阅读说明：本技术 一种电动汽车eps用永磁电机复合控制器的构造方法 (Construction method of permanent magnet motor composite controller for electric automobile EPS ) 是由 孙晓东 蔡峰 汪少华 陈龙 田翔 周卫琪 于 2020-12-28 设计创作，主要内容包括：本发明公开一种电动汽车EPS用永磁电机复合控制器的构造方法,由电流给定模块、角度给定模块、模糊PID调控模块、转矩抗扰动模块、位置调节模块共同构成,对EPS电机系统实现控制,EPS电机系统的输入是同步旋转坐标系下电压v-d,v-q,输出是转子位置角θ和电流i-d,i-q的合成电流I-s,模糊PID调控模块的输入为参考电流和合成电流I-s,输出为控制电压分量v-(d1),v-(q1)；转矩抗扰动模块的输入是合成电流I-s和电机转子位置角θ,输出是控制电压分量v-(d2),v-(q2)；位置调节模块的输入为参考角度θ～*和电机转子位置角θ,输出为控制电压分量v-(d3),v-(q3)；控制电压分量v-(d1),v-(q1)、v-(d2),v-(q2)和v-(d3),v-(q3)对应求和得到合成电压v-d,v-q,利用模糊算法实现PID参数的自适应调整,利用优化转矩计算模块实现转矩的分类输出,通过误差反馈控制模块输出所需要的控制电压。(The invention discloses a construction method of a permanent magnet motor composite controller for an electric vehicle (EPS), which consists of a current setting module, an angle setting module, a fuzzy Proportion Integration Differentiation (PID) regulation module, a torque disturbance resisting module and a position regulation module, and is used for the EPS motorThe system realizes control, and the input of the EPS motor system is voltage v under a synchronous rotating coordinate system d ,v q The outputs are rotor position angle theta and current i d ,i q Of (2) synthesized current I s The input of the fuzzy PID control module is a reference current And the resultant current I s Output as a control voltage component v d1 ,v q1 (ii) a The input of the torque disturbance rejection module is a resultant current I s And motor rotor position angle theta, the output being a control voltage component v d2 ，v q2 (ii) a The input of the position adjusting module is a reference angle theta * And motor rotor position angle theta, output as control voltage component v d3 ,v q3 (ii) a Control voltage component v d1 ,v q1 、v d2 ,v q2 And v d3 ,v q3 Corresponding summation to obtain a resultant voltage v d ,v q The self-adaptive adjustment of PID parameters is realized by using a fuzzy algorithm, the classified output of the torque is realized by using an optimized torque calculation module, and the required control voltage is output by using an error feedback control module.)

1. A construction method of a permanent magnet motor composite controller for an electric vehicle EPS is characterized by comprising the following steps:

step A: an EPS motor system (4) comprising a permanent magnet synchronous motor (44) is constructed, and the input of the EPS motor system (4) is a voltage v under a synchronous rotating coordinate system_d,v_qThe outputs are rotor position angle theta and current i_d,i_qOf (2) synthesized current I_s；

And B: the PID regulation module (1) is composed of a first differential module (11), a PID regulation module (12) and a fuzzy algorithm regulation module (13), and the input of the fuzzy PID regulation module (1) is a reference currentAnd a resultant current I_sOutput as a control voltage component v_d1,v_q1；

And C: the torque anti-disturbance module 2 is composed of an optimized torque calculation module (21), a nonlinear error feedback control module (22), an extended state observer (23), a gain compensation module (24) and a voltage conversion module (25), the optimized torque calculation module (21), the nonlinear error feedback control module (22), the gain compensation module (24) and the voltage conversion module (25) are sequentially connected in series, and the input of the torque anti-disturbance module (2) is a synthetic current I_sAnd motor rotor positionSet at an angle theta and the output is a control voltage component v_d2，v_q2；

Step D: the position adjusting module (3) is composed of a second differential module (31), an improved differential algorithm module (32), an adaptive learning algorithm module (33), a fuzzy neural network module (34) and a voltage conversion module (35), and the input of the position adjusting module (3) is a reference angle theta^*And a motor rotor position angle theta, output as a control voltage component v_d3,v_q3；

Step E: the permanent magnet motor composite controller for the electric automobile EPS is formed by a current setting module (5), an angle setting module (6), a fuzzy PID regulation and control module (1), a torque disturbance resisting module (2) and a position adjusting module (3) together, the EPS motor system (4) is controlled, and the current setting module (5) outputs reference currentTo the fuzzy PID regulation module (1), the angle setting module (6) outputs a reference angle theta^*To a position regulating module (3), controlling a voltage component v_d1,v_q1、v_d2,v_q2And v_d3,v_q3Corresponding summation is carried out to obtain the synthetic voltage v under the synchronous rotating coordinate system_d,v_q。

2. The method for constructing the permanent magnet motor composite controller for the electric vehicle EPS as claimed in claim 1, wherein the method comprises the following steps: in the step A, an EPS motor system (4) is formed by a 2r/2s coordinate transformation module (41), a PWM module (42), an inverter (43), a permanent magnet synchronous motor (44), a rotary transformer (45) and a 3s/2r coordinate transformation module (46), the 2r/2s coordinate transformation module (41), the PWM module (42), the inverter (43), the permanent magnet synchronous motor (44) and the rotary transformer (45) are sequentially connected in series, and the input of the 2r/2s coordinate transformation module (41) is a voltage v under a synchronous rotating coordinate system_d,v_qThe output rotor angle of the permanent magnet synchronous motor (44)Rotor cornerThe rotor position angle theta and the three-phase current i are output after being detected by a rotary transformer (45)_a,i_b,i_cThe current is input into a 3s/2r coordinate transformation module (15), and the 3s/2r coordinate transformation module (15) outputs a current i under a synchronous rotating coordinate system_d,i_qWhich synthesizes an electric current

3. The method for constructing the permanent magnet motor composite controller for the electric vehicle EPS as claimed in claim 1, wherein the method comprises the following steps: in step B, reference currentAnd the resultant current I_sThe current error e obtained after comparison is respectively input into a differential module (11), a PID regulating module (12) and a fuzzy algorithm regulating module (13), and the differential current error e is obtained after the current error e is differentiated by the differential module (11)Differential current errorRespectively input into a PID regulating module (12) and a fuzzy algorithm regulating module (13), and the output of the fuzzy algorithm regulating module (13) is three self-adaptive PID regulating parameters delta k_p,Δk_i,Δk_dThe output of the PID regulation block (12) is a control voltage component v_d1,v_q1， e_d、e_q、The current error component and the differential current error component in the synchronous rotating coordinate system are respectively.

4. The method for constructing the permanent magnet motor composite controller for the electric vehicle EPS as claimed in claim 1, wherein the method comprises the following steps: in step C, the current I is synthesized_sAnd the motor rotor position angle theta is input into an optimized torque calculation module (21), and the optimized torque calculation module (21) outputs a motor torque component T₁，T₂Extending the state observer (23) to synthesize the voltage v_s2As input, three feedback signals Z are output₀,Z₁,Z₂Of a feedback signal Z₁,Z₂Respectively corresponding to the torque components T of the motor₁，T₂The torque error e is obtained by comparison₁,e₂Of a feedback signal Z₀Feedback voltage v output by the nonlinear error feedback control module (22)₀The torque error e is obtained by comparison₀Error in torque e₁,e₂The output of the nonlinear error feedback control is feedback voltage v which is input into a nonlinear error feedback control module (22)₀Of a feedback signal Z₀And a feedback voltage v₀The torque error e is obtained by comparison₀Error in torque e₀Input into a gain compensation module (24), the gain compensation module (24) outputting a resultant voltage v_s2Synthesized voltage v_s2Is output as a control voltage component v via a voltage conversion module (25)_d2，v_q2。

5. The method for constructing the permanent magnet motor composite controller for the EPS of the electric automobile as claimed in claim 4, wherein the method comprises the following steps: said motor torque componentL_d、L_qRespectively, the inductance components of the motor under the synchronous rotating coordinate system,is a permanent magnet flux linkage of a permanent magnet motor, p_nThe number of pole pairs of the permanent magnet motor is.

6. The method for constructing the permanent magnet motor composite controller for the EPS of the electric automobile as claimed in claim 4, wherein the method comprises the following steps: the expression of the extended state observer (23) isNon-linear functionx is a nonlinear function independent variable, and a is a nonlinear parameter; beta is a₁,β₂,β₃Observer parameters with values of 0.3,0.56,0.62, respectively; h is an adjustment coefficient, and the value of h is set to 0.05; e.g. of the type₂₃、f_e、f_e1Are all function intermediate variables.

7. The method for constructing the permanent magnet motor composite controller for the EPS of the electric automobile as claimed in claim 4, wherein the method comprises the following steps: feedback voltage v₀＝-fhan(e₁,e₂,r,h)，

Non-linear error function

a₀、a₁、a₂For the function intermediate variable, r is the voltage error factor, which is set to a value of 2.5;

resultant voltageb₀，b₁The gain factor is set to a value of 5, 2.5.

8. The method for constructing the permanent magnet motor composite controller for the electric vehicle EPS as claimed in claim 1, wherein the method comprises the following steps: in step D, the angle theta is referenced^*Comparing the position angle theta of the motor rotor to obtain an angle error e_θAngle error e_θDifferential angle error is obtained after differentiation by a differential module (31)Angular error e_θRespectively input into an improved differential algorithm module (32), an adaptive learning algorithm module (33) and a fuzzy neural network module (34) to differentiate the angle errorRespectively input into an adaptive learning algorithm module (33) and a fuzzy neural network module (34), and an improved differential algorithm module (32) outputs sample parameters { eta [ (+)_w1,η_w2,η_m1,η_m2The adaptive learning algorithm module (33) converts the sample parameter { eta }_w1,η_w2,η_m1,η_m2As a learning sample set, the output is a network parameter { sigma }_k1,σ_k2,σ_j1,σ_j2}; the fuzzy neural network module (34) uses the network parameter { sigma }_k1,σ_k2,σ_j1,σ_j2As a parameter sample training set, outputting a resultant voltage v_s3Synthesized voltage v_s3Is converted into the control voltage component v by a voltage conversion module (35)_d3,v_q3。

9. The method for constructing the permanent magnet motor composite controller for the electric vehicle EPS as claimed in claim 8, wherein the method comprises the following steps: the resultant voltage

σ_ki,σ_ji＝σ_k1,σ_k2,σ_j1,σ_j2,i＝1,2，a_n、t_nRespectively, the scale coefficient and the translation coefficient of the wavelet function, the values of which are

10. The method for constructing the permanent magnet motor composite controller for the electric vehicle EPS as claimed in claim 1, wherein the method comprises the following steps: in step E, the resultant voltage v is_d＝v_d1+v_d2+v_d3，v_q＝v_q1+v_q2+v_q3。

Technical Field

The invention belongs to the technical field of electric automobile driving and transmission control, and particularly relates to an alternating current motor control system for an Electric Power Steering (EPS) of an electric automobile.

Background

The stability and controllability of the operation of a vehicle are closely related to the performance of a steering system, and the steering system of the vehicle generally goes through the following development stages: mechanical transmission systems, hydraulic power steering, electrically controlled hydraulic power steering, Electric Power Steering (EPS), and steer-by-wire (SBW). The EPS cancels a hydraulic device, not only reduces the energy consumption of the whole vehicle, but also provides a foundation for realizing active steering and automatic driving of the electric vehicle. Because the brush and the commutator of the direct current motor can cause abrasion due to sliding contact, the EPS system applying the direct current motor has more faults and low reliability, and the permanent magnet motor has the advantages of small volume, high efficiency and the like, and is gradually a new driving motor of the EPS system.

The EPS controller determines the magnitude of target current according to the magnitude of vehicle speed, the torque of a steering wheel and the current running state of the vehicle, and enables the power-assisted motor to output expected power-assisted torque through a motor control algorithm. The existing EPS power-assisted current control algorithm mostly adopts a PID control algorithm, the PID control algorithm is simple and easy to discretize, but the algorithm is easy to overshoot, poor in robustness and easy to generate differential expansion and integral saturation, so that the response speed is low, and therefore, the improvement of the power-assisted current control algorithm has important significance for improving the performance of an EPS system. The EPS, as an on-vehicle torque servo system, is different from an industrially common position and speed servo system, and has a high requirement on the quality of the output torque of the power-assisted motor: on one hand, the power-assisted torque output by the power-assisted motor under various steering working conditions can be required to quickly and accurately track the target torque without steering delay, and on the other hand, the torque output by the motor is required to be smooth and small in fluctuation so as to ensure good driving comfort.

The controller disclosed in the document having the chinese patent application No. 202010195811.7 and entitled "controller without position sensor for an EPS steering system of an automobile" is used for the controller without position sensor for the EPS system, and realizes accurate estimation of the position angle of a motor through a discrete angle judgment module, however, the EPS is used as a torque servo system, and the existence of the position sensor does not delay signal transmission, increase the fluctuation of torque, and finally affects the control accuracy and performance of the motor.

Disclosure of Invention

The invention aims to provide a construction method of a permanent magnet motor composite controller for an electric vehicle EPS (electric power steering) aiming at the problems of motor torque fluctuation, steady-state tracking precision, signal delay and the like in a motor controller for the electric vehicle EPS, which realizes dynamic accurate control of an EPS system by using a plurality of fusion algorithms, particularly independent control of current, torque and angle, and enables all control factors to be mutually linked and independent.

The invention relates to a construction method of a permanent magnet motor composite controller for an electric automobile EPS, which adopts the technical scheme that the construction method comprises the following steps:

step A: the EPS motor system comprising a permanent magnet synchronous motor is constructed, and the input of the EPS motor system is voltage v under a synchronous rotating coordinate system_d,v_qThe outputs are rotor position angle theta and current i_d,i_qOf (2) synthesized current I_s；

And B: the PID control module is composed of a first differential module, a PID control module and a fuzzy algorithm control module, and the input of the fuzzy PID control module is a reference currentAnd a resultant current I_sOutput as a control voltage component v_d1,v_q1；

And C: the torque anti-disturbance module is composed of an optimized torque calculation module, a nonlinear error feedback control module, an extended state observer, a gain compensation module and a voltage conversion module, the optimized torque calculation module, the nonlinear error feedback control module, the gain compensation module and the voltage conversion module are sequentially connected in series, and the input of the torque anti-disturbance module is a synthetic current I_sAnd motor rotor position angle theta, the output being a control voltage component v_d2，v_q2；

Step D: the position adjusting module is composed of a second differential module, an improved differential algorithm module, a self-adaptive learning algorithm module fuzzy neural network module and a voltage transformation module, and the input of the position adjusting module is a reference angle theta^*And a motor rotor position angle theta, output as a control voltage component v_d3,v_q3；

Step E: the current setting module, the angle setting module, the fuzzy PID regulation and control module, the torque disturbance resisting module and the position regulation module jointly form a permanent magnet motor composite controller for the EPS of the electric automobile, the EPS motor system is controlled, and the current setting module outputs reference currentTo the fuzzy PID control module, the angle setting module outputs a reference angle theta^*To a position adjustment module, controlling a voltage component v_d1,v_q1、v_d2,v_q2And v_d3,v_q3Corresponding summation is carried out to obtain the synthetic voltage v under the synchronous rotating coordinate system_d,v_q。

The invention has the beneficial effects that:

1. compared with the traditional PID controller, the fuzzy PID control module provided by the invention improves the controller based on fuzzy rules, realizes the self-adaptive adjustment of PID parameters by using a fuzzy algorithm, and realizes the quick tracking and response to current errors, thereby outputting reliable control voltage.

2. The torque anti-disturbance module provided by the invention realizes classified output of the torque by using the optimized torque calculation module, simultaneously adopts a signal output by the extended state observer to carry out error comparison with the torque, and outputs the required control voltage through the error feedback control module.

3. For an EPS motor system needing accurate control, a three-layer control algorithm is utilized, layer-by-layer optimization is carried out, and finally a fuzzy neural network module is utilized to accurately track and measure a position angle error, so that accurate control voltage is output; compared with the conventional neural network, the fuzzy neural network provided by the invention adopts the wavelet function, so that the control is simpler and the convergence speed is higher.

4. The control variables and the input variables required by the composite controller constructed by the invention are measurable and easily measurable variables, and the control algorithm is realized only by modular software programming without adding extra instruments and equipment, so that the control quality of the controller is effectively improved on the premise of not increasing the control cost, and the construction is facilitated.

Drawings

Fig. 1 is a block diagram of a configuration of an EPS motor system 4, which is constituted by a 2r/2s coordinate conversion module 41, a PWM module 42, an inverter 43, a permanent magnet synchronous motor 44, a resolver 45, and a 3s/2r coordinate conversion module 46;

FIG. 2 is a block diagram of the fuzzy PID control module 1, which is composed of a differential module 11, a PID adjusting module 12 and a fuzzy algorithm adjusting module 13;

fig. 3 is a block diagram of the torque disturbance rejection module 2, which is composed of an optimized torque calculation module 21, a nonlinear error feedback control module 22, an extended state observer 23, a gain compensation module 24, and a voltage transformation module 25; .

Fig. 4 is a block diagram of the position adjusting module 3, which is composed of a differential module 31, an improved differential algorithm module 32, an adaptive learning algorithm module 33, a fuzzy neural network module 34, and a voltage transformation module 35;

fig. 5 is a structural block diagram of a permanent magnet motor composite controller for an electric vehicle EPS, which is composed of a current setting module 5, an angle setting module 6, a fuzzy PID regulation and control module 1, a torque disturbance rejection module 2, and a position regulation module 3.

Detailed Description

As shown in FIG. 1, the EPS motor system 4 is composed of a 2r/2s coordinate transformation module 41, a PWM module 42, an inverter 43, a permanent magnet synchronous motor 44, a rotary transformer 45 and a 3s/2r coordinate transformation module 46, and the input of the EPS motor system 4 is a voltage v under a synchronous rotating coordinate system_d,v_qThe output is rotor position angle theta and current i under a synchronous rotating coordinate system_d,i_qOf (2) synthesized current I_s. The 2r/2s coordinate transformation module 41, the PWM module 42, the inverter 43, the permanent magnet synchronous motor 44 and the rotary transformer 45 are sequentially connected in series. The input of the 2r/2s coordinate transformation module 41 is a voltage v under a synchronous rotating coordinate system_d,v_qVoltage v_d,v_qObtaining the voltage v under a static coordinate system after coordinate transformation_α,v_βVoltage v in a stationary coordinate system_α,v_βAs input of the PWM module 42, its output is a switching signal T_optSwitching signal T_optThe inverter 43 outputs, as an input to the inverter 43, a three-phase current i that drives the permanent magnet synchronous motor 44_a,i_b,i_cOutput rotor angle of permanent magnet synchronous motor 44Rotor cornerAfter detection by the resolver 45, it outputs a rotor position angle θ. Three-phase current i output from inverter 43_a,i_b,i_cInputting the current into a 3s/2r coordinate transformation module 15, and outputting the current i in a synchronous rotating coordinate system by the 3s/2r coordinate transformation module 15 after transformation_d,i_qSynthesis ofCurrent is I_sThe expression is as follows:

as shown in FIG. 2, the PID control module 1 is composed of a differential module 11, a PID control module 12 and a fuzzy algorithm control module 13, and the input of the fuzzy PID control module 1 is a reference currentAnd the resultant current I output by the EPS motor system 4_sThe output is a control voltage component v under a synchronous rotating coordinate system_d1,v_q1. Reference currentAnd the resultant current I_sComparing to obtain a current error e, inputting the current error e into the differential module 11, the PID adjusting module 12 and the fuzzy algorithm adjusting module 13, differentiating the current error e by the differential module 11 to obtain a differential current errorDifferential current errorRespectively input into a PID adjusting module 12 and a fuzzy algorithm adjusting module 13. The fuzzy algorithm adjusting module 13 inputs the current error e and the differential current errorThe output is three adaptive PID adjusting parameters delta k_p,Δk_i,Δk_d. The fuzzy algorithm adjusting module 13 is composed of a current error e and a differential current errorThe output strategy is determined, and the fuzzy subset of the input/output variables adopts 7 variable values: negative large (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), and middle (B)PM), positive large (PB), current error e selected and its differential current error according to the actual control effectRespectively of [ -10, 10]、[-5，5]；Δk_p,Δk_i,Δk_dRespectively of [ -1, 1 [ ]]、[-0.3，0.3]、[-0.05，0.05]。Δk_p,Δk_i,Δk_dThe control rule adjustment table is shown in the following table:

Δk_p,Δk_i,Δk_dcontrol rule adjustment table of

Three adaptive PID tuning parameters Δ k_p,Δk_i,Δk_dThe input is input into a PID regulating module 12, and the input of the PID regulating module 12 is a current error e and a differential current errorAnd adaptive PID tuning parameter Δ k_p,Δk_i,Δk_dThe output is a control voltage component v under a synchronous rotating coordinate system_d1,v_q1. PID regulation module 12 combines adaptive PID regulation parameter Deltak_p,Δk_i,Δk_dOutputting a control voltage component v under a synchronous rotating coordinate system_d1,v_q1The expression is as follows:

in the formula, e_d、e_q、The current error component and the differential current error component in the synchronous rotating coordinate system are respectively.

As shown in FIG. 3, the optimal torque calculation module 21, the nonlinear error inverseThe feed control module 22, the extended state observer 23, the gain compensation module 24 and the voltage transformation module 25 constitute the torque anti-disturbance module 2. The optimization torque calculation module 21, the nonlinear error feedback control module 22, the gain compensation module 24 and the voltage conversion module 25 are connected in series in sequence. The input of the torque disturbance rejection module 2 is the synthetic current I output by the EPS motor system 4_sAnd the position angle theta of the motor rotor, and the output is a voltage component v under a synchronous rotating coordinate system_d2，v_q2。

Resultant current I_sAnd the motor rotor position angle theta are input into the optimized torque calculation module 21, and the motor torque component T under the synchronous rotation coordinate system is output through the torque distribution of the optimized torque calculation module 21₁，T₂The expression is as follows:

in the formula, T₁、T₂Respectively motor torque component i under a synchronous rotating coordinate system_d、i_qRespectively, the current component of the motor, L, in the synchronous rotating coordinate system_d、L_qRespectively, the inductance components of the motor under the synchronous rotating coordinate system,is a permanent magnet flux linkage of a permanent magnet motor, p_nThe number of pole pairs of the permanent magnet motor is.

Extending the state observer 23 to synthesize the voltage v_s2As input, three feedback signals Z are output₀,Z₁,Z₂In which two feedback signals Z₁,Z₂Respectively corresponding to the torque components T of the motor under the synchronous rotating coordinate system one by one₁，T₂By comparison, i.e. Z₁And T₁By comparison, Z₂And T₂Compared with each other, the torque error e is obtained₁,e₂. Another feedback signal Z₀Feedback voltage v output by the nonlinear error feedback control module 22₀Compared to obtain a torque error e₀. Extended state observerThe expression of 23 is:

in the formula, fal (x, alpha, h) is a nonlinear function, x is a nonlinear function independent variable, and alpha is a nonlinear parameter; beta is a₁,β₂,β₃Observer parameters, whose values are set to 0.3,0.56,0.62, respectively; h is an adjustment coefficient, and the value of h is set to 0.05; e.g. of the type₂₃、f_e、f_e1Are all function intermediate variables.

Error of torque e₁,e₂As an input to the nonlinear error feedback control module 22, the nonlinear error feedback control module 22 calculates a torque error e₁,e₂As input, its output is a feedback voltage v₀The expression is:

v₀＝-fhan(e₁,e₂,r,h) (6)

wherein, fhan (e)₁,e₂R, h) is a nonlinear error function, a₀、a₁、a₂For the intermediate variable of the function, r is the voltage error factor, which is set to a value of 2.5.

Feedback signal Z₀Feedback voltage v output by the nonlinear error feedback control module 22₀The torque error e is obtained by comparison₀Error in torque e₀The input is input to the gain compensation module 24, and the gain compensation module 24 calculates the torque error e₀As input, the output is a resultant voltage v_s2The expression is as follows:

in the formula, b₀，b₁The gain factor is set to a value of 5, 2.5.

The resultant voltage v_s2Respectively, into the voltage transformation module 25 and the extended state observer 23. Voltage conversion module 25 for synthesizing voltage v_s2As input, the output is a voltage component v under a synchronous rotating coordinate system_d2、v_q2I.e. the output value of the torque anti-disturbance module 2.

As shown in FIG. 4, the position adjusting module 3 is composed of a differential module 31, an improved differential algorithm module 32, an adaptive learning algorithm module 33, a fuzzy neural network module 34 and a voltage transformation module 35, and the input of the position adjusting module 3 is a reference angle theta^*And a motor rotor position angle theta output by the EPS motor system 4 is a voltage component v under a synchronous rotating coordinate system_d3,v_q3。

Reference angle theta^*Comparing the position angle theta of the motor rotor to obtain an angle error e_θAngle error e_θThe differential angle error is obtained after differentiation by the differential module 31Angular error e_θThe differential angle error is respectively input into an improved differential algorithm module 32, an adaptive learning algorithm module 33 and a fuzzy neural network module 34Respectively, to the adaptive learning algorithm module 33 and the fuzzy neural network module 34. Improved derivative algorithm module 32 to determine the angular error e_θAs input, the output is the sample parameter { η_w1,η_w2,η_m1,η_m2}. Adaptive learning algorithm module 33 calculates the angular error e_θAnd differential angle errorAs input, the sample parameters { η } are simultaneously taken_w1,η_w2,η_m1,η_m2AsThe learning sample set of the module, the output of which is the network parameter { sigma_k1,σ_k2,σ_j1,σ_j2}; the fuzzy neural network module 34 calculates the angle error e_θAnd differential angle errorAs input, the network parameter { σ }_k1,σ_k2,σ_j1,σ_j2As the training set of parameter samples of the module, the output is the resultant voltage v_s3The mathematical model expression is as follows:

in the formula, σ_ki,σ_ji＝σ_k1,σ_k2,σ_j1,σ_j2,i＝1,2，a_n、t_nRespectively, the scale coefficient and the translation coefficient of the wavelet function, the values of which are

Resultant voltage v_s3The voltage is input into a voltage conversion module 35, and the voltage conversion module 35 synthesizes a voltage v_s3For inputting, outputting a voltage component v under a synchronous rotating coordinate system_d3、v_q3I.e. the output of the position adjustment module 3.

As shown in fig. 5, a current setting module 5, an angle setting module 6, a fuzzy PID control module 1, a torque disturbance rejection module 2, and a position control module 3 jointly form a permanent magnet motor composite controller for an electric vehicle EPS, and control an EPS motor system 4 including a permanent magnet synchronous motor 44. The current setting module 5 outputs a reference currentTo the fuzzy PID control module 1, the angle setting module 6 outputs a reference angle theta^*Into the position adjustment module 3. The input of the fuzzy PID control module 1 is a reference currentAnd the resultant current I output by the EPS motor system 4_sThe output is a control voltage component v under a synchronous rotating coordinate system_d1,v_q1(ii) a The input of the torque anti-disturbance module 2 is the synthetic current I output by the EPS motor system 4_sAnd a motor rotor position angle theta, the output of which is a voltage component v under a synchronous rotation coordinate system_d2，v_q2(ii) a The input of the position adjusting module 3 is a reference angle theta^*And a motor rotor position angle theta output by the EPS motor system 4 is a voltage component v under a synchronous rotating coordinate system_d3,v_q3. The output ends of the fuzzy PID regulation module 1, the torque anti-disturbance module 2 and the position regulation module 3 are connected in parallel, and the control voltage component v under a synchronous rotating coordinate system is_d1,v_q1V amount v_d2,v_q2、v_d3,v_q3Corresponding summation is carried out to obtain the synthetic voltage v under the synchronous rotating coordinate system_d,v_qThe expression is as follows:

synthetic voltage v under synchronous rotating coordinate system_d,v_qAs input of the EPS motor system 4, the output is the resultant current I_sAnd motor rotor position angle theta.

When the permanent magnet motor composite controller for the electric automobile EPS constructed by the invention works, the fuzzy algorithm adjusting module 13 in the fuzzy PID control module 1 utilizes the fuzzy algorithm to adjust the current error e and the differential thereofCarrying out fuzzy regulation to output PID parameter delta k_p,Δk_i,Δk_dTherefore, the PID adjusting module 12 can quickly stabilize the error and improve the control speed and precision. The extended state observer 23 in the torque disturbance module 2 synthesizes a voltage v with a voltage_s2For input, a nonlinear function is used for regulation and control, and an output feedback signal Z₁,Z₂And torque componentT₁，T₂And comparing the voltage values and the voltage values, and inputting the obtained error into the nonlinear error feedback control module 22, thereby outputting a stable control voltage, reducing torque fluctuation and improving control precision. In the position adjusting module 3, the fuzzy neural network module 34 applies wavelet function to the angle error e and the differential angle errorRegulating and using the network parameter sigma output by the adaptive learning algorithm_k1,σ_k2,σ_j1,σ_j2And control feedback is carried out, so that the error convergence speed is improved, and high-performance robust control on the power-assisted steering system of the electric automobile is realized.