame_α(k+1) and β phase command voltages u_β(k+1) through SVPWM module tune The 6 road pwm pulse signals that permanent magnet synchronous motor is driven to work are generated after system.

2. the fault-tolerant prediction stator flux regulation method of permanent magnet synchronous motor according to claim 1, which is characterized in that step Rapid detailed step 2) includes：

2.1) the permanent magnet synchronous motor state in the case of permanent magnet loss of excitation and rotor position estimate of the foundation as shown in formula (1) are not allowed Equation；

<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mi>A</mi> <mi>x</mi> <mo>+</mo> <mi>B</mi> <mi>u</mi> <mo>+</mo> <msub> <mi>Cf</mi> <mi>&amp;psi;</mi> </msub> <mo>+</mo> <msub> <mi>Df</mi> <mi>a</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>x</mi> <mo>=</mo> <msub> <mi>Ex</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>&amp;psi;</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>

In formula (1), x is the vector of d axis stator magnetic linkage, q axis stator magnetic linkage and rotating speed composition,For the integration of matrix x, A, B, D, C, E are State Equation Coefficients item matrix, the matrix that u is d shaft voltages, q shaft voltages and q axis stator magnetic linkage form, f_ψFor permanent magnet Magnetic linkage item, f_aFor indeterminate, x₁For the vector of d shaft currents, q shaft currents and rotating speed composition, the function of each parameter in formula (1) Shown in expression formula such as formula (1-1)~formula (1-4)；

<mrow> <mi>x</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>&amp;psi;</mi> <mi>d</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&amp;psi;</mi> <mi>q</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&amp;omega;</mi> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mi>d</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mi>q</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&amp;omega;</mi> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>u</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>u</mi> <mi>d</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>u</mi> <mi>q</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&amp;psi;</mi> <mi>q</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msub> <mi>f</mi> <mi>&amp;psi;</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <msub> <mi>f</mi> <mi>a</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>&amp;Delta;&amp;psi;</mi> <mrow> <mi>r</mi> <mi>d</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>&amp;Delta;&amp;psi;</mi> <mrow> <mi>r</mi> <mi>q</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>T</mi> <mi>L</mi> </msub> <mo>-</mo> <mfrac> <msub> <mi>f</mi> <mi>&amp;omega;</mi> </msub> <mrow> <mn>2</mn> <msub> <mi>L</mi> <mi>q</mi> </msub> </mrow> </mfrac> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>A</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>-</mo> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> </mrow> </mtd> <mtd> <mi>&amp;omega;</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>&amp;omega;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>q</mi> </msub> </mfrac> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>B</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <mrow> <mn>3</mn> <msubsup> <mi>n</mi> <mi>p</mi> <mn>2</mn> </msubsup> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> </mrow> <mrow> <mn>2</mn> <msub> <mi>JL</mi> <mi>q</mi> </msub> </mrow> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <mi>C</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>D</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mi>&amp;omega;</mi> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>&amp;omega;</mi> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msub> <mi>n</mi> <mi>p</mi> </msub> <mi>J</mi> </mfrac> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>E</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>L</mi> <mi>d</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>L</mi> <mi>q</mi> </msub> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>

f_ω=3n_p[ψ_roΔψ_rq+Δψ_rdψ_q+Δψ_rdΔψ_rq] (1-4)

In formula (1-1)~formula (1-4), ψ_dFor d axis stator magnetic linkage, ψ_qFor q axis stator magnetic linkages, ω is the rotating speed of permanent magnet synchronous motor, i_dFor d shaft currents, i_qFor q shaft currents, u_dFor d shaft voltages, u_qFor q shaft voltages, ψ_roFor permanent magnet flux linkage, Δ ψ_rdIt is lost for permanent magnet D axis Virtual shipyard variable after magnetic, Δ ψ_rqFor q axis Virtual shipyard variable, T after permanent magnet loss of excitation_LFor load torque, f_ωIt is uncertain , L_dFor d axle inductance values, L_qFor q axle inductance values, R is stator resistance value, n_pFor number of pole-pairs, J is rotary inertia；

2.2) for permanent magnet synchronous motor state equation, choose the sliding-mode surface as shown in formula (2)；

<mrow> <mi>e</mi> <mo>=</mo> <mi>x</mi> <mo>-</mo> <mover> <mi>x</mi> <mo>^</mo> </mover> <mo>=</mo> <mi>E</mi> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mover> <mi>x</mi> <mo>^</mo> </mover> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>e</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>e</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>e</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>&amp;psi;</mi> <mi>d</mi> </msub> <mo>-</mo> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>d</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>&amp;psi;</mi> <mi>q</mi> </msub> <mo>-</mo> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>q</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;omega;</mi> <mo>-</mo> <mover> <mi>&amp;omega;</mi> <mo>^</mo> </mover> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mi>E</mi> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mi>d</mi> </msub> <mo>-</mo> <msub> <mover> <mi>i</mi> <mo>^</mo> </mover> <mi>d</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mi>q</mi> </msub> <mo>-</mo> <msub> <mover> <mi>i</mi> <mo>^</mo> </mover> <mi>q</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mi>&amp;omega;</mi> <mo>-</mo> <mover> <mi>&amp;omega;</mi> <mo>^</mo> </mover> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>

In formula (2), e is the vector x and its observation of d axis stator magnetic linkage, q axis stator magnetic linkage and rotating speed compositionBetween difference,For d axis stator magnetic linkage, q axis stator magnetic linkage and rotating speed composition vector x observation,For d shaft currents, q shaft currents and rotating speed The vector x of composition₁Observation, E be (1-3) shown in State Equation Coefficients item matrix E,For q shaft currents i_dObservation, For q shaft currents i_qObservation,For d axis stator magnetic linkages ψ_dObservation,For q axis stator magnetic linkages ψ_qObservation,For forever The observation of the rotational speed omega of magnetic-synchro motor, e₁For d axis stator magnetic linkages ψ_dAnd its observationDifference, e₂For q axis stator magnetic linkages ψ_q And its observationDifference, e₃For the rotational speed omega and its observation of permanent magnet synchronous motorDifference；

2.3) stator magnetic linkage sliding mode observer of the design as shown in formula (3)；

<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mover> <mover> <mi>x</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mi>A</mi> <mover> <mi>x</mi> <mo>^</mo> </mover> <mo>+</mo> <mi>B</mi> <mi>u</mi> <mo>+</mo> <msub> <mi>Cf</mi> <mi>&amp;psi;</mi> </msub> <mo>+</mo> <mi>&amp;omega;</mi> <mi>L</mi> <mi>e</mi> <mo>+</mo> <mi>&amp;omega;</mi> <mi>H</mi> <mi> </mi> <mi>sgn</mi> <mrow> <mo>(</mo> <mi>e</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>x</mi> <mo>^</mo> </mover> <mo>=</mo> <mi>E</mi> <msub> <mover> <mi>x</mi> <mo>^</mo> </mover> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>&amp;psi;</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>

In formula (3),For the observation of the vector x of d axis stator magnetic linkage, q axis stator magnetic linkage and rotating speed compositionFor d axis stator magnets The observation of the vector x of chain, q axis stator magnetic linkage and rotating speed composition, sgn () are sign function, and A, B, C, E are the shape of formula (1) State system of equations is several, the matrix that u is d shaft voltages, q shaft voltages and q axis stator magnetic linkage form, f_ψFor permanent magnet flux linkage item, ω is The rotating speed of permanent magnet synchronous motor, e are the vector x and its observation of d axis stator magnetic linkage, q axis stator magnetic linkage and rotating speed compositionBetween Difference, shown in the function expression such as formula (3-1) of L, H is matrix to be designed and its function expression such as formula (3-2) institute Show；

<mrow> <mi>L</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <mi>H</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>h</mi> <mn>1</mn> </msub> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>h</mi> <mn>2</mn> </msub> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <msub> <mi>h</mi> <mn>3</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>-</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>

In formula (3-2), h₁,h₂,h₃For the diagonal entry of matrix H to be designed；

2.4) sign function for calling is designed；

2.5) observation of d axis stator magnetic linkages and the observation of q axis stator magnetic linkages can be obtained such as formula (4) by solving；

<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mrow> <mo>(</mo> <mrow> <mn>1</mn> <mo>-</mo> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> </mrow> <mo>)</mo> </mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>u</mi> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <mo>+</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>e</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>h</mi> <mn>1</mn> </msub> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> <mi>sgn</mi> <mrow> <mo>(</mo> <mrow> <msub> <mi>e</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mrow> <mo>(</mo> <mrow> <mn>1</mn> <mo>-</mo> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>q</mi> </msub> </mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> </mrow> <mo>)</mo> </mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>-</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>u</mi> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>-</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>e</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> <mi>sgn</mi> <mrow> <mo>(</mo> <mrow> <msub> <mi>e</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mover> <mi>&amp;omega;</mi> <mo>^</mo> </mover> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mover> <mi>&amp;omega;</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <mn>3</mn> <msubsup> <mi>n</mi> <mi>p</mi> <mn>2</mn> </msubsup> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <msub> <mi>T</mi> <mi>s</mi> </msub> </mrow> <mrow> <mn>2</mn> <msub> <mi>JL</mi> <mi>q</mi> </msub> </mrow> </mfrac> <msub> <mi>&amp;psi;</mi> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>h</mi> <mn>3</mn> </msub> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> <mi>sgn</mi> <mrow> <mo>(</mo> <mrow> <msub> <mi>e</mi> <mn>3</mn> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>

In formula (4),For k+1 moment d axis stator flux observer values,For k+1 moment q axis stator flux observers Value, R be stator resistance value, L_dFor d axle inductance values, L_qFor q axle inductance values, T_sFor the sampling period,For k moment d axis stator magnets Chain ψ_d(k) observation,For k moment q axis stator magnetic linkages ψ_q(k) observation,For the rotating speed at k+1 moment, For the observation of the rotating speed of k moment permanent magnet synchronous motors, ω (k) is the rotating speed of k moment permanent magnet synchronous motors, u_d(k) it is the k moment D shaft voltages, u_q(k) it is k moment q shaft voltages, ψ_roFor permanent magnet flux linkage, e₁(k) it is k moment d axis stator magnetic linkages ψ_d(k) and its see Measured valueDifference, e₂(k) it is k moment q axis stator magnetic linkages ψ_q(k) and its observationDifference, e₃(k) it is k moment permanent magnetism The rotating speed and its observation of synchronous motorDifference, sgn () be step 2.4) design sign function, h₁,h₂,h₃To wait to set The diagonal entry of the matrix H of meter, n_pFor number of pole-pairs, J is rotary inertia；

2.6) solution such as formula (5)~(11), obtain the observation of load torqueThe observation of external disturbanceRotor-position The observation of angular deviationAnd the observation of permanent magnet loss of excitation rate

<mrow> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>d</mi> </mrow> </msub> <mo>=</mo> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> <mi>sgn</mi> <mrow> <mo>(</mo> <msub> <mi>e</mi> <mn>2</mn> </msub> <mo>(</mo> <mi>k</mi> <mo>)</mo> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>q</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>h</mi> <mn>1</mn> </msub> <mi>sgn</mi> <mrow> <mo>(</mo> <msub> <mi>e</mi> <mn>1</mn> </msub> <mo>(</mo> <mi>k</mi> <mo>)</mo> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <msub> <mover> <mi>T</mi> <mo>^</mo> </mover> <mi>L</mi> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <mi>J</mi> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>n</mi> <mi>p</mi> </msub> </mfrac> <msub> <mi>h</mi> <mn>3</mn> </msub> <mi>sgn</mi> <mrow> <mo>(</mo> <msub> <mi>e</mi> <mn>3</mn> </msub> <mo>(</mo> <mi>k</mi> <mo>)</mo> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <msub> <mover> <mi>f</mi> <mo>^</mo> </mover> <mi>&amp;omega;</mi> </msub> <mrow> <mn>2</mn> <msub> <mi>L</mi> <mi>q</mi> </msub> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <msub> <mover> <mi>f</mi> <mo>^</mo> </mover> <mi>&amp;omega;</mi> </msub> <mo>=</mo> <mn>3</mn> <msub> <mi>n</mi> <mi>p</mi> </msub> <mo>&amp;lsqb;</mo> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>q</mi> </mrow> </msub> <mo>+</mo> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>d</mi> </mrow> </msub> <msub> <mi>&amp;psi;</mi> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>d</mi> </mrow> </msub> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>q</mi> </mrow> </msub> <mo>&amp;rsqb;</mo> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <mi>&amp;Delta;</mi> <mover> <mi>&amp;theta;</mi> <mo>^</mo> </mover> <mo>=</mo> <msup> <mi>tan</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>q</mi> </mrow> </msub> </mrow> <mrow> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <mo>-</mo> <mo>|</mo> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>d</mi> </mrow> </msub> <mo>|</mo> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>r</mi> </msub> <mo>=</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>q</mi> </mrow> </msub> </mrow> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>&amp;Delta;</mi> <mover> <mi>&amp;theta;</mi> <mo>^</mo> </mover> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>10</mn> <mo>)</mo> </mrow> </mrow>

<mrow> <mover> <mi>&amp;lambda;</mi> <mo>^</mo> </mover> <mo>=</mo> <mfrac> <mrow> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <mo>-</mo> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>r</mi> </msub> </mrow> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> </mfrac> <mo>&amp;times;</mo> <mn>100</mn> <mi>%</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>11</mn> <mo>)</mo> </mrow> </mrow>

In formula (5)~(11),For the observation of d axis Virtual shipyard variables,For the observation of q axis Virtual shipyard variables, h₁,h₂,h₃For the diagonal entry of matrix H to be designed, e₁(k) it is k moment d axis stator magnetic linkages ψ_d(k) and its observation Difference, e₂(k) it is k moment q axis stator magnetic linkages ψ_q(k) and its observationDifference, e₃(k) it is k moment permanent magnet synchronous motors Rotating speed and its observationDifference, sgn () be step 2.4) design sign function,For load torque observation, J is Rotary inertia, ω (k) be k moment permanent magnet synchronous motors rotating speed, n_pFor number of pole-pairs,For external disturbance observation, L_qFor q axis Inductance value, ψ_roFor permanent magnet flux linkage,For d axis Virtual shipyard variable Δ ψ after permanent magnet loss of excitation_rdObservation,For forever Q axis Virtual shipyard variable Δ ψ after magnet loss of excitation_rqObservation, ψ_q(k) it is k moment q axis stator magnetic linkages,For rotor position angle Deviation observation is spent,For the observation of magnetic linkage after permanent magnet loss of excitation,For permanent magnet loss of excitation rate observation.

3. the fault-tolerant prediction stator flux regulation method of permanent magnet synchronous motor according to claim 2, which is characterized in that step Shown in the function expression such as formula (12) of the sign function of rapid 2.4) middle design；

<mrow> <mi>sgn</mi> <mrow> <mo>(</mo> <mi>v</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>tanh</mi> <mrow> <mo>(</mo> <mi>v</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <msup> <mi>e</mi> <mrow> <mi>p</mi> <mi>v</mi> </mrow> </msup> <mo>-</mo> <mn>1</mn> </mrow> <mrow> <msup> <mi>e</mi> <mrow> <mi>p</mi> <mi>v</mi> </mrow> </msup> <mo>+</mo> <mn>1</mn> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>12</mn> <mo>)</mo> </mrow> </mrow>

In formula (12), ν is the input parameter of sign function, and p is small constant.

4. the fault-tolerant prediction stator flux regulation method of permanent magnet synchronous motor according to claim 1, which is characterized in that step It is rapid 3) in pass through it is default it is fault-tolerant prediction rotational speed governor carry out it is fault-tolerant prediction rotating speed control calculate the k moment q axis stator magnetic linkages Command valueFunction expression such as formula (13) shown in；

<mrow> <msubsup> <mi>&amp;psi;</mi> <mi>q</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <msup> <mi>&amp;omega;</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msup> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>-</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <mn>3</mn> <msubsup> <mi>n</mi> <mi>p</mi> <mn>2</mn> </msubsup> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>d</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <mn>6</mn> <msub> <mi>JL</mi> <mi>q</mi> </msub> <msub> <mi>n</mi> <mi>p</mi> </msub> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>d</mi> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>d</mi> <mi>s</mi> </mrow> </msub> </mrow> <mrow> <mn>4</mn> <msub> <mi>JL</mi> <mi>q</mi> </msub> </mrow> </mfrac> <msub> <mi>&amp;psi;</mi> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mrow> <msub> <mi>n</mi> <mi>p</mi> </msub> <msub> <mi>T</mi> <mrow> <mi>d</mi> <mi>s</mi> </mrow> </msub> </mrow> <mi>J</mi> </mfrac> <msub> <mover> <mi>T</mi> <mo>^</mo> </mover> <mi>L</mi> </msub> <mo>-</mo> <mfrac> <mrow> <msub> <mi>n</mi> <mi>p</mi> </msub> <msub> <mi>T</mi> <mrow> <mi>d</mi> <mi>s</mi> </mrow> </msub> </mrow> <mrow> <mn>2</mn> <msub> <mi>JL</mi> <mi>q</mi> </msub> </mrow> </mfrac> <msub> <mover> <mi>f</mi> <mo>^</mo> </mover> <mi>&amp;omega;</mi> </msub> </mrow> <mfrac> <mrow> <mn>9</mn> <msubsup> <mi>n</mi> <mi>p</mi> <mn>2</mn> </msubsup> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>d</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <mn>6</mn> <msub> <mi>JL</mi> <mi>q</mi> </msub> <msub> <mi>n</mi> <mi>p</mi> </msub> <mi>&amp;Delta;</mi> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mrow> <mi>r</mi> <mi>d</mi> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>d</mi> <mi>s</mi> </mrow> </msub> </mrow> <mrow> <mn>4</mn> <msub> <mi>JL</mi> <mi>q</mi> </msub> </mrow> </mfrac> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>13</mn> <mo>)</mo> </mrow> </mrow>

In formula (13),For the q axis stator magnetic linkage command values at k moment, ω^ref(k+1) it is the rotational speed command value at k+1 moment, ω (k) be k moment permanent magnet synchronous motors rotating speed, n_pFor number of pole-pairs, ψ_roFor permanent magnet flux linkage, T_dsFor sampling period T_sTimes Number, J are rotary inertia, L_qFor q axle inductance values,For d axis Virtual shipyard variable Δ ψ after permanent magnet loss of excitation_rdObservation, ψ_q (k-1) it is k-1 moment q axis stator magnetic linkages,For load torque observation,For external disturbance observation.

5. the fault-tolerant prediction stator flux regulation method of permanent magnet synchronous motor according to claim 1, which is characterized in that step Rapid 4) middle d, q axis stator magnetic linkage command value that the k+2 moment is calculated using Lagrangian expansion's Shown in function expression such as formula (14)；

<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msubsup> <mi>&amp;psi;</mi> <mi>d</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>2</mn> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>&amp;psi;</mi> <mi>d</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>&amp;psi;</mi> <mi>d</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>d</mi> </msub> <msubsup> <mi>i</mi> <mi>d</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msubsup> <mi>&amp;psi;</mi> <mi>q</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>2</mn> <mo>)</mo> </mrow> <mo>=</mo> <mn>3</mn> <msubsup> <mi>&amp;psi;</mi> <mi>q</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>-</mo> <mn>3</mn> <msubsup> <mi>&amp;psi;</mi> <mi>q</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mi>&amp;psi;</mi> <mi>q</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mi>k</mi> <mo>-</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>14</mn> <mo>)</mo> </mrow> </mrow>

In formula (14),For the d axis stator magnetic linkage command values at k+2 moment,For the d axis stator magnets at k+1 moment Chain command value,For the d axis stator magnetic linkage command values at k moment, ψ_roFor permanent magnet flux linkage, L_dFor d axle inductance values,For The d shaft current command values at k moment；For the q axis stator magnetic linkage command values at k+2 moment,Determine for the q axis at k moment Sub- magnetic linkage command value,For the q axis stator magnetic linkage command values at k-1 moment,For the q axis stator magnets at k-2 moment Chain command value.

6. the fault-tolerant prediction stator flux regulation method of permanent magnet synchronous motor according to claim 1, which is characterized in that step It is rapid 5) in pass through default fault-tolerant prediction stator flux regulation device and carry out fault-tolerant prediction stator flux regulation and calculate d axis command voltagesWith_qAxis command voltageFunction expression such as formula (15) shown in；

<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>u</mi> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>T</mi> <mi>s</mi> </msub> </mfrac> <msubsup> <mi>&amp;psi;</mi> <mi>d</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>2</mn> </mrow> <mo>)</mo> </mrow> <mo>+</mo> <mrow> <mo>(</mo> <mrow> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> <mo>-</mo> <mfrac> <mn>1</mn> <msub> <mi>T</mi> <mi>s</mi> </msub> </mfrac> </mrow> <mo>)</mo> </mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>-</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>-</mo> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <mo>-</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mrow> <mn>1</mn> <mo>-</mo> <mover> <mi>&amp;lambda;</mi> <mo>^</mo> </mover> </mrow> <mo>)</mo> </mrow> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <mi>sin</mi> <mrow> <mo>(</mo> <mrow> <mi>&amp;Delta;</mi> <mover> <mi>&amp;theta;</mi> <mo>^</mo> </mover> </mrow> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>u</mi> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>T</mi> <mi>s</mi> </msub> </mfrac> <msubsup> <mi>&amp;psi;</mi> <mi>q</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msubsup> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>2</mn> </mrow> <mo>)</mo> </mrow> <mo>+</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>+</mo> <mrow> <mo>(</mo> <mrow> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>q</mi> </msub> </mfrac> <mo>-</mo> <mfrac> <mn>1</mn> <msub> <mi>T</mi> <mi>s</mi> </msub> </mfrac> </mrow> <mo>)</mo> </mrow> <msub> <mover> <mi>&amp;psi;</mi> <mo>^</mo> </mover> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>+</mo> <mi>&amp;omega;</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <msub> <mi>&amp;psi;</mi> <mrow> <mi>r</mi> <mi>o</mi> </mrow> </msub> <mrow> <mo>&amp;lsqb;</mo> <mrow> <mrow> <mo>(</mo> <mrow> <mn>1</mn> <mo>-</mo> <mover> <mi>&amp;lambda;</mi> <mo>^</mo> </mover> </mrow> <mo>)</mo> </mrow> <mi>cos</mi> <mrow> <mo>(</mo> <mrow> <mi>&amp;Delta;</mi> <mover> <mi>&amp;theta;</mi> <mo>^</mo> </mover> </mrow> <mo>)</mo> </mrow> <mo>-</mo> <mn>1</mn> </mrow> <mo>&amp;rsqb;</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>15</mn> <mo>)</mo> </mrow> </mrow>

In formula (15), u_d(k+1) it is the d shaft voltages at k+1 moment,For the q shaft voltages at k+1 moment,For k+ The d axis stator magnetic linkage command values at 2 moment,For the q axis stator magnetic linkage command values at k+2 moment, R is stator resistance value, L_d For d axle inductance values, L_qFor q axle inductance values, T_sFor the sampling period,For k+1 moment d axis stator flux observer values,For k+1 moment q axis stator flux observer values, ω (k) is the rotating speed of k moment permanent magnet synchronous motors, ψ_roFor permanent magnet magnetic Chain,For permanent magnet loss of excitation rate observation,For rotor position angle deviation observation.

7. a kind of fault-tolerant prediction stator flux regulation system of permanent magnet synchronous motor, including computer system, it is characterised in that：Institute State the fault-tolerant prediction stator that computer system is programmed to perform in claim 1~6 permanent magnet synchronous motor described in any one The step of flux linkage control method.