CN110581677B - Permanent magnet synchronous motor restraining method of sliding mode and equivalent input interference method - Google Patents

Permanent magnet synchronous motor restraining method of sliding mode and equivalent input interference method Download PDF

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CN110581677B
CN110581677B CN201910773385.8A CN201910773385A CN110581677B CN 110581677 B CN110581677 B CN 110581677B CN 201910773385 A CN201910773385 A CN 201910773385A CN 110581677 B CN110581677 B CN 110581677B
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sliding mode
disturbance
input
state
mode controller
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佘锦华
吴敏
刘振焘
张传科
周宇健
蒋若愚
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China University of Geosciences
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

Abstract

The invention discloses a permanent magnet synchronous motor restraining method of a sliding mode and an equivalent input interference method, which has the beneficial effects that on one hand, disturbance is restrained doubly by utilizing the sliding mode and the equivalent input interference method, on the other hand, a disturbance estimated value obtained by the equivalent input interference method is introduced into a sliding mode controller, buffeting caused by the sliding mode controller is reduced, and disturbance is restrained by combining the sliding mode and the equivalent input interference method. By combining the equivalent input interference method with the sliding mode control method, the double suppression effect is achieved, the buffeting problem caused by the sliding mode controller is reduced by the equivalent input interference method, and the structure of the control system is simplified.

Description

Permanent magnet synchronous motor restraining method of sliding mode and equivalent input interference method
Technical Field
The invention relates to the field of motor control, in particular to a permanent magnet synchronous motor restraining method of a sliding mode and an equivalent input interference method.
Background
A Permanent Magnet Synchronous Motor (PMSM) servo system is widely applied to high-performance and high-precision control occasions, but in the working process, factors such as load change, cogging torque of a motor and the like can cause disturbance to a control system, and the control performance is greatly influenced. Therefore, a high-performance servo system needs to suppress it to ensure control accuracy and stability. The sliding mode control method is widely applied due to the fact that the control idea is simple and direct, and the disturbance suppression effect is good. The equivalent input interference method is an active disturbance suppression method, and can add the disturbance of an observation system and the equivalent value thereof to an input end to achieve the suppression effect. The observed disturbance estimation value is introduced into the design of the sliding mode controller, the buffeting problem caused by using the sliding mode controller can be effectively reduced, and the control performance is further improved.
Similar patents have been published: a kind ofThe invention discloses a permanent magnet synchronous motor load disturbance observation method (CN108429501A), which adopts the technical scheme that: (1) establishing an input and output mathematical model between motor load disturbance and a rotating speed variable when a permanent magnet synchronous motor adopts a control strategy of which id is 0, (2) constructing an auxiliary system of the input and output model based on the input and output model in the step 1, and determining the input and the output of the auxiliary system, (3) determining a disturbance observation value based on the auxiliary system in the step 2 and the input and output model in the step 1, (4) establishing a mathematical expression of a corresponding load disturbance observer by using specific parameters of the motor, and forming a control closed loop by combining state feedback; a permanent magnet linear synchronous motor sliding mode control system (CN106849795A) based on a linear extended state observer is characterized in that: (1) establishing a dynamic equation of the permanent magnet linear synchronous motor on a two-phase synchronous rotation orthogonal coordinate system, (2) simplifying the dynamic equation into a special second-order integral series type mathematical model; then, designing a linear extended state observer to obtain a disturbance estimated value, and considering the size of the disturbance estimated value into the design of a sliding mode control law to weaken the phenomenon of buffeting, (3) analyzing the stability of the system by applying the Lyapunov stability theory; the invention discloses a permanent magnet synchronous motor sliding mode control method (CN109450320A) based on an approximation rule and disturbance observation compensation, which adopts the technical scheme that: (1) carrying out coordinate transformation on a prototype motor equation, establishing a mathematical model of a permanent magnet synchronous motor under a d-q coordinate system, (2) establishing a PI permanent magnet synchronous motor double-closed-loop servo control system, (3) defining a speed error, selecting an integral sliding mode surface, designing a novel convergence law algorithm to obtain a sliding mode control law, (4) replacing a sign function sgn(s) in the control law of the sliding mode controller by a saturation function sat(s) to obtain the control law of the sliding mode controller, (5) taking mechanical speed and system disturbance as state variables, and taking torque T of the permanent magnet synchronous motor as a state variableeThe mechanical speed is used as the output as the system input, and a state equation is established. Designing an observer by taking mechanical speed and system disturbance as an observation object, selecting a sliding mode surface and a convergence law by taking an obtained error equation of the disturbance observer as reference, (6) replacing a sign function sgn(s) in a control law of the disturbance observer with a saturation function sat(s), and then controlling the law of the disturbance observer.
The prior art also has some problems, and a permanent magnet synchronous motor load disturbance observation method (CN108429501A) only utilizes disturbance suppression of an observer, and has a slightly poor effect. A permanent magnet linear synchronous motor sliding mode control system (CN106849795A) based on a linear extended state observer and a permanent magnet synchronous motor sliding mode control method (CN109450320A) based on an approximation rule and disturbance observation compensation relate to the combination of a disturbance observer and a sliding mode controller, but the design of the two observers is more complex compared with the design of an equivalent input disturbance method, and although the suppression effects which can be achieved are similar.
The method utilizes the sliding mode and the equivalent input interference method to carry out double suppression on the disturbance, further uses the disturbance estimation value obtained by the equivalent input interference method as part of the input of the sliding mode controller, and ensures that the sliding mode controller can play the same performance under the condition that the gain coefficient is smaller, thereby reducing buffeting brought by the sliding mode controller and having a very good disturbance suppression effect.
Disclosure of Invention
The invention aims to solve the technical problem that aiming at the defects of poor disturbance suppression effect and complex design structure of an observer in the prior art, the invention provides a permanent magnet synchronous motor suppression method of a sliding mode and equivalent input interference method, which comprises the following steps:
s1, carrying out mathematical modeling on the permanent magnet synchronous motor to obtain a state equation of the control system with disturbance;
s2, designing a sliding mode controller according to a control system state equation to suppress disturbance;
and S3, designing an equivalent input disturbance controller to further suppress disturbance according to a system state equation and the designed sliding mode controller, and reducing buffeting generated by the sliding mode controller to obtain a torque disturbance suppressor combining sliding mode and equivalent input disturbance.
Further, in step S1, mathematical modeling is performed on the permanent magnet synchronous motor, and a control system state equation with disturbance is obtained as shown in formula (1):
Figure BDA0002174294090000021
wherein J represents the moment of inertia, b represents the viscous friction coefficient, omega represents the angular speed of the rotor, t represents the time variable, npRepresenting the motor logarithm, #fRepresenting the rotor flux linkage, iqRepresenting current components of the permanent magnet synchronous motor under d-q rotation coordinates; t isrRepresenting a load torque disturbance.
Further, in step S2, designing a sliding mode controller according to the state equation of the control system with disturbance, the steps are as follows:
s21, let x1＝ω*-ω,uf＝iqWherein ω is*For the target input of ω, the state equation required by the design of the sliding mode controller can be obtained from the perturbed control system state equation, as shown in formula (2):
Figure BDA0002174294090000031
wherein, ω is*The target input of the number of the input is omega,
Figure BDA0002174294090000032
is x1First order differentiation of;
s22, obtaining a final sliding mode controller expression by the state equation required by the sliding mode controller design, wherein the final sliding mode controller expression is shown in formula (3):
Figure BDA0002174294090000033
wherein, sigma, c, epsilon and q are gain parameters of the sliding mode controller, and omega*Target input of ω, state variable x1＝ω*- ω, s denotes the slip form face,
Figure BDA0002174294090000034
representing a saturation function.
Further, in step S3, an equivalent input disturbance controller is designed, and the equivalent input disturbance value observed by the equivalent input disturbance controller is used as part of input of the sliding mode controller, so as to obtain a torque disturbance suppressor combining the sliding mode and the equivalent input disturbance. The method comprises the following specific steps:
s31, a typical system state equation with disturbances is shown in equation (4):
Figure BDA0002174294090000035
where x (t) is the system state, u (t) is the control input, y (t) is the system output, A, B and C are constant matrices, BdIs a gain matrix. For such a system, the presence of a control input signal d at the control inpute(t) the influence on the output is exactly the same as d (t), and is called de(t) is the equivalent input interference (EID) of the interference input system d (t), and the system model of the equivalent input interference is shown in equation (5):
Figure BDA0002174294090000036
s32, the equivalent input interference controller comprises a state observer and an equivalent input interference estimator, interference is observed by the state observer, the equivalent input interference is obtained through a low-pass filter F (S), and a state expression of the state observer is shown as a formula (6):
Figure BDA0002174294090000037
wherein the content of the first and second substances,
Figure BDA0002174294090000038
is the state of the system as observed by the state observer,
Figure BDA0002174294090000039
the first derivative of the state of the system as observed by the state observer, y (t) is the system output,
Figure BDA00021742940900000310
the system output observed by the state observer, L represents the state observer gain;
s33, obtaining the equivalent value of the disturbance at the input end caused by the system load torque by designing a low-pass filter F (S) and a state observer gain L
Figure BDA00021742940900000311
Wherein d ise(t) is a portion of the input signal, i.e. the equivalent input disturbance of the input system, de(t) deducing theoretical values for formulas;
Figure BDA00021742940900000312
for practical disturbance estimation, since the disturbance is generally low frequency, it is necessary to remove the high frequency part through a low pass filter, which is mostly an error introduced in the calculation process.
Figure BDA00021742940900000313
B omega to be used as sliding mode controller*-TrAnd part of the input signal is applied to the sliding mode controller, and then gains c, q, sigma and epsilon of the sliding mode controller are designed to obtain the torque disturbance suppressor combining the sliding mode and equivalent input disturbance.
Furthermore, the value range of a gain parameter c of the sliding mode controller is c & gt 0, the value range of a parameter q is more than 0 and less than q & lt 20, the value range of sigma is more than 5 and less than sigma & lt 15, the value range of epsilon is more than 0 and less than epsilon & lt 20, and sigma multiplied by epsilon is less than or equal to 200.
The invention has the following beneficial effects: the method for restraining the permanent magnet synchronous motor by the sliding mode and the equivalent input interference method can effectively restrain disturbance. By utilizing an equivalent input interference method, gain parameters can be obtained when the sliding mode controller is designed, so that the buffeting problem is reduced. Compared with the existing permanent magnet synchronous motor restraining method, the permanent magnet synchronous motor restraining method provided by the invention can achieve a satisfactory restraining effect on the premise that the control system structure is simpler.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a system framework diagram of a permanent magnet synchronous motor suppression method of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
A permanent magnet synchronous motor restraining method based on sliding mode and equivalent input interference control comprises the following steps:
(1) mathematical modeling of permanent magnet synchronous motor
And carrying out mathematical modeling on the permanent magnet synchronous motor, and researching a vector control principle and a current control method of the permanent magnet synchronous motor to obtain a control system state equation with disturbance.
The mechanical equation of the permanent magnet synchronous motor comprises rotational inertia, and the expression of the mechanical equation is shown as formula (1):
Figure BDA0002174294090000041
wherein J represents moment of inertia, TeRepresenting electromagnetic torque, TlRepresenting the load torque, b representing the viscous friction coefficient, ω representing the rotor angular velocity, t representing the time variable; the load torque of the permanent magnet synchronous motor is taken as disturbance, and the mechanical equation of the permanent magnet synchronous motor with cogging torque disturbance is shown as a formula (2):
Figure BDA0002174294090000042
wherein, TrRepresenting a load torque disturbance;
the model under the d-q rotating coordinate of the permanent magnet synchronous motor is shown as formula (3):
Figure BDA0002174294090000051
wherein R represents armature winding resistance, Ld、LqRepresenting equivalent armature inductance components, n, in d and q rotation coordinatespRepresenting the motor logarithm, #fRepresenting the rotor flux linkage, id、iqRepresenting current components under d and q rotating coordinates; u. ofd、uqRepresenting voltage components under d and q rotating coordinates;
electromagnetic torque T of permanent magnet synchronous motoreDetermined by equation (4):
Figure BDA0002174294090000052
in a permanent magnet synchronous motor idUnder the 0-vector control method, TeThe expression is simplified as shown in formula (5):
Figure BDA0002174294090000053
substituting the formula (5) into the formula (2) to obtain a mechanical motion equation formula (6):
Figure BDA0002174294090000054
after the steps, a control system state equation with disturbance can be obtained.
(2) Sliding mode controller design
And designing a sliding mode controller to inhibit the disturbance through the obtained control system state equation with the disturbance.
In the formula (6), let the state variable x1＝ω*-ω,uf＝iqWherein ω is*For the target input of omega, a state equation, a state variable x, required by the design of the sliding mode controller can be obtained1Is shown in equation (7):
Figure BDA0002174294090000055
wherein the content of the first and second substances,
Figure BDA0002174294090000056
is x1The first differential with the · parameter is the first differential without the · parameter; the state equations are first order differential equations of state variables, and describe the relationship between system input and states, and the design of a sliding mode controller is the same;
designing a sliding mode surface s as a formula (8):
s＝c·x1 (8)
wherein, c is the gain of the sliding mode controller; the first differential of the slip-form surface s is shown in equation (9):
Figure BDA0002174294090000057
wherein the content of the first and second substances,
Figure BDA0002174294090000061
is a first order differential of s, in order to
Figure BDA0002174294090000062
The design approximation rule is shown in formula (10):
Figure BDA0002174294090000063
wherein epsilon and q are gains of the sliding mode controller, and the sliding mode controller is designed as the formula (11):
Figure BDA0002174294090000064
in order to eliminate the buffeting problem of the sliding mode controller, the sign function is replaced by a saturation function, and the final sliding mode controller is obtained as shown in formula (12):
Figure BDA0002174294090000065
wherein, sigma is a gain parameter of the sliding mode controller,
Figure BDA0002174294090000066
and (4) representing a saturation function, and obtaining a final sliding mode controller expression after the steps.
(3) Design of equivalent input interference controller participating in sliding mode controller control
According to a system state equation and a designed sliding mode controller, an EID equivalent input disturbance controller is designed to further suppress disturbance, buffeting generated by the sliding mode controller is reduced, a torque disturbance suppressor combining a sliding mode and equivalent input disturbance is obtained, and disturbance suppression performance of the sliding mode controller is improved.
A linear system model with perturbations is shown in equation (13):
Figure BDA0002174294090000067
where x (t) is the system state,
Figure BDA0002174294090000068
is the first derivative of the system state, u (t) is the control input, y (t) is the system output, A, B and C are constant matrices, BdIs a gain matrix. For such a system, the presence of a control input signal d at the control inpute(t) the influence on the output is exactly the same as d (t), and is called de(t) is the equivalent input interference (EID) of the interference input system d (t), equation (13) is expressed in the form of system model equation (14) with equivalent input interference:
Figure BDA0002174294090000069
the equivalent input disturbance controller comprises two parts of a state observer and an equivalent input disturbance estimator, and has a structure as followsShown in FIG. 1, wherein B+＝(BTB)-1BTL is the state observer gain, r (t) is the system control input, the actual input is the reference speed,
Figure BDA00021742940900000610
in practice obtained by means of a filter f(s),
Figure BDA00021742940900000611
is the value before the filter, uses different symbols to represent the difference, SMC is the sliding mode control part, the disturbance is observed by the state observer, and the equivalent input disturbance is obtained by the low pass filter F(s), the state observer state expression is shown in the formula (15):
Figure BDA00021742940900000612
wherein the content of the first and second substances,
Figure BDA0002174294090000071
is the state of the system as observed by the state observer,
Figure BDA0002174294090000072
the first derivative of the state of the system as observed by the state observer, y (t) is the system output,
Figure BDA0002174294090000073
the system output observed by the state observer. By comparing the formula (7) with the formula (13), the system state equation is equivalent to the standard system, and then
Figure BDA0002174294090000074
C＝[1]。
A low pass filter f(s) and a state observer gain L are designed. F(s) is a low-pass filter for the disturbance observed value containing high-frequency component
Figure BDA0002174294090000075
Filtering is carried out, because the actual disturbance is generally relatively low-frequency, only the part of the observation value which is the highest frequency and below the highest frequency in the actual disturbance d (t) is reserved, and the high-frequency part is filtered, so that the disturbance observation value is more accurate, and the disturbance observation value is obtained
Figure BDA0002174294090000076
The specific process is as follows: selecting a passband omega based on the angular frequency of the perturbationsrThe angular frequency of the part slightly higher than the highest frequency in the perturbation, so that F (j ω) ≈ 1,
Figure BDA0002174294090000077
simultaneously, the gain L of the observer is also designed, and the design steps are as follows:
selecting a large enough rho, and the rho is more than 0, solving the Riccati equation, wherein the expression is shown as (16):
Figure BDA0002174294090000078
wherein QL＞0,RL＞0，QLIs the coefficient of state energy, RLThe coefficient is the input energy, under the ideal condition, the smaller the input is, the better, the smaller the energy consumption is, the better, when in use, the matrix S is obtained by adjusting according to the actual condition.
Order to
Figure BDA0002174294090000079
Checking system stability, if not stable increasing rho reissue
Figure BDA00021742940900000710
Until the system stabilizes to obtain the state observer gain L.
The equivalent value of the disturbance at the input end caused by the system load torque can be obtained by the low-pass filter F(s) and the gain L of the state observer
Figure BDA00021742940900000711
Wherein d ise(t) is inputPart of the signal, i.e. equivalent input disturbance, d of the input systeme(t) deducing theoretical values for formulas;
Figure BDA00021742940900000712
for practical disturbance estimation, since the disturbance is generally low frequency, it is necessary to remove the high frequency part through a low pass filter, which is mostly an error introduced in the calculation process.
Figure BDA00021742940900000713
B omega to be used as sliding mode controller*-TrPart of the control signal is applied to a sliding mode controller, and then gains c, q, sigma and epsilon of the sliding mode controller are designed, wherein the value range of a gain parameter c of the sliding mode controller is that c is larger than 0, the value range of a parameter q is that 0 is larger than q is smaller than 20, the value range of sigma is that 5 is larger than sigma is smaller than 15, the value range of epsilon is that 0 is larger than epsilon is smaller than 20, and sigma multiplied by epsilon is smaller than or equal to 200; and obtaining the torque disturbance suppressor combining the sliding mode and the equivalent input disturbance.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (2)

1. A permanent magnet synchronous motor restraining method of a sliding mode and an equivalent input interference method is characterized by comprising the following steps:
s1, carrying out mathematical modeling on the permanent magnet synchronous motor to obtain a state equation of the control system with disturbance;
in step S1, mathematical modeling is performed on the permanent magnet synchronous motor to obtain a control system state equation with disturbance as shown in formula (1):
Figure FDA0002931020210000011
wherein J represents the moment of inertia, b represents the viscous friction coefficient, omega represents the angular speed of the rotor, t represents the time variable, npRepresenting the motor logarithm, #fRepresenting the rotor flux linkage, iqRepresenting current components of the permanent magnet synchronous motor under d-q rotation coordinates; t isrRepresenting a load torque disturbance;
s2, designing a sliding mode controller according to a control system state equation to suppress disturbance;
in step S2, a sliding mode controller is designed according to the state equation of the control system with disturbance, and the steps are as follows:
s21, order the system state x1＝ω*ω, control input uf＝iqWherein ω is*For the target input of ω, the state equation of the sliding mode controller design can be obtained from the perturbed control system state equation, as shown in equation (2):
Figure FDA0002931020210000012
wherein, ω is*The target input of the number of the input is omega,
Figure FDA0002931020210000013
is x1First order differentiation of;
s22, the state equation designed by the sliding mode controller can obtain the final sliding mode controller expression as shown in the formula (3):
Figure FDA0002931020210000014
wherein, sigma, c, epsilon and q are gain parameters of the sliding mode controller, and omega*Target input of ω, state variable x1＝ω*- ω, s denotes the slip form face,
Figure FDA0002931020210000015
representing a saturation function；
S3, designing an equivalent input disturbance controller to further suppress disturbance according to a control system state equation and the designed sliding mode controller, and reducing buffeting generated by the sliding mode controller to obtain a torque disturbance suppressor combining sliding mode and equivalent input disturbance;
in step S3, an equivalent input disturbance controller is designed, and an equivalent input disturbance value observed by the equivalent input disturbance controller is used as part of input of the sliding mode controller, so as to obtain a torque disturbance suppressor combining the sliding mode and the equivalent input disturbance, which specifically includes the following steps:
s31, a typical system state equation with disturbances is shown in equation (4):
Figure FDA0002931020210000016
where x (t) is the system state, u (t) is the control input, y (t) is the system output, A, B and C are constant matrices, BdIs a gain matrix; for such a system, the presence of a control input signal d at the control inpute(t) the influence on the output is exactly the same as d (t), and is called de(t) is the equivalent input interference (EID) of the interference input system d (t), and the system model of the equivalent input interference is shown in equation (5):
Figure FDA0002931020210000021
wherein d ise(t) is the equivalent input interference of interference input system d (t);
s32, the equivalent input interference controller comprises a state observer and an equivalent input interference estimator, interference is observed by the state observer, the equivalent input interference is obtained through a low-pass filter F (S), and a state expression of the state observer is shown as a formula (6):
Figure FDA0002931020210000022
wherein the content of the first and second substances,
Figure FDA0002931020210000023
is the state of the system as observed by the state observer,
Figure FDA0002931020210000024
the first derivative of the state of the system as observed by the state observer, y (t) is the system output,
Figure FDA0002931020210000025
the system output observed by the state observer, L represents the state observer gain;
s33, obtaining the equivalent value of the disturbance at the input end caused by the system load torque by designing a low-pass filter F (S) and a state observer gain L
Figure FDA0002931020210000026
Wherein d ise(t) is a portion of the input signal, i.e. the equivalent input disturbance of the input system, de(t) deducing theoretical values for formulas;
Figure FDA0002931020210000027
for practical disturbance estimation, since the disturbance is generally low frequency, it is necessary to remove the high frequency part through a low pass filter, which is mostly the error introduced in the calculation process,
Figure FDA0002931020210000028
b omega to be used as sliding mode controller*-TrAnd part of the input signal is applied to the sliding mode controller, and then gains c, q, sigma and epsilon of the sliding mode controller are designed to obtain the torque disturbance suppressor combining the sliding mode and equivalent input disturbance.
2. The permanent magnet synchronous motor suppression method according to claim 1, characterized by comprising: the gain parameter c of the sliding mode controller has a value range of c & gt 0, the parameter q has a value range of 0 & lt q & lt 20, the value range of sigma is 5 & lt sigma & lt 15, the value range of epsilon is 0 & lt epsilon & lt 20, and sigma x epsilon is less than or equal to 200.
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