CN115864920A - Permanent magnet synchronous motor position sensorless control method with delay suppression - Google Patents
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Abstract
The invention relates to a permanent magnet synchronous motor position sensorless control method with delay suppression, which belongs to the technical field of motor driving and control. In addition, a novel self-adaptive strategy is designed based on a nonlinear feedback channel provided by the sliding-mode observer, and the defect of the traditional constant sliding-mode gain is overcome. Then, an equivalent method of the continuous function is provided, so that different continuous functions can be represented in the same form, and the delay problem of the sliding mode observer is simplified. Location estimation delay suppression techniques are proposed for which various functions are applicable. The method improves the buffeting suppression capability of the observer, improves the accuracy of the observer, has good steady and dynamic performances, can replace a position sensor, and realizes the position-sensor-free control of the permanent magnet motor.
Description
Technical Field
The invention belongs to the technical field of motor driving and control, and particularly relates to a permanent magnet synchronous motor position sensorless control method with delay suppression.
Background
The permanent magnet synchronous motor has the advantages of simple structure, high reliability, high power density, easy control and the like, and is widely applied to the fields of transportation, national defense, agricultural production, industrial manufacturing and the like. Accurate rotor position and rotational speed information are indispensable for achieving high-performance control of the permanent magnet synchronous motor. Therefore, the conventional control system requires installation of a position sensor. However, the existence of the position sensor not only greatly increases the cost of the control system, but also has the disadvantages of poor reliability, inconvenient installation and incapability of being applied to severe environments. In this case, the position sensorless control is a key direction focused for the motor drive and control field.
The no position control technique differs from a position sensor in that the rotor position is estimated by an easily available electrical signal. The position-free control technology is mainly divided into two categories: one is based on a salient pole effect method, the method utilizes an externally injected excitation signal to acquire the position and speed information of a rotor, and the main defect is that complex signal processing is required in the process of extracting high-frequency current and the process of estimating the high-frequency current; the other type is based on a back electromotive force or flux linkage method, and currently, common observation methods include a Luenberger observer method, an extended Kalman filter method, a sliding mode observer method and the like. The sliding-mode observer method is widely applied to the field of position-sensor-free control of the permanent magnet synchronous motor due to the advantages of strong robustness, high response speed, easy realization of engineering and the like. However, due to the existence of the sign function, the conventional sliding-mode observer obtains a back electromotive force which contains a large number of harmonics, so that the observation result has severe buffeting. Therefore, a scholars adopts an improved scheme of a high-order sliding mode, and a sign function is arranged in an integral term of a control rate, so that the continuity of a first derivative of a sliding mode surface can be ensured, and buffeting is effectively inhibited. The scheme greatly changes the structure of the sliding mode observer and complicates the algorithm. Therefore, there are researches which respectively propose simpler and easier schemes, namely, strategies of replacing symbolic functions with continuous functions with boundary layers such as saturation functions, sigmoid functions, hyperbolic tangent functions and the like are adopted. However, the rotor position estimated by the method always lags behind the actual position, and a general effective inhibiting means is not provided due to different functional characteristics. In addition, a constant sliding mode gain can introduce undesirable buffeting, especially at low speeds. This will limit the utility of the sliding-mode observer.
Therefore, a permanent magnet synchronous motor position sensorless control method with delay suppression is needed to solve the above problems.
Disclosure of Invention
The present invention is directed to a method and a storage medium for controlling a permanent magnet synchronous motor without a position sensor with delay suppression, which are used to solve the above technical problems in the prior art.
In order to realize the purpose, the technical scheme of the invention is as follows:
a permanent magnet synchronous motor position sensorless control method with delay suppression comprises the following steps:
the method comprises the following steps: phase current i is collected a 、i b 、i c And bus voltage U dc Performing clarke transformation on the phase current to obtain a current i under an alpha-beta two-phase stationary coordinate system α 、i β After the motor is started, obtaining the stator voltage u under the dq rotation coordinate system according to the current inner ring d 、u q After inverse park conversion, the voltage u under the alpha and beta two-phase stationary coordinate system is calculated α 、u β ；
Step two: the i obtained in the step one α 、i β 、u α And u β As input, a sliding-mode observer is constructed to obtain an observed current
And a counter electromotive force observation->
The sliding mode observer adopts a continuous function with a boundary layer to replace a symbolic function, the sliding mode gain adopts self-adaptive sliding mode gain, and the self-adaptive scheme is as follows:
subtracting the actual current from the estimated current to obtain a current error
Calculating a current error amplitude, and forcing the sliding mode gain to change along with the change of the speed in a self-adaptive manner through a linear feedback channel and a nonlinear feedback channel provided by a sliding mode observer under the action of a PI (proportional-integral) controller;
step three: the observed back electromotive force obtained in the second step
As an input, a normalized phase-locked loop is used to extract the speed information ≥ included in the estimated back-emf>
And rotor position information->
Step four: approximately equating the continuous function in the step two to be a saturation function with a variable boundary layer by adopting an equivalent processing mode;
step five: after the four steps of equivalent processing, calculating the position estimation delay theta by adopting a general compensation method er ；
Step six: to pair
Make compensation to obtain accurate position information>
Step seven: by usingReference speed omega * Subtracting the estimated velocity
Obtaining a reference current (4) under a dq rotation coordinate system after PI regulation>
Then to i α 、i β Carrying out park conversion to obtain the actual current i under dq rotation coordinate system d 、i q Then uses the reference current to->
And &>
Minus the actual current i d 、i q The difference between the obtained currents is used by the PI regulator to obtain u mentioned in step one d 、u q And thus a complete closed loop is formed.
Furthermore, in the first step,
the mathematical model of the permanent magnet synchronous motor under an alpha and beta two-phase static coordinate system is as follows:
in the formula R S 、L S Respectively a stator resistor and an inductor; e.g. of the type α 、e β The formula is shown as the back electromotive force under an alpha beta two-phase static coordinate system:
wherein psi f Is a permanent magnet flux linkage; according to the formula, the back electromotive force comprises the speed and position information of the rotor, and the back electromotive force cannot be directly measured, so that the back electromotive force is obtained by constructing a sliding mode observer.
Further, in the second step, the sliding-mode observer is modeled according to the following formula:
where f () is the continuous switching function with boundary layer, k (t) is the adaptive gain,
is/are>
Can be determined by the above formula when the current error->
When the convergence is near zero, the back electromotive force can be expressed as:
the adaptive sliding mode gain can be obtained by the following formula:
wherein delta is the difference of the error current amplitude, sigma is the adaptive linear feedback coefficient, the larger sigma is, the better the buffeting suppression effect is at low speed, K p And K i Proportional coefficients and integral coefficients of the self-adaptive PI controller are respectively, and delta convergence is ensured by selecting proper PI parameters; the nonlinear feedback path provided by the linear feedback and sliding-mode observer forces the sliding-mode gain to change adaptively as the speed changes.
Further, in step three, the process of extracting the speed and the position of the rotor from the estimated back electromotive force by using the normalized phase-locked loop is as follows:
after a phase-locked loop has undergone a transient process, epsilon will converge to near zero, at which time
Is approximately equal to pick>
The use of a phase locked loop to extract rotor speed and position helps with buffeting suppression.
Further, in the fourth step, the equivalent processing method specifically includes:
and (3) equating sigmoid function, hyperbolic tangent function and other nonlinear boundary layer functions to be in a linear saturation function form:
wherein a is the thickness of the equivalent boundary layer, and the larger the thickness of the boundary layer is, the more obvious the buffeting suppression effect is; equivalent boundary layer thicknesses for different functions are obtained by the same formal formula:
after the different functions are equivalent to the same form, the position delay compensation can be performed in the same manner.
Further, in the fifth step, the compensation method specifically includes:
according to the sliding mode variable structure theory, when the sliding mode observer is stable, the current error does not exceed the boundary layer and enters a saturated state; in combination with the above analysis, the relationship between the actual back emf and the estimated back emf in the frequency domain can be obtained:
wherein μ = (R) S +ηk(t))/L S ，γ＝R/L S η =1/a; wherein μ is much greater than γ; it can be seen that after a continuous function is adopted as a switching function, the sliding mode observer shows the characteristics of a low-pass filter, and the hysteresis angle of the sliding mode observer is as follows:
θ er ＝arctan(μω r )
wherein theta is er Is the observation angular delay.
Further, in step six, the accurate rotor position
Can be expressed as:
furthermore, in the seventh step, the rotating speed and the position information required by the coordinate transformation are provided by a sliding-mode observer to form a complete closed loop.
A storage medium having stored thereon a computer program which, when executed, performs a permanent magnet synchronous motor position sensorless control method with delay suppression as described above.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the sliding-mode observer is used for acquiring the back electromotive force of the motor and extracting the rotating speed and position information from the back electromotive force, so that a position sensor is avoided, the reliability of the system is improved and the production cost is reduced.
2. The adaptive gain is adopted to replace the constant gain, buffeting at low speed is effectively restrained, in addition, the adaptive gain obviously improves the observation range of the sliding mode observer, and the defect that the observer is possibly unstable at a high speed state is avoided.
3. The invention adopts the continuous function with the boundary layer as the switching function to inhibit buffeting, avoids using a low-pass filter and improves the precision of the observer.
4. The function equivalence method provided by the invention greatly simplifies the research of the observer delay effect and the compensation method.
5. The sliding mode observer has larger delay on the estimation of the rotor position under the condition of larger inductance of a motor stator or high speed, the invention provides a delay inhibition technology aiming at the problem, and the accuracy of the observer is improved. The method provided by the invention can effectively inhibit the estimation delay of the rotor position, so that the observer can meet the observation requirements of various speed ranges.
Drawings
FIG. 1 is a block diagram of a permanent magnet synchronous motor position sensorless control scheme according to the present invention;
FIG. 2 is a functional block diagram of an adaptive sliding mode observer with position delay suppression according to the present invention;
FIG. 3 is a schematic block diagram of a simplified model of adaptive gain according to the present invention;
FIG. 4 is a schematic block diagram of a normalized phase locked loop according to the present invention;
FIG. 5 is a bode diagram of the sliding mode observer under different values of a after the switching function is equivalent to the saturation function according to the present invention;
FIG. 6 is a waveform of simulation at varying speeds;
FIG. 7 is a waveform diagram of a simulation with a load change;
FIG. 8 is a waveform of an experiment at steady state;
fig. 9 is a waveform diagram of a deceleration experiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention. It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a" \8230; "does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element.
Fig. 1 is a schematic block diagram of a position-sensorless control principle according to the present invention, which includes a rotating speed outer loop PI regulator, a current inner loop PI regulator, a forward/reverse park conversion, a clarke conversion, a vector control module, an inverter, a sliding mode observer module for estimating a rotor position and a rotating speed, a current sensor, a voltage sensor, and a permanent magnet synchronous motor. The invention provides a permanent magnet synchronous motor position sensorless control method with delay suppression, which comprises the following steps:
the method comprises the following steps: acquisition of phase currents i by means of current sensors and voltage sensors a 、i b 、i c And bus voltage U dc Performing clarke transformation on the phase current to obtain a current i under an alpha-beta two-phase static coordinate system α 、i β After the motor is started, the stator voltage u under the dq rotation coordinate system can be obtained according to the current inner ring d 、u q After inverse park transformation, the voltage u of the alpha-beta two-phase stationary coordinate system is calculated α 、u β ；
Step two: the mathematical model of the permanent magnet synchronous motor is as follows:
according to the mathematical model of the permanent magnet synchronous motor, i obtained in the step one can be used α 、i β 、u α And u β As an input, the sliding mode observer of the invention is constructed, and the mathematical model thereof is as follows:
the sliding mode observer adopts a continuous function with a boundary layer to replace a sign function, the sliding mode gain adopts an adaptive sliding mode gain mode, wherein f () is the continuous switching function with the boundary layer, common continuous functions comprise a saturation function, a sigmoid function and a hyperbolic tangent function, k (t) is the adaptive gain,
the functional block diagram of the sliding-mode observer is shown in FIG. 2, in which @>
Can be determined by the above formula when the current error->
Converging to near zero, the back emf can be expressed as:
the self-adaptive scheme is as follows: subtracting the actual current from the estimated current to obtain a current error
And calculating the current error amplitude, and forcing the sliding mode gain to be adaptively changed along with the change of the speed through a linear feedback channel and a nonlinear feedback channel provided by a sliding mode observer under the action of a PI (proportional-integral) controller. The adaptive sliding mode gain can be specifically obtained by the following formula:
wherein, delta is the difference of the error current amplitude, sigma is the self-adaptive linear feedback coefficient, the larger sigma is, the better the buffeting suppression effect is at low speed, and K p And K i The proportional coefficient and the integral coefficient of the self-adaptive PI controller respectively need to select proper PI parameters to ensure delta convergence. The magnitude of the back emf is determined by the motor parameters and the rotational speed, regardless of the observer design, so the back emf observed value can be considered as a determined quantity, thereby establishing a nonlinear feedback channel. The sliding mode gain is forced to change adaptively along with the change of the speed by the combined action of the linear feedback and the nonlinear feedback provided by the sliding mode observer, and the simplified model schematic block diagram is shown in FIG. 3.
Step three: the observed back electromotive force obtained in the step two
As an input, a normalized phase-locked loop is used to extract the speed information ≥ included in the estimated back-emf>
And rotor position information->
The process is as follows:
the above formulas correspond to the Phase Detector (PD), loop Filter (LF) and Voltage Controlled Oscillator (VCO) of the phase locked loop, respectivelyThe corresponding functional block diagram of the process is shown in fig. 4. After the phase-locked loop passes through a transient process, epsilon is converged to be near zero when
Is less than or equal to>
When, is greater or less>
Can be approximately equal to pick>
Compared with a mode of calculating the position information of the rotor by arc tangent, the method has better buffeting suppression effect by adopting the phase-locked loop to extract the speed and the position of the rotor.
Step four: the principle is the same regardless of which function is used as the switching function. Practice shows that various continuous functions show the characteristics similar to a saturation function in a sliding-mode observer, so that various continuous functions mentioned in the step two can be approximately equivalent to a boundary layer variable saturation function form shown as follows by adopting an equivalent processing mode provided by the invention:
wherein a is the thickness of the equivalent boundary layer, and the larger the thickness of the boundary layer is, the more obvious the buffeting suppression effect is. Equivalent boundary layer thicknesses for different functions are obtained by the same formal formula:
after the different functions are equivalent to the same form, the position delay compensation can be performed in the same manner.
Step five: after the four steps of equivalent processing, the position estimation is calculated by adopting the general compensation means provided by the inventionDelay theta er ；
According to the sliding mode variable structure theory, when the sliding mode observer is stable, the current error does not exceed the boundary layer and enters a saturation state. In combination with the above analysis, the relationship between the actual back emf and the estimated back emf in the frequency domain can be obtained:
wherein μ = (R) S +ηk(t))/L S ，γ＝R/L S η =1/a, where μ is much larger than γ. The bode diagram corresponding to the above equation is shown in fig. 5, and it can be seen that the sliding mode observer shows the characteristic of the low-pass filter after the continuous function is adopted as the switching function. As a increases, the cutoff frequency decreases, the suppression of chattering becomes better, and the delay becomes larger. Meanwhile, because the amplitude-frequency characteristic curve is lower than 0dB, the amplitude of the back electromotive force is estimated to have attenuation to a certain extent. The delay of the position estimate is derived from the low pass filter characteristic of the slip film observer and the delay angle is calculated as follows.
θ er ＝arctan(μω r )
Wherein theta is er Is the observation angle delay.
Step six: to pair
Compensating for the location information>
Step seven: using reference speed omega * Subtracting the estimated velocity
Obtaining a reference current (4) under a dq rotation coordinate system after PI regulation>
Then to i α 、i β Carrying out park conversion to obtain the actual current i under dq rotation coordinate system d 、i q Then uses the reference current to->
And &>
Minus the actual current i d 、i q The difference between the obtained currents is acted by a PI regulator to obtain u mentioned in step 1 d 、u q And thus form the complete closed loop of fig. 1. All the position information in the closed loop is provided by the sliding mode observer provided by the invention.
Finally, the invention is verified through simulink simulation and experiments. Wherein fig. 6 is a simulation result of the abrupt change of the rotation speed. When the rotating speed is suddenly changed, the estimated rotating speed is basically coincided with the actual rotating speed. The sliding mode gain can be changed in a self-adaptive mode along with the change of the rotating speed, so that the buffeting of the rotating speed at low speed is restrained. In addition, the position estimation error does not exceed 0.07rad at most in the transient process and can be quickly reduced to be near zero, which shows that the method provided by the invention has good position tracking precision and dynamic response speed. Fig. 7 shows the results of a load mutation simulation experiment. It can be seen that the invention has strong robustness to load disturbance, and the rotating speed can still be quickly tracked. The effect of load disturbances on rotor position estimation is almost negligible. Fig. 8 shows the result of the steady-state experiment, and it can be seen from the graph that the estimated speed can well track the actual rotational speed and the error of the estimated speed does not exceed 10 rpm in both simulation and experiment. The invention also shows good estimation precision in the aspect of position estimation, and the position error is always close to zero position estimation error. Fig. 9 shows the results of the deceleration test, in which the reference rotational speed is decreased at a rate of 100 rpm per second. In the deceleration process, the speed and the position estimation precision are hardly influenced, and due to the existence of the adaptive gain, the buffeting is well inhibited in both a low-speed state and a high-speed state. Meanwhile, the position estimation error is not influenced by the change of the rotating speed any more, and the extremely high observation precision is always kept.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (9)
1. A permanent magnet synchronous motor position sensorless control method with delay suppression is characterized by comprising the following steps:
the method comprises the following steps: phase current i is collected a 、i b 、i c And bus voltage U dc Performing clarke transformation on the phase current to obtain a current i under an alpha-beta two-phase static coordinate system α 、i β After the motor is started, obtaining the stator voltage u under the dq rotation coordinate system according to the current inner ring d 、u q After inverse park transformation, the voltage u of the alpha-beta two-phase stationary coordinate system is calculated α 、u β ；
Step two: the i obtained in the step one α 、i β 、u α And u β As input, a sliding-mode observer is constructed to obtain an observed current
And a counter electromotive force observation->
The sliding mode observer adopts a continuous function with a boundary layer to replace a symbolic function, the sliding mode gain adopts self-adaptive sliding mode gain, and the self-adaptive scheme is as follows:
subtracting the actual current from the estimated current to obtain a current error
Calculating the current error amplitude, and under the action of a PI controller, providing a nonlinear signal by a linear feedback and sliding-mode observerThe sexual feedback channel forces the sliding mode gain to change along with the change of the speed in an adaptive mode;
step three: the observed back electromotive force obtained in the step two
As an input, a normalized phase-locked loop is used to extract the speed information ≥ included in the estimated back-emf>
And rotor position information->
Step four: approximately equating the continuous function in the step two to be a saturation function with a variable boundary layer by adopting an equivalent processing mode;
step five: after the four steps of equivalent processing, calculating the position estimation delay theta by adopting a general compensation method er ；
Step six: to pair
Make compensation to obtain accurate position information>
Step seven: using reference speed omega * Subtracting the estimated velocity
Obtaining a reference current (4) under a dq rotation coordinate system after PI regulation>
Then to i α 、i β Carrying out park conversion to obtain the actual current i under dq rotation coordinate system d 、i q Then uses the reference current to->
And &>
Minus the actual current i d 、i q The difference between the obtained currents is used by the PI regulator to obtain u mentioned in step one d 、u q And thus a complete closed loop is formed.
2. The sensorless control method of a PMSM with delay suppression according to claim 1, characterized in that in step one,
the mathematical model of the permanent magnet synchronous motor under an alpha and beta two-phase static coordinate system is as follows:
in the formula R S 、L S Respectively a stator resistor and an inductor; e.g. of the type α 、e β The expression is the back electromotive force of an alpha beta two-phase static coordinate system:
wherein psi f Is a permanent magnet flux linkage; according to the formula, the back electromotive force comprises the speed and position information of the rotor, and the back electromotive force cannot be directly measured, so that the back electromotive force is obtained by constructing a sliding mode observer.
3. The method for controlling the permanent magnet synchronous motor without the position sensor and with the delay suppression function according to claim 2, wherein in the second step, the sliding mode observer is modeled according to the following formula:
where f () is the continuous switching function with boundary layer, k (t) is the adaptive gain,
the above-mentioned
Can be determined by the above formula when the current error->
When the convergence is near zero, the back electromotive force can be expressed as:
the adaptive sliding mode gain can be obtained by the following formula:
wherein, delta is the difference of the error current amplitude, sigma is the self-adaptive linear feedback coefficient, the larger sigma is, the better the buffeting suppression effect is at low speed, and K p And K i Proportional coefficients and integral coefficients of the self-adaptive PI controller are respectively, and delta convergence is ensured by selecting proper PI parameters; the nonlinear feedback path provided by the linear feedback and sliding-mode observer forces the sliding-mode gain to change adaptively as the speed changes.
4. The position sensorless control method for the PMSM with delay suppression as claimed in claim 3, wherein in step three, the process of extracting the rotor speed and position from the estimated back EMF by using the normalized phase-locked loop is as follows:
after the phase-locked loop passes through a transient process, epsilon converges to near zero, at which time
Is approximately equal to pick>
The use of a phase locked loop to extract rotor speed and position helps with buffeting suppression.
5. The permanent magnet synchronous motor position sensorless control method with delay suppression according to claim 4, wherein in step four, the equivalent processing method specifically comprises the following steps:
and (3) equating sigmoid function, hyperbolic tangent function and other nonlinear boundary layer functions to be in a linear saturation function form:
wherein a is the thickness of the equivalent boundary layer, and the larger the thickness of the boundary layer is, the more obvious the buffeting suppression effect is; equivalent boundary layer thicknesses for different functions are obtained by the same formal formula:
after the different functions are equivalent to the same form, the position delay compensation can be performed in the same manner.
6. The permanent magnet synchronous motor position sensorless control method with delay suppression according to claim 5, wherein in step five, the compensation method is specifically as follows:
according to the sliding mode variable structure theory, when the sliding mode observer is stable, the current error does not exceed the boundary layer and enters a saturated state; in combination with the above analysis, the relationship between the actual back emf and the estimated back emf in the frequency domain can be obtained:
wherein μ = (R) S +ηk(t))/L S ，γ＝R/L S η =1/a; wherein μ is much greater than γ; it can be seen that after a continuous function is adopted as a switching function, the sliding mode observer shows the characteristics of a low-pass filter, and the hysteresis angle of the sliding mode observer is as follows:
θ er ＝arctan(μω r )
wherein theta is er Is the observation angular delay.
7. The PMSM position sensorless control method with delay suppression as claimed in claim 6, wherein in step six, accurate rotor position
Can be expressed as:
8. the position sensorless control method for the permanent magnet synchronous motor with the delay suppression function according to claim 7, wherein in step seven, the rotation speed and the position information required by the coordinate transformation are provided by a sliding-mode observer, forming a complete closed loop.
9. A storage medium having stored thereon a computer program which, when executed, performs a pm synchronous motor position sensorless control method with delay suppression as recited in any one of claims 1-8.
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| CN116599413A (en) * | 2023-07-17 | 2023-08-15 | 南京信息工程大学 | Position-sensor-free control method and device for permanent magnet synchronous motor |
| CN116599413B (en) * | 2023-07-17 | 2023-09-22 | 南京信息工程大学 | Position-sensor-free control method and device for permanent magnet synchronous motor |
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