阅读说明：本技术 一种高性能鲁棒永磁同步轮毂电机复合控制器 (High-performance robust permanent magnet synchronous hub motor composite controller ) 是由 孙晓东 张瑶 陈龙 周卫琪 田翔 于 2020-06-03 设计创作，主要内容包括：本发明公开一种电动汽车用的高性能鲁棒永磁同步轮毂电机复合控制器,由轮毂电机电压反馈控制器、电压补偿模块、后验约束模块、2r/2s坐标变换模块、3s/2s坐标变换模块、抗迟滞转子位置和速度观测模块、负载转矩估计模块组成,后验约束模块输出端串联2r/2s坐标变换模块后再连接包括有永磁同步轮毂电机的轮毂电机控制系统输入端,轮毂电机控制系统输出端经3s/2s坐标变换模块连接抗迟滞转子位置和速度观测模块输入端,后验约束模块为控制信号提供下个周期状态变量的允许值,电压补偿器改善由于温升或者外部原因导致的电感、电阻和永磁体磁链等电磁参数的失配导致的控制性能下降,负载扰动观测器实现由于机械参数变化导致的外部负载变化的观测。(The invention discloses a high-performance robust permanent magnet synchronous hub motor composite controller for an electric automobile, which consists of a hub motor voltage feedback controller, a voltage compensation module, a posterior constraint module, a 2r/2s coordinate transformation module, a 3s/2s coordinate transformation module, an anti-hysteresis rotor position and speed observation module and a load torque estimation module, wherein the output end of the posterior constraint module is connected with the input end of a hub motor control system comprising a permanent magnet synchronous hub motor after being connected with the 2r/2s coordinate transformation module in series, the output end of the hub motor control system is connected with the input end of the anti-hysteresis rotor position and speed observation module through the 3s/2s coordinate transformation module, the posterior constraint module provides an allowable value of a state variable of the next period for a control signal, and the voltage compensator improves the inductance caused by temperature rise or external reasons, The control performance is reduced due to the mismatch of electromagnetic parameters such as resistance and permanent magnet flux linkage, and the load disturbance observer realizes the observation of external load change caused by the change of mechanical parameters.)

1. A permanent magnet synchronous hub motor composite controller with high robustness performance is characterized in that: the device comprises a hub motor voltage feedback controller (1), a voltage compensation module (2), a posterior constraint module (3), a 2r/2s coordinate transformation module (4), a 3s/2s coordinate transformation module (6), an anti-hysteresis rotor position and speed observation module (7) and a load torque estimation module (8); the output end of the posterior constraint module (3) is connected with the 2r/2s coordinate transformation module (4) in series and then is connected with the input end of a hub motor control system (5) comprising a permanent magnet synchronous hub motor, the output end of the hub motor control system (5) is connected with the input end of an anti-hysteresis rotor position and speed observation module (7) through a 3s/2s coordinate transformation module (6), and the hub motor control system (5) outputs control current i under a three-phase static coordinate system_a(k)、i_b(k) And i_c(k) To the 3s/2s coordinate transformation module (6), the 3s/2s coordinate transformation module (6) outputs a fundamental current i_α(k) And i_β(k) In an anti-hysteresis rotor position and speed observation module (7), the output end of the anti-hysteresis rotor position and speed observation module (7) is respectively connected with the input ends of a hub motor voltage feedback controller (1), a voltage compensation module (2), a 2r/2s coordinate transformation module (4) and a load torque estimation module (8), the output end of the load torque estimation module (8) is connected with the input end of the hub motor voltage feedback controller (1), and the output ends of the hub motor voltage feedback controller (1) and the voltage compensation module (2) are connected with the input end of a posterior constraint module (3); the anti-hysteresis rotor position and speed observation module (7) outputs a rotor angle theta (k), a rotor actual angular speed omega (k) and a current i_d(k) And i_q(k) Said current i_d(k) And i_q(k) And the actual angular speed omega (k) of the rotor is respectively input into the hub motor voltage feedback controller (1) and the voltage compensation module (2), and the reference angular speed omega (k) is^*(k) Input into a voltage feedback controller (1) of the hub motor, and the current i_q(k) And the actual angular speed omega (k) of the rotor is input into a load torque estimation module (8), and the load torque estimation module (8) outputs load disturbance

2. The composite controller of the permanent magnet synchronous hub motor with high robustness according to claim 1, wherein the composite controller comprises: the anti-hysteresis rotor position and speed observation module (7) consists of a sliding mode position observer (71) based on a hyperbolic function and a 2s/2r coordinate transformation module (72), and fundamental wave current i_α(k) And i_β(k) The rotor angle theta (k) and the actual rotor angular speed omega (k) are respectively used as the input of a sliding mode position observer (71) and a 2s/2r coordinate transformation module (72) based on a hyperbolic function, the sliding mode position observer (71) based on the hyperbolic function outputs the rotor angle theta (k) and the actual rotor angular speed omega (k), the rotor angle theta (k) is input into the 2s/2r coordinate transformation module (72), and the 2s/2r coordinate transformation module (72) outputsCurrent i in two-phase rotating coordinate system_d(k) And i_q(k) (ii) a Rotor angleActual angular velocity of rotor

And

3. The composite controller of the permanent magnet synchronous hub motor with high robustness as claimed in claim 2, wherein the composite controller comprises: the load torque estimation module (8) consists of an electromagnetic torque calculation module (81), a mechanical inertia module (82), a rotating speed error calculation module (83) and a signal which are sequentially connected in seriesThe output end of the signal output module (84) and the output end of the integration module (85) are respectively connected with the input end of the mechanical inertia module (82); the input of the electromagnetic torque calculation module (81) is a current i_q(k) Output as electromagnetic torque

4. The composite controller of the permanent magnet synchronous hub motor with high robustness as claimed in claim 2, wherein the composite controller comprises: the hub motor voltage feedback controller (1) is formed by connecting a reference current calculation module (11) and a voltage feedback controller (12) in series, and the reference current calculation module (11) disturbs with a loadAs input, the output is a reference current in a two-phase rotating coordinate systemAndk is a discrete sampling index, p is the permanent magnet logarithm of the motor, psi_fIs a permanent magnet flux linkage, L_d、L_qInductors of d and q axes respectively; the output of the voltage feedback controller (12) is the voltage under a two-phase rotating coordinate system

5. The composite controller of the permanent magnet synchronous hub motor with high robustness as claimed in claim 2, wherein the composite controller comprises: the output of the voltage compensation module (2) is a disturbance estimated value

Δ L is inductance error, Δ R is resistance error, Δ ψ_fIs a permanent magnet flux linkage error, L is an inductance error, R is a resistance error, psi_fIs the permanent magnet flux linkage error.

6. The composite controller of the permanent magnet synchronous hub motor with high robustness according to claim 1, wherein the composite controller comprises: the posterior constraint module (3) outputs reference voltage under a two-phase rotating coordinate systemAnd

7. The composite controller of the permanent magnet synchronous hub motor with high robustness according to claim 1, wherein the composite controller comprises: the hub motor control system (5) is formed by sequentially connecting a voltage vector pulse width modulation module (51), an inverter module (52) and a permanent magnet synchronous hub motor (53) in series, and the reference voltageAndthe voltage vector pulse width modulation module (51) is used as an input of the voltage vector pulse width modulation module (51), the voltage vector pulse width modulation module (51) outputs a switching pulse signal, and the inverter module (52) outputs a control current i_a(k)、i_b(k) And i_c(k) And controlling the permanent magnet synchronous hub motor (53).

Technical Field

The invention belongs to the technical field of motor drive control, and particularly relates to a controller of a permanent magnet synchronous hub motor for an electric automobile, which is used for carrying out high-performance control on the permanent magnet synchronous hub motor.

Background

With the increasing holding amount of automobiles, the problems of energy shortage and environmental pollution are increasingly highlighted, the problems of energy conservation and emission reduction of the automobiles are emphasized, and the electric automobiles are vigorously developed. Different from the traditional inner rotor motor which drives the whole electric automobile through a transmission system, the hub motor can avoid using a series of mechanical parts such as a clutch and a speed changer on the traditional internal combustion engine, and integrates driving, transmission and braking devices into a hub, so that the structure of the chassis is greatly simplified, the better space utilization rate is achieved, and the hub motor can also realize braking energy recovery more easily. With the discovery of high-performance permanent magnet materials, the permanent magnet synchronous motor is widely applied to various automobiles due to the advantages of high efficiency, high power density, high reliability and the like.

The work condition of the permanent magnet synchronous hub motor is complex, and the electromagnetic parameter and the mechanical parameter are mismatched due to temperature, humidity or other external reasons, so that the anti-interference capability of the motor is influenced. Position or speed sensors used in conventional control strategies not only add cost, but may also malfunction or even fail. Therefore, it is necessary to consider the parameter mismatch problem and the sensorless control at the same time, and to improve the control robustness.

The compound control system disclosed in the document of the chinese patent application No. 201811083677.0 entitled "a permanent magnet synchronous motor compound control system without position sensor" is directed to compound control for a permanent magnet synchronous motor without sensor, a PI regulator and a repetitive controller are connected in parallel in a speed loop control, the whole control system needs to adjust parameters of a plurality of PI controllers, which brings a large workload in practical application, and the inherent defects of the PI control will limit the dynamic characteristics of the system, meanwhile, the compound control system does not consider the influence of the real-time parameter mismatch of the motor on the control precision, such as the electromagnetic parameter mismatch problem caused by the change of inductance, resistance and permanent magnet flux linkage and the mechanical parameter mismatch problem caused by the change of load torque, rotational inertia and viscous friction coefficient, the robustness is poor, the working environment of the permanent magnet synchronous motor is complex, many uncertain factors and interferences existing outside can cause the change of the motor parameters and further cause the reduction of the control performance of the controller.

Disclosure of Invention

The invention aims to provide a high-performance robust permanent magnet synchronous hub motor composite controller capable of effectively improving system control accuracy and robust performance, aiming at the defect that the control performance is influenced by electromagnetic parameter mismatch and mechanical parameter mismatch caused by temperature, humidity or other external reasons in the conventional permanent magnet synchronous hub motor.

The invention discloses a high-performance robust permanent magnet synchronous hub motor composite controller, which adopts the technical scheme that: the device consists of a hub motor voltage feedback controller, a voltage compensation module, a posterior constraint module, a 2r/2s coordinate transformation module, a 3s/2s coordinate transformation module, an anti-hysteresis rotor position and speed observation module and a load torque estimation module; the output end of the posterior constraint module is connected with the 2r/2s coordinate transformation module in series and then is connected with the input end of a hub motor control system comprising a permanent magnet synchronous hub motor, the output end of the hub motor control system is connected with the input end of an anti-hysteresis rotor position and speed observation module through the 3s/2s coordinate transformation module, and the hub motor control system outputs a control current i under a three-phase static coordinate system_a(k)、i_b(k) And i_c(k) To 3s/2s coordinate transformation module, the 3s/2s coordinate transformation module outputs fundamental current i_α(k) And i_β(k) In the anti-hysteresis rotor position and speed observation module, the output ends of the anti-hysteresis rotor position and speed observation module are respectively connected with the input ends of a hub motor voltage feedback controller, a voltage compensation module, a 2r/2s coordinate transformation module and a load torque estimation module, the output end of the load torque estimation module is connected with the input end of the hub motor voltage feedback controller, and the output ends of the hub motor voltage feedback controller and the voltage compensation module are connected with the input end of a posterior constraint module; the anti-hysteresis rotor position and speed observation module outputs a rotor angle theta (k), a rotor actual angular speed omega (k) and a current i_d(k) And i_q(k) Said current i_d(k) And i_q(k) And the actual angular speed omega (k) of the rotor is respectively input into the voltage feedback of the hub motorReference angular velocity omega in controller and voltage compensation module^*(k) Input into a voltage feedback controller of the hub motor, and the current i_q(k) And the actual angular speed omega (k) of the rotor is input into a load torque estimation module which outputs a load disturbance

The rotor angle theta (k) is input into a 2r/2s coordinate transformation module; the hub motor voltage feedback controller outputs two-phase rotating coordinate system control voltage u_d(k)、u_q(k) To the posterior constraint module, the voltage compensation module outputs a disturbance estimation valueAndto the posterior constraint module, the posterior constraint module outputs a reference voltage

In the 2r/2s coordinate transformation module, the 2r/2s coordinate transformation module outputs a reference voltage

To a hub motor control system comprising a permanent magnet synchronous hub motor.

The invention has the beneficial effects that:

1. the precision estimation of the position angle and the rotor speed of the motor is realized through the rotor position and speed observation module, so that the defects of cost increase, complex driving system and the like caused by the installation of a position sensor in the traditional control method are overcome. Compared with the traditional control method, the control method is efficient and direct, and the defects of system delay, buffeting and the like are avoided.

2. The traditional series closed-loop control system is replaced by the linear voltage feedback controller, and meanwhile, the posterior constraint module provides an allowable value of a state variable of the next period for a control signal, so that the limitation of low dynamic performance of the traditional unconstrained state feedback control system is overcome, the defect of the series closed-loop system is overcome, and the control precision of the system is improved.

3. The voltage compensator improves the reduction of control performance caused by temperature rise or mismatch of electromagnetic parameters such as inductance, resistance and permanent magnet flux linkage caused by external reasons. Meanwhile, the observation of external load change caused by mechanical parameter change is realized through the load disturbance observer, the anti-interference capability of the system is improved, and therefore high-performance robust composite control of the permanent magnet synchronous hub motor is realized.

4. The method improves the inevitable phase delay brought to the system by a low-pass filter in the traditional rotor position and speed observer based on a symbolic function through an anti-hysteresis rotor position and speed observation module based on a hyperbolic function.

5. The control variables and the input variables required by the composite controller are easy to measure variables, and the control algorithm of the controller can be realized only by modular software programming, so that the composite controller has feasibility.

Drawings

FIG. 1 is a block diagram of a high performance robust PMSM hub motor composite controller according to the present invention;

FIG. 2 is a block diagram of the hub motor control system 5 of FIG. 1;

FIG. 3 is a block diagram of the structure of the anti-lag rotor position and speed observation module 7 of FIG. 1;

FIG. 4 is a block diagram of the load torque estimation module 8 of FIG. 1;

fig. 5 is a block diagram of the hub motor voltage feedback controller 1 in fig. 1.

In the figure: 1. a hub motor voltage feedback controller; 2. a voltage compensation module; 3. a posterior constraint module; 4.2r/2s coordinate transformation module; 5. a hub motor control system; 6.3s/2s coordinate transformation module; 7. an anti-lag rotor position and speed observation module; 8. a load torque estimation module; 11. a reference current calculation module; 12. a voltage feedback controller; 51. a voltage vector pulse width modulation module; 52. an inverter module; 53. a permanent magnet synchronous hub motor; 71. a sliding mode position observer based on a hyperbolic function; a 72.2s/2r coordinate transformation module; 81. an electromagnetic torque calculation module; 82. a mechanical inertia module; 83. a rotation speed error calculation module; 84. a signal output module; 85. and an integration module.

Detailed Description

As shown in figure 1, the high-performance robust permanent magnet synchronous hub motor composite controller disclosed by the invention is composed of a hub motor voltage feedback controller 1, a voltage compensation module 2, a posterior constraint module 3, a 2r/2s coordinate transformation module 4, a 3s/2s coordinate transformation module 6, an anti-hysteresis rotor position and speed observation module 7 and a load torque estimation module 8, and is used for carrying out composite control on a hub motor control system 5 comprising a permanent magnet synchronous hub motor.

The output end of the hub motor control system 5 is connected with the input end of the 3s/2s coordinate transformation module 6, and the output end of the 3s/2s coordinate transformation module 6 is connected with the input end of the anti-hysteresis rotor position and speed observation module 7. The hub motor control system 5 outputs a control current i under a three-phase static coordinate system_a(k)、i_b(k) And i_c(k) To the 3s/2s coordinate transformation module 6, the 3s/2s coordinate transformation module 6 will control the current i_a(k)、i_b(k) And i_c(k) Converted into fundamental current i under two-phase static coordinate system_α(k) And i_β(k) Fundamental current i in the two-phase stationary coordinate system_α(k) And i_β(k) The input is to the anti-lag rotor position and speed observation module 7 as two inputs to the anti-lag rotor position and speed observation module 7.

The output end of the anti-hysteresis rotor position and speed observation module 7 is respectively connected with the input ends of the hub motor voltage feedback controller 1, the voltage compensation module 2, the 2r/2s coordinate transformation module 4 and the load torque estimation module 8. The output end of the load torque estimation module 8 is connected with the input end of the hub motor voltage feedback controller 1. The output ends of the hub motor voltage feedback controller 1 and the voltage compensation module 2 are connected with the input end of the posterior constraint module 3, and the output end of the posterior constraint module 3 is connected with the 2r/2s coordinate transformation module 4 in series and then connected with the input end of the hub motor control system 5.

Anti-lag rotor position and speed observation module 7 bases the inputsWave current i_α(k) And i_β(k) Processing the current and the rotor angle theta (k) and the actual angular velocity omega (k) of the rotor of the motor and the current i under a two-phase rotating coordinate system_d(k) And i_q(k) In that respect Wherein only the current i is applied_d(k) And i_q(k) And the actual angular speed omega (k) of the rotor is respectively input into the hub motor voltage feedback controller 1 and the voltage compensation module 2 and respectively used as the first input, the second input and the third input of the hub motor voltage feedback controller 1 and the voltage compensation module 2. While referencing the motor to angular velocity ω^*(k) The voltage is input into a voltage feedback controller 1 of the hub motor, and the angular velocity omega is referred to by the motor^*(k) As a fourth input of the hub motor voltage feedback controller 1.

The anti-lag rotor position and speed observation module 7 only passes the current i_q(k) And the actual angular speed ω (k) of the rotor are input to a load torque estimation module 8 as a first and second input of the load torque estimation module 8, the load torque estimation module 8 being responsive to the current i_q(k) And the actual angular speed omega (k) of the rotor is processed to estimate the load disturbance of the motorThe load disturbance

The input is the fifth input of the hub motor voltage feedback controller 1, and is used as the input of the hub motor voltage feedback controller 1.

The anti-lag rotor position and speed observation module 7 inputs only the rotor angle θ (k) into the 2r/2s coordinate transformation module 4, the rotor angle θ (k) being the first input to the 2r/2s coordinate transformation module 4.

The hub motor voltage feedback controller 1 outputs a two-phase rotating coordinate system control voltage u_d(k)、u_q(k) The control voltage u_d(k) And u_q(k) The input to the posterior constraint module 3 is used as the first and second inputs of the posterior constraint module 3, respectively. The voltage compensation module 2 outputs a disturbance estimation valueAnd

the disturbance estimate

The input is input into the posterior constraint module 3 as the third and fourth inputs of the posterior constraint module 3.

The posterior constraint module 3 processes four inputs and outputs a reference voltage under a two-phase rotating coordinate system The reference voltage

The input to the 2r/2s coordinate transformation module 4 is used as the second and third inputs of the 2r/2s coordinate transformation module 4.

The 2r/2s coordinate transformation module 4 is used for inputting the rotor angle theta (k) and the reference voltage

Processing the voltage to output a reference voltage of a two-phase static coordinate systemThe reference voltage

The input is input into a hub motor control system 5 comprising a permanent magnet synchronous hub motor to control the permanent magnet synchronous hub motor.

Referring to fig. 2, the in-wheel motor control system 5 is composed of a voltage vector pulse width modulation module 51, an inverter module 52 and a permanent magnet synchronous in-wheel motor 53 which are connected in series in sequence. Reference voltage in two-phase stationary frame

Andthe voltage vector pulse width modulation module 51 outputs the generated switching pulse signal S as an input of the voltage vector pulse width modulation module 51_A、S_B、S_CThe inverter module 52 switches the pulse signal S_A、S_B、S_CAs input, a control current i in a three-phase stationary coordinate system is output_a(k)、i_b(k) And i_c(k) To control the permanent magnet synchronous in-wheel motor 53.

See the anti-hysteresis rotor position and speed observation module 7 shown in fig. 3, which consists of a sliding mode position observer 71 based on a hyperbolic function and a 2s/2r coordinate transformation module 72. Fundamental current i in two-phase static coordinate system_α(k) And i_β(k) The sliding mode position observer 71 based on the hyperbolic function outputs a rotor angle θ (k) and an actual rotor angular velocity ω (k) of the motor as inputs to the sliding mode position observer 71 based on the hyperbolic function and the 2s/2r coordinate transformation module 72, respectively. The actual angular speed ω (k) of the rotor is directly output to the outside, and the rotor angle θ (k) is respectively input to the 2s/2r coordinate transformation module 72 and the external 2r/2s coordinate transformation module 4. The 2s/2r coordinate transformation module 72 inputs the rotor angle theta (k) and the fundamental current i_α(k) And i_β(k) Entering into the treatment and outputting the current i under the two-phase rotating coordinate system_d(k) And i_q(k) The current i_d(k)、i_q(k) Together with the rotor angle θ (k) and the actual rotor angular velocity ω (k) are used as the four outputs of the anti-lag rotor position and velocity observation module 7. The expression of the rotor angle theta (k) and the actual rotor angular velocity omega (k) output by the sliding mode position observer 71 based on the hyperbolic function is as follows:

wherein: u. of_α(k) And u_β(k) Is the voltage in a two-phase stationary frame, i_α(k) And i_β(k) Is the current in a two-phase stationary coordinate system,

andis the observed current under a two-phase static coordinate system,

andis the back electromotive force, K, of a two-phase stationary coordinate system_sFor the gain matrix of the sliding mode position observer 71 based on a hyperbolic function,

the boundary layer of the function is adjusted for a hyperbolic function of the designed hysteresis resistance, where m is a normal number.

Referring to FIG. 4, the load torque estimation module8 at the actual angular velocity ω (k) of the motor and the current i in the two-phase rotation coordinate system_q(k) As input, its output is a load disturbance

The load torque estimation module 8 is composed of an electromagnetic torque calculation module 81, a mechanical inertia module 82, a rotation speed error calculation module 83, a signal output module 84 and an integration module 85 which are sequentially connected in series, and the output ends of the signal output module 84 and the integration module 85 are also respectively connected with the input end of the mechanical inertia module 82. Wherein the input of the electromagnetic torque calculation module 81 is the current i_q(k) The output is the electromagnetic torque T of the motor_e(k) The electromagnetic torque T_e(k) Input into the mechanical inertia module 82. The expression of the electromagnetic torque module 81 is

In the formula: t is_e(k) Is electromagnetic torque, p is the logarithm of the permanent magnet, psi_fIs a permanent magnet flux linkage i_q(k) Is the current of q axis under two-phase rotating coordinate system.

The mechanical inertia module 82 has three inputs, the first of which is the electromagnetic torque T of the electromagnetic torque calculation module 81_e(k) The second input is the disturbance signal U output by the signal output module 84_smo(k) The third input is the load disturbance output by the integration module 85

The mechanical inertia module 82 output is a speed estimateThis input is input to the rotational speed error calculation module 83. Velocity estimation

The expression of (a) is as follows,

in the formula: j. the design is a square₀Is moment of inertia, B₀Is a viscous friction coefficient, U_smo(k) In order to disturb the signal(s),

in order to be a load disturbance,is the velocity estimate.

The rotational speed error calculation module 83 has two inputs, respectively speed estimation values

And the actual angular speed omega (k) of the rotor input by the external anti-hysteresis rotor position and speed observation module 7, and the output of the rotating speed error calculation module 83 is a rotating speed difference e_ω(k)：

Difference in rotational speed e_ω(k) The signal is input into a signal output module 84, and the signal output module 84 outputs a disturbance signal U_smo(k) The disturbance signal U_smo(k) Respectively, into the integration module 85 and the mechanical inertia module 82:

U_smo(k)＝η·sgn(S) (11)

wherein η is a negative coefficient, S is a slip form surface, and

the input of the integration module 85 is a disturbance signal U_smo(k) The output being a load disturbanceAlso the output of the load torque estimation module 8, the load disturbance being

The input and output relationship of (1) is as follows:

in the formula: u shape_smo(k) In order to disturb the signal(s),

for load disturbance, m_smoAre sliding mode parameters.

Referring to FIG. 5, the hub motor voltage feedback controller 1 is shown as a current i_d(k)、i_q(k) Actual angular velocity ω (k) of rotor, reference angular velocity ω^*(k) Load disturbance

For five inputs, the voltage u is controlled in a two-phase rotating coordinate system_d(k) And u_q(k) Two outputs. The hub motor voltage feedback controller 1 is formed by connecting a reference current calculation module 11 and a voltage feedback controller 12 in series, and the output end of the reference current calculation module 11 is connected with the input end of the voltage feedback controller 12. Reference current calculation module 11 perturbs with a load

As input, the output is a reference current in a two-phase rotating coordinate system

And

the expression is as follows:

in the formula: k is discrete sampling index, p is permanent magnet of motorLogarithm of magnet, ψ_fIs a permanent magnet flux linkage, L_d、L_qInductances of d and q axes, respectively, for surface-mounted machines, L_d＝L_q. The application aims at the surface-mounted permanent magnet synchronous hub motor, namely the surface-mounted permanent magnet synchronous hub motor is adopted

Control strategy (L ═ L)_d＝L_q)。

Reference current output by reference current calculation module 11And

the voltage is input to the voltage feedback controller 12 as the fifth and sixth inputs of the voltage feedback controller 12. The first, second and third inputs of the voltage feedback controller 12 are the actual angular speed ω (k) of the rotor output by the anti-hysteresis rotor position and speed observation module 7, and the current i in the two-phase rotating coordinate system, respectively_d(k)、i_q(k) The fifth input is the motor reference angular velocity ω^*(k) In that respect The voltage feedback controller 12 processes the six inputs to obtain a voltage u under a two-phase rotating coordinate system_d(k)、u_q(k) In that respect Voltage u_d(k)、u_q(k) The expression of (a) is:

in the formula:andis a reference current in a two-phase rotating coordinate system, M_2×3Is a matrix of gain coefficients for the voltage feedback controller 12.

The voltage compensation module 2 uses the actual angular speed omega (k) of the motor and the current i under the two-phase rotating coordinate system_d(k) And i_q(k) As input, the output is disturbance estimation valueAndrespectively compensating the voltage u output by the voltage feedback controller 1 of the hub motor_d(k) And u_q(k) Above, the expression is:

wherein: Δ L is inductance error, Δ R is resistance error, Δ ψ_fIs a permanent magnet flux linkage error, L is an inductance error, R is a resistance error, psi_fIn order to correct the flux linkage error of the permanent magnet,and

respectively a disturbance estimated value i under a two-phase rotating coordinate system_d(k) And i_q(k) Is the current under a two-phase rotating coordinate system,

and

is a reference current in a two-phase rotating coordinate system.

The voltage u under the two-phase rotating coordinate system output by the voltage feedback controller 12_d(k)、u_q(k) The disturbance estimation value output by the voltage compensation module 2 is input into the posterior constraint module 3Andis also input to the posterior constraint module 3In (iii). The posterior constraint module 3 is used for inputting the voltage u_d(k)、u_q(k) And disturbance estimation valueAndthe four inputs are processed to obtain reference voltage under a two-phase rotating coordinate systemAnd

the expression is as follows:

in the formula: back electromotive force e_q(k)＝pω(k)(L_si_d(k)+ψ_f)，

u_up(k) Is the upper limit of the voltage value, u_down(k) Is the lower limit of the voltage value, T_sFor the sampling period, R is resistance, L is inductance, i_d(k) D-axis current i for the Kth cycle_q(k) Q-axis current of the Kth cycle, i_q(K +1) is the q-axis current of the K +1 th cycle, ω (K) is the rotor angular velocity, p is the permanent magnet logarithm, ψ_fIs a permanent magnet flux linkage.

The voltage feedback controller 1 and the voltage compensation module 2 of the hub motor are connected to the input end of the posterior constraint module 3 in parallel, and the posterior constraint module 3 outputs the reference voltage of the two-phase rotating coordinate systemAnd

the reference voltage is converted into a reference voltage of a two-phase static coordinate system by a 2r/2s coordinate conversion module 4And

and then the permanent magnet synchronous hub motor composite controller is connected with a hub motor control system 5, a 3s/2s coordinate transformation module 6 and an anti-hysteresis rotor position and speed observation module 7 in series to finally form the permanent magnet synchronous hub motor composite controller with high robustness. The permanent magnet synchronous hub motor composite controller adopts the hub motor voltage feedback controller 1 to replace a traditional series closed-loop control system, thereby avoiding the defects of the series closed-loop system and improving the control precision of the system. The voltage compensation module 2 is adopted to compensate errors caused by mismatch of inductance, resistance and a permanent magnet flux linkage due to temperature rise or other reasons. And the posterior constraint module 3 is adopted to calculate the boundary value of the control signal by utilizing a motor voltage equation model, provide an allowable value of a state variable of the next period for the control signal and overcome the limitation of low dynamic performance of the traditional unconstrained state feedback control system. The anti-hysteresis rotor position and speed observer 7 is adopted to overcome the defects of system noise, cost increase, complex driving system and the like caused by the installation of a position sensor in the traditional control method, and meanwhile, the phase delay caused by a low-pass filter in a sliding mode observer based on a symbolic function in the traditional sensorless control is also avoided. And the load torque estimation module 8 is adopted to improve the influence of load disturbance caused by the change of the mechanical parameters of the system on the control performance. Simultaneous linear constrained state feedback controller replaces traditional series closed loop control, while rotor position and speed observers replaceAnd the sensor considers the influence of various parameter changes of the system through voltage compensation and load disturbance observation, finally improves the control precision and the control structure, and realizes the composite control of the high-performance robust permanent magnet synchronous hub motor.