CN111900908A - Permanent magnet synchronous motor rotor position and speed estimation method based on dead beat back electromotive force predictor - Google Patents

Permanent magnet synchronous motor rotor position and speed estimation method based on dead beat back electromotive force predictor Download PDF

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CN111900908A
CN111900908A CN202010483984.9A CN202010483984A CN111900908A CN 111900908 A CN111900908 A CN 111900908A CN 202010483984 A CN202010483984 A CN 202010483984A CN 111900908 A CN111900908 A CN 111900908A
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electromotive force
alpha
beta axis
current
counter electromotive
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CN111900908B (en
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安群涛
陈长青
赵蒙
马腾
葛凯华
杨宇达
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Harbin Institute of Technology
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a permanent magnet synchronous motor rotor position and speed estimation method based on a dead-beat counter electromotive force predictor. Calculating a predicted value of alpha beta axis back electromotive force by a dead beat prediction algorithm: the input quantity of the dead beat prediction algorithm is the alpha beta axis actual voltage, the alpha beta axis actual current and the alpha beta axis estimated current of the motor at the current moment, and the dead beat prediction algorithm takes the alpha beta axis actual current as a target value to calculate an alpha beta axis counter electromotive force predicted value; inputting the alpha and beta axis counter electromotive force predicted value into a state estimation model, enabling the alpha and beta axis estimated current obtained by the state estimation model to reach the target value in the next sampling period, and when the system is stable, enabling the alpha and beta axis estimated current to track the alpha and beta axis actual current in real time, so that the counter electromotive force predicted value is equal to the actual value of the counter electromotive force; carrying out low-pass filtering on the counter electromotive force predicted value; and calculating the position and the speed of the motor rotor through the phase-locked loop. The invention can improve the estimation performance of the position and the speed of the permanent magnet synchronous motor.

Description

Permanent magnet synchronous motor rotor position and speed estimation method based on dead beat back electromotive force predictor
Technical Field
The invention relates to a permanent magnet synchronous motor rotor position and speed estimation method based on a dead beat back electromotive force predictor, and belongs to the field of motor control.
Background
The position sensorless technology can replace a mechanical position sensor, and is widely applied to permanent magnet synchronous motor control systems in occasions with low cost, poor use environment, strict space requirements and the like. The back electromotive force of the permanent magnet synchronous motor contains angle and speed information, so that a position-sensorless control method based on a back electromotive force observer is widely adopted, and comprises a sliding-mode observer, a Longbeige observer, an adaptive observer, an extended Kalman filter and the like. The existing observers all use an actual system as a reference, establish a state observation model according to the actual system, correct control quantity or parameters of the observation model through deviation between an observation state and the actual state and combining a certain control law, enable the observation state to follow the actual state, obtain an estimated value of back electromotive force or flux linkage, and further extract the position and the rotating speed of a motor rotor. The observer can be seen as a closed-loop control system given the actual state and controlled by a state estimation model. The observer acts as a closed-loop control system, and in digital implementation, since the observer model is adjusted according to the state deviation calculated in the previous period, the observer is a time-lag deviation adjuster, and the adjusters cause the system to have problems of response delay, overshoot and the like, and the control delay increased under the condition of low carrier ratio deteriorates and even destabilizes the system performance.
Disclosure of Invention
The invention aims to provide a permanent magnet synchronous motor rotor position and speed estimation method based on a dead-beat counter electromotive force predictor, which adopts a dead-beat prediction control algorithm to replace a control law in an observer, adjusts a state observation model through predicted counter electromotive force, enables an observation state to track an actual state quickly and accurately, and aims to improve the estimation precision and dynamic performance of the counter electromotive force of a permanent magnet synchronous motor.
A method for estimating rotor position and speed of a permanent magnet synchronous motor based on a deadbeat back electromotive force predictor, the method comprising the steps of:
step one, calculating a predicted value of alpha beta axis back electromotive force through a dead beat prediction algorithm: the input quantity of the dead beat prediction algorithm is the alpha beta axis actual voltage, the alpha beta axis actual current and the alpha beta axis estimated current of the motor at the current moment, and the dead beat prediction algorithm takes the alpha beta axis actual current as a target value to calculate an alpha beta axis counter electromotive force predicted value;
inputting the alpha and beta axis counter electromotive force predicted value into a state estimation model, enabling the alpha and beta axis estimated current obtained by the state estimation model to reach the target value in the next sampling period, and tracking the alpha and beta axis actual current in real time by the alpha and beta axis estimated current after the system is stabilized, so that the counter electromotive force predicted value is equal to the actual value of the counter electromotive force;
thirdly, performing low-pass filtering on the counter electromotive force predicted value;
and step four, calculating the position and the speed of the motor rotor through a phase-locked loop.
Further, in step one, the dead beat back electromotive force predictor obtains the predicted value of the back electromotive force by adopting the following formula:
Figure BDA0002518458900000021
wherein the content of the first and second substances,
Figure BDA0002518458900000022
predicted values of the alpha and beta axis back EMF at time k, respectively, are also estimatedA value;
Figure BDA0002518458900000023
the target values of the currents are estimated for the α and β axes at times k +1, respectively, and are equal to the actual values of the currents at times k, i.e.
Figure BDA0002518458900000024
Figure BDA0002518458900000025
Respectively estimating values of alpha and beta axis currents at the k moment; u α (k), u β (k) are the actual voltages of the α and β axes at time k, respectively, and are replaced by the given voltage at time k when implemented; r and L are respectively the motor stator winding resistance and inductance; t is the sampling period.
Further, in the second step, the state observation model is obtained by discretizing according to the actual model of the motor system by using an euler method, and the method comprises the following steps:
Figure BDA0002518458900000026
wherein the content of the first and second substances,
Figure BDA0002518458900000027
respectively, the current at time k + 1.
The main advantages of the invention are: according to the method for estimating the position and the speed of the permanent magnet synchronous motor rotor based on the dead beat counter electromotive force predictor, the dead beat prediction algorithm is used as a control law to obtain the counter electromotive force predicted value to adjust the state estimation model equation, so that the estimated current can quickly and accurately track the actual current, the estimation precision of the counter electromotive force is improved, and the estimation performance of the position and the speed of the permanent magnet synchronous motor is improved.
Drawings
FIG. 1 is a block diagram illustrating the operation of a method for estimating the rotor position and speed of a PMSM based on a deadbeat back EMF predictor in accordance with the present invention;
FIG. 2 is a block diagram of a deadbeat back EMF predictor of the present invention;
FIG. 3 is a block diagram of a phase locked loop;
FIG. 4 is a simulated waveform diagram of the actual current and the estimated current of the motor when the deadbeat back EMF predictor of the present invention is employed;
FIG. 5 is a simulated waveform diagram of the estimated back EMF when the deadbeat back EMF predictor of the present invention is employed;
FIG. 6 is a waveform of a simulation of the low-pass filtered estimated back EMF when the deadbeat back EMF predictor of the present invention is employed;
FIG. 7 is a simulated waveform of the estimated rotor position when the deadbeat back EMF predictor of the present invention is employed;
FIG. 8 is a simulated waveform of estimated rotor speed using the dead-beat back EMF predictor of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A method for estimating rotor position and speed of a permanent magnet synchronous motor based on a deadbeat back electromotive force predictor, the method comprising the steps of:
step one, calculating a predicted value of alpha beta axis back electromotive force through a dead beat prediction algorithm: the input quantity of the dead beat prediction algorithm is the alpha beta axis actual voltage, the alpha beta axis actual current and the alpha beta axis estimated current of the motor at the current moment, and the dead beat prediction algorithm takes the alpha beta axis actual current as a target value to calculate an alpha beta axis counter electromotive force predicted value;
inputting the alpha and beta axis counter electromotive force predicted value into a state estimation model, enabling the alpha and beta axis estimated current obtained by the state estimation model to reach the target value in the next sampling period, and tracking the alpha and beta axis actual current in real time by the alpha and beta axis estimated current after the system is stabilized, so that the counter electromotive force predicted value is equal to the actual value of the counter electromotive force;
thirdly, performing low-pass filtering on the counter electromotive force predicted value;
and step four, calculating the position and the speed of the motor rotor through a phase-locked loop.
In step one, the dead beat back electromotive force predictor obtains the predicted value of the back electromotive force by adopting the following formula:
Figure BDA0002518458900000041
wherein the content of the first and second substances,
Figure BDA0002518458900000042
predicted values of alpha and beta axis back electromotive force at the k moment are respectively also estimated values;
Figure BDA0002518458900000043
the target values of the currents are estimated for the α and β axes at times k +1, respectively, and are equal to the actual values of the currents at times k, i.e.
Figure BDA0002518458900000044
Figure BDA0002518458900000045
Respectively estimating values of alpha and beta axis currents at the k moment; u α (k), u β (k) are the actual voltages of the α and β axes at time k, respectively, and are replaced by the given voltage at time k when implemented; r and L are respectively the motor stator winding resistance and inductance; t is the sampling period.
In the second step, the state observation model is obtained by discretizing according to the actual model of the motor system by adopting an Euler method, and the method comprises the following steps:
Figure BDA0002518458900000046
wherein the content of the first and second substances,
Figure BDA0002518458900000047
respectively, the current at time k + 1.
Specifically, a dead-beat counter electromotive force predictor is adopted to obtain the estimated values of the position and the speed of the motor rotor, and the dead-beat counter electromotive force predictor consists of a dead-beat prediction algorithm, a state estimation model, a low-pass filter, a phase-locked loop and the like. The input quantity of the dead beat prediction algorithm is the alpha beta axis actual voltage, the alpha beta axis actual current and the alpha beta axis estimated current of the motor at the current moment, the dead beat prediction algorithm takes the alpha beta axis actual current as a target value, the alpha beta axis counter electromotive force predicted value is calculated and is input into the state estimation model as a control quantity, and the alpha beta axis estimated current obtained by the state estimation model can reach the target value in the next sampling period. When the system is stabilized, the alpha and beta axis estimated current can track the alpha and beta axis actual current in real time, so that the counter electromotive force predicted value can be considered to be equal to the actual value of the counter electromotive force. And after the counter electromotive force predicted value is subjected to low-pass filtering, the position and the speed of the motor rotor can be calculated through a phase-locked loop.
The dead beat prediction algorithm is a discrete algorithm whose inputs include: alpha beta axis actual voltage u of motor at moment kα(k)、uβ(k)And the actual current i of the α β axis at the time kα(k)、iβ(k)And the α β axis at time k
Figure BDA0002518458900000051
Wherein the actual voltage at time k is replaced by the given voltage. The output quantity of the dead beat prediction algorithm is the predicted value of the counter electromotive force of the motor at the moment k
Figure BDA0002518458900000052
The predicted value is sent to a phase-locked loop after low-pass filtering so as to calculate the position and the speed value of the rotor.
In the dead beat prediction algorithm, the k time alpha beta axis actual current iα(k)，iβ(k)Target values used as the estimated currents for the α and β axes at time k +1, namely:
Figure BDA0002518458900000053
the dead beat prediction algorithmIn the method, according to the input k time alpha beta axis voltage uα(k)、uβ(k)And the actual current i of the α β axis at the time kα(k)、iβ(k)And the α β axis at time k
Figure BDA0002518458900000054
The principle and the process of the obtained back electromotive force predicted value are as follows:
firstly, establishing a voltage equation under an alpha beta axis coordinate system of a motor:
Figure BDA0002518458900000055
wherein u isα、uβVoltages on the alpha and beta axes, respectively; i.e. iα、iβVoltages on the alpha and beta axes, respectively; e.g. of the typeα、eβBack emf on the alpha and beta axes, respectively; r and L are respectively the motor stator winding resistance and inductance.
From the above voltage equation, a state equation with current as a state quantity is derived as follows:
Figure BDA0002518458900000056
the derivatives are then written in differential form according to the Euler discrete method, i.e.
Figure BDA0002518458900000057
Thereby deducing:
Figure BDA0002518458900000061
wherein T is a sampling period; the indices k and k +1 represent the variable values at time k and time k +1, respectively.
Thus, the value of the back electromotive force can be calculated as follows:
Figure BDA0002518458900000062
i hereinα(k+1)And iβ(k+1)Using the sampled value i at time kα(k)、iβ(k)Instead, as the target value at time k + 1; i.e. iα(k)And iβ(k)Using estimates of time k, respectively
Figure BDA0002518458900000063
Instead, as a feedback value; thus calculated eα(k)And eβ(k)As a predicted value
Figure BDA0002518458900000064
And also the control quantity of the state estimation model, enables the estimated current to track the sampled current. That is:
Figure BDA0002518458900000065
the state estimation model for obtaining the estimated current is constructed according to the motor system model as follows:
Figure BDA0002518458900000066
after the counter electromotive force predicted value is obtained according to the process, the counter electromotive force predicted value is filtered by a low-pass filter and then is sent to a phase-locked loop, and estimated values of the position and the speed of the rotor can be obtained.
FIG. 1 is an embodiment of the present invention: the invention discloses a permanent magnet synchronous motor rotor position and speed estimation method adopting a dead beat counter electromotive force predictor, and the external input quantity of the dead beat counter electromotive force predictor is the same as that of a traditional observer. On the basis of a traditional observer, a dead beat prediction algorithm is used as a closed loop regulation control law, actual current is taken as a target, counter electromotive force is predicted and taken as a control quantity regulation state observation model, and the estimated current can track the actual current in the next sampling period, so that the estimated current tracking performance and the estimated performance of the counter electromotive force are improved.
FIG. 1 is a permanent magnet synchronous machine employing a deadbeat back EMF predictorAnd a step motor position sensorless control system block diagram. The device comprises a speed controller 1, a q-axis current controller 2, a d-axis current controller 3, Park inverse transformation 4, space vector PWM (pulse width modulation) 5, a three-phase inverter 6, a permanent magnet synchronous motor 7, Clarke transformation 8, Park transformation 9, a dead beat counter electromotive force predictor 10 and the like. The system is a speed and current double closed-loop structure, the outer ring is a rotating speed ring, and the inner ring is a dq-axis (a d axis is a direct axis and a q axis in a motor is a quadrature axis) current ring under vector decoupling. Dead beat back EMF predictor 10 for real time estimation of motor rotor position
Figure BDA0002518458900000071
And velocity
Figure BDA0002518458900000072
Instead of a mechanical rotor position sensor. Wherein the estimated position
Figure BDA0002518458900000073
Park transform 9 and Park inverse transform 4, speed for use in vector control systems
Figure BDA0002518458900000074
As a feedback quantity for the speed loop. The input quantity of the dead beat counter electromotive force predictor 10 is a given value u of alpha beta axis voltageαAnd uβα β axis current detection value iαAnd iβThe output being an estimate of rotor position
Figure BDA0002518458900000075
And velocity estimation
Figure BDA0002518458900000076
Fig. 2 is a block diagram of the deadbeat back emf predictor of the present invention. It consists of a dead-beat prediction algorithm 11, a state estimation model 12, a low-pass filter 13 and a phase-locked loop 14.
The dead beat prediction algorithm 11 is implemented in the following manner:
the dead beat prediction algorithm is a discrete oneAn algorithm whose inputs include: alpha beta axis actual voltage u of motor at moment kα(k)、uβ(k)And the actual current i of the α β axis at the time kα(k)、iβ(k)And the α β axis at time k
Figure BDA0002518458900000077
Wherein the actual voltage at time k is replaced by the given voltage. The output quantity of the dead beat prediction algorithm is the predicted value of the counter electromotive force of the motor at the moment k
Figure BDA0002518458900000078
In the dead beat prediction algorithm, the k time alpha beta axis actual current iα(k)，iβ(k)Target values used as the estimated currents for the α and β axes at time k +1, namely:
Figure BDA0002518458900000079
in the dead-beat prediction algorithm, the α β axis voltage u is input according to the k timeα(k)、uβ(k)And the actual current i of the α β axis at the time kα(k)、iβ(k)And the α β axis at time k
Figure BDA00025184589000000710
The principle and the process of the obtained back electromotive force predicted value are as follows:
firstly, establishing a voltage equation under an alpha beta axis coordinate system of a motor:
Figure BDA0002518458900000081
wherein u isα、uβVoltages on the alpha and beta axes, respectively; i.e. iα、iβVoltages on the alpha and beta axes, respectively; e.g. of the typeα、eβBack emf on the alpha and beta axes, respectively; r and L are respectively the motor stator winding resistance and inductance.
From the above voltage equation, a state equation with current as a state quantity is derived as follows:
Figure BDA0002518458900000082
the derivatives are then written in differential form according to the Euler discrete method, i.e.
Figure BDA0002518458900000083
Thereby deducing:
Figure BDA0002518458900000084
wherein T is a sampling period; the indices k and k +1 represent the variable values at time k and time k +1, respectively.
Thus, the value of the back electromotive force can be calculated as follows:
Figure BDA0002518458900000085
i hereinα(k+1)And iβ(k+1)Using the sampled value i at time kα(k)、iβ(k)Instead, as the target value at time k + 1; i.e. iα(k)And iβ(k)Using estimates of time k, respectively
Figure BDA0002518458900000086
Instead, as a feedback value; thus calculated eα(k)And eβ(k)As a predicted value
Figure BDA0002518458900000091
And also the control quantity of the state estimation model, enables the estimated current to track the sampled current. That is:
Figure BDA0002518458900000092
the input quantity of the state estimation model 12 is the output quantity of the dead-beat back electromotive force predictor 11
Figure BDA0002518458900000093
And
Figure BDA0002518458900000094
the state estimation model 12 is used to obtain the estimated current and feed it back to the dead-beat back emf predictor 11 so that the estimated current tracks the actual current. The state estimation model 12 is constructed from a model of the motor system as follows:
Figure BDA0002518458900000095
the low-pass filter 13 is used to filter out the high-frequency harmonics in the estimated value of the output back electromotive force of the dead beat back electromotive force predictor 11, and it usually adopts a first-order low-pass filter, namely:
Figure BDA0002518458900000096
wherein ω iscThe cut-off frequency of the low-pass filter.
The back emf estimate, which has been low pass filtered as above, is fed into a phase locked loop 14 (shown with reference to fig. 3) which calculates an estimate of position and velocity.
Referring to fig. 4-8, it can be seen from the simulation waveforms that the present invention enables the estimated current to track the actual current quickly and accurately, and the predicted back electromotive force has less buffeting than the conventional sliding mode observer, and the estimated values of the rotor position and speed can be obtained better.

Claims (3)

1. A permanent magnet synchronous motor rotor position and speed estimation method based on a dead beat back electromotive force predictor is characterized by comprising the following steps:
step one, calculating a predicted value of alpha beta axis back electromotive force through a dead beat prediction algorithm: the input quantity of the dead beat prediction algorithm is the alpha beta axis actual voltage, the alpha beta axis actual current and the alpha beta axis estimated current of the motor at the current moment, and the dead beat prediction algorithm takes the alpha beta axis actual current as a target value to calculate an alpha beta axis counter electromotive force predicted value;
inputting the alpha and beta axis counter electromotive force predicted value into a state estimation model, enabling the alpha and beta axis estimated current obtained by the state estimation model to reach the target value in the next sampling period, and tracking the alpha and beta axis actual current in real time by the alpha and beta axis estimated current after the system is stabilized, so that the counter electromotive force predicted value is equal to the actual value of the counter electromotive force;
thirdly, performing low-pass filtering on the counter electromotive force predicted value;
and step four, calculating the position and the speed of the motor rotor through a phase-locked loop.
2. The method for estimating the rotor position and the speed of the permanent magnet synchronous motor based on the dead-beat back electromotive force predictor according to claim 1, wherein in the step one, the dead-beat back electromotive force predictor obtains the predicted value of the back electromotive force by adopting the following formula:
Figure FDA0002518458890000011
wherein the content of the first and second substances,
Figure FDA0002518458890000012
predicted values of alpha and beta axis back electromotive force at the k moment are respectively also estimated values;
Figure FDA0002518458890000013
the target values of the currents are estimated for the α and β axes at times k +1, respectively, and are equal to the actual values of the currents at times k, i.e.
Figure FDA0002518458890000014
Figure FDA0002518458890000015
Figure FDA0002518458890000016
Estimation of alpha and beta axis currents at time k, respectivelyA value; u α (k), u β (k) are the actual voltages of the α and β axes at time k, respectively, and are replaced by the given voltage at time k when implemented; r and L are respectively the motor stator winding resistance and inductance; t is the sampling period.
3. The method for estimating the rotor position and the rotor speed of the permanent magnet synchronous motor based on the dead beat back electromotive force predictor according to claim 1, wherein in the second step, the state observation model is obtained by discretization according to an actual model of a motor system by an Euler method, and the method comprises the following steps:
Figure FDA0002518458890000021
wherein the content of the first and second substances,
Figure FDA0002518458890000022
respectively, the current at time k + 1.
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