CN104333285B - Permagnetic synchronous motor standard is without sensing station Servocontrol device and method - Google Patents

Abstract

The invention discloses a quasi-sensorless position servo control device for a permanent magnet synchronous motor, which includes a permanent magnet synchronous motor provided with a HALL sensor; The subtractor, the position/speed integrated controller, the third subtractor, the fourth subtractor, the PI regulator and the IPark transformation module are connected to each other; the fifth subtractor is connected to the position/speed integrated controller; the position/speed integrated The controller is connected with the third subtractor; the PI regulator is connected with the third subtractor, the fourth subtractor and the IPark transformation module respectively; the IPark transformation module is connected with the space vector modulation module, and the space vector modulation module is connected with the three-phase The inverters are connected to each other, and the three-phase inverter is connected to the permanent magnet synchronous motor.

Description

Quasi-sensorless position servo control device and method for permanent magnet synchronous motor

technical field

The invention relates to the mechatronics technology of textile machinery, in particular to a quasi-sensorless position servo control device and method of a permanent magnet synchronous motor suitable for point-to-point movement of textile machinery.

Background technique

With the constant demands of energy saving, high efficiency, high speed and high precision in the textile industry, the permanent magnet AC servo system has high power factor, high efficiency, high dynamic response, high reliability, high overload capacity and high The application of output torque and other advantages in textile machinery has become a trend, and it is one of the core technologies for mass application in the future, and the market prospect is very broad. However, there are some special working conditions in some textile machines: For example, when the warp knitting machine is running, it needs to drive the bar to complete the "stop→movement→stop" yarn laying movement within the time of the traverse system, which requires extremely high response speed and positioning accuracy. , the speed of the positioning time of the drive system directly affects the increase in the production speed of the warp knitting machine; the motor starts and stops very frequently during the operation of the sewing machine, which belongs to intermittent operations. Realize the start from zero speed to the highest operating speed or stop from the highest operating speed to zero speed, and the stopping accuracy is less than ±3° or less; at present, scholars at home and abroad have proposed a dual-axis servo drive for the control of the embroidery frame of the embroidery machine The concept is to use a DSP+CPLD to control the operation of two servo motors to drive the embroidery frame to run. The original traditional three-loop control theory of position, speed, and current will show resource constraints during programming and reduce the servo system. Moreover, the embroidery frame of the embroidery machine only requires position control, and with the development of high efficiency and high precision of the embroidery machine, the embroidery frame will respond faster and faster to the position control requirement in order to coordinate with the main motor, and so on. These textile machines have a common feature, which requires the servo system to have extremely high dynamic performance of position response, small following error, and strong anti-interference ability, but not high requirements for speed control, which is more in line with servo system The characteristics of point-to-point (point) movement. However, the position servo system with the traditional position, speed and current three-loop control structure (attached Figure 1) not only does not play a role in the point-to-point movement, but also reduces the dynamic response of the system's position adjustment as a series link in the control structure. performance. Therefore, it is necessary to find a new method to improve the position response performance of the system. At the same time, textile machinery (such as the aforementioned warp knitting machines, embroidery machines, etc.) is often required to operate in high temperature, low temperature, dirty air and other working environments, as well as working conditions with mechanical vibrations. The existence of physical sensors has led to System application limitations. If the physical sensor can be canceled, the application range of the system can be expanded undoubtedly, and the reliability and environmental adaptability of the system can also be improved at the same time. Moreover, the textile industry is a price-sensitive industry, and it is the pursuit of all enterprises to reduce and control costs as much as possible. For this reason, the servo system used in some point movement occasions needs sensorless control technology on the basis of improving position response performance, such as patent document 1 (patent number 200910090386.9) and patent document 2 (patent number 200510108039.6) proposed An AC servo driver that does not need a current sensor can realize the closed-loop vector control of the speed of the hidden pole permanent magnet synchronous motor without a current sensor, which reduces the hardware cost of the speed control system, but patent documents 1 and 2 retain the position detection unit, The total control cost is still high, and it is not suitable for some textile applications with high cost requirements.

Contents of the invention

The technical problem to be solved by the present invention is to provide a quasi-sensorless position servo system of a permanent magnet synchronous motor with a faster response speed and a point-to-position movement and a control method thereof.

In order to solve the above technical problems, the present invention provides a quasi-sensorless position servo control device for a permanent magnet synchronous motor, including a PI regulator, an IPark transformation module, a space vector modulation module, a three-phase inverter, a permanent magnet synchronous motor, HALL15, quasi-sensorless control module, the third subtractor, the fourth subtractor, the fifth subtractor and the position/speed integrated controller; the HALL15 is set on the permanent magnet synchronous motor body, and when the permanent magnet synchronous motor is working, the HALL15 Output discrete HALL position signal The quasi-sensorless control module accepts discrete HALL position signals The q-axis voltage u _q and the d-axis voltage u _d are given, after the operation of the quasi-sensorless control module, the actual rotor position signal θ _m , the actual d-axis current signal i _d , the actual q-axis current signal i _q and the load torque T _L of the permanent magnet synchronous motor; the fifth subtractor accepts the given position signal θ _m ^* and the rotor position signal θ _m , and performs differential operation on the two to output the position error signal θ _m ^* -θ _m ; The position/speed integrated controller accepts the position error signal θ _m ^* -θ _m , the actual q-axis current signal i _q and the load torque T _L , and outputs the given q-axis current signal of the permanent magnet synchronous motor through calculation The third subtractor accepts the given q-axis current signal and the actual q-axis current signal i _q , and make a difference between the two to output the error signal of the q-axis current The fourth subtractor accepts the given d-axis current signal and the actual d-axis current signal i _d , and make a difference between the two to output the error signal of the d-axis current The PI regulators respectively accept the error signal of the d-axis current and the error signal of the q-axis current And output q-axis voltage setting u _q and d-axis voltage setting u _d respectively through calculation; the IPark transformation module accepts q-axis voltage setting u _q and d-axis voltage setting u _d , and outputs static two-phase coordinates through calculation The voltage component u _α and the voltage component u _β under the coordinate system; the space vector modulation module accepts the input of the voltage component u _α and the voltage component u _β under the stationary two-phase coordinate system, and outputs six control signals of the three-phase inverter after calculation ; The three-phase inverter receives six control signals output by the space vector modulation module to drive the permanent magnet synchronous motor to run.

As an improvement to a quasi-sensorless position servo control device for permanent magnet synchronous motors: the realization method of the position/speed integrated controller is as follows;

In the first step, the equation of motion of the motor is obtained as:

The second step is to get the state variables of the system:

Combine formula (1) and formula (2) to get:

The third step, order F＝-T _L /J, then the state equation of the permanent magnet synchronous motor position servo system is:

The fourth step is to take the sliding mode surface design similar to the PD regulator as:

s=c ₁ x ₁ +c ₂ x ₂ (5)

The fifth step is to select the control law:

In the sixth step, the control function of the quadrature axis current is:

said For a given q-axis current signal,

According to the above formula, the integrated control of position/speed can be realized;

Said T _e is the output torque of the permanent magnet synchronous motor, J is the motor inertia, P is the number of pole pairs of the motor, Ψ _a is the flux linkage of the permanent magnet, and c ₁ and c ₁ are constants.

As a further improvement of the quasi-sensorless position servo control device for permanent magnet synchronous motors: the quasi-sensorless control module is composed of a phase current reconstruction module connected with each other and a full-dimensional observer rotor position information estimation module; the full-dimensional observation The rotor position information estimation module of the generator accepts the actual q-axis current signal i _q and the discrete HALL position signal The rotor position information estimation module of the full-dimensional observer outputs the actual rotor position signal θ _m , the load torque T _L and the actual speed ω _m of the permanent magnet synchronous motor; the phase current reconstruction module receives the actual speed ω _m , q-axis The voltage is given u _q and the d-axis voltage is given u _d ; the phase current reconstruction module outputs the actual d-axis current signal i _d and the actual q-axis current signal i _q ;

The implementation method of the phase current reconstruction module is as follows:

The L _a , Φ _a , and R _a are respectively the inductance, flux linkage and resistance of the permanent magnet synchronous motor;

The implementation method of the full-dimensional observer rotor position information algorithm estimation module is as follows:

Also known from the principles of electromechanics, the kinematic equation of the permanent magnet synchronous motor is:

Jdω _m /dt+B _m ω _m +T _L ＝T _ε (12)

dθ _m /dt = ω _m (13)

Described B _m is viscous damping coefficient;

Because the sampling frequency of the controller is much higher than the change time of the disturbance torque, the load disturbance torque, as a state variable, can be assumed to be a constant value, that is, the differential of the load disturbance torque to time is zero;

Assume:

dT _L /dt=0 (14)

The dynamic state equation of the motor is obtained from (12) and (13):

in,

The input variable of the formula is the output torque T _e , the state variable is the mechanical angular position (for the output actual rotor position signal θ _m ), the mechanical angular velocity (for the actual speed ω _m ) and the load disturbance torque (for the load torque T _L ) , the output variable is the mechanical angular position (to output the actual rotor position signal θ _m );

Formula (5) can be written as formula (16):

According to the dynamic state equation (15), a full-dimensional state observer can be established, see equation (17):

in, is the estimated state variable, is the state feedback gain matrix;

From (15)-(16):

in, is the observation error. Its characteristic equation is:

det[sI-(A-KC)]=s ³ +(k ₁ +B _m /J)s ² +(k ₂ +k ₁ B _m /J)sk ₃ /J=0 (19)

Choose an appropriate K so that (A-KC) has a stable and appropriate eigenvalue, , with x(t), u(t) and irrelevant; and irrelevant;

According to the specified expected poles α, β, γ, the expected characteristic polynomial of the observer is:

s ³ -(α+β+γ)s ² +(αβ+βγ+γα)s-αβγ＝0 (20)

From (19) and (20):

Assuming B _m =0, and α=β=γ, formula (21) can be rewritten as:

Formula (17) can be rewritten as:

which is:

According to the expected characteristics of the system, select the position of the pole, construct the observer according to the formula, and then observe the value of the load torque T _L , the actual speed ω _m of the permanent magnet synchronous motor and the actual rotor position signal θ _m of the permanent magnet synchronous motor .

A quasi-sensorless position servo control method for a permanent magnet synchronous motor:

a. The permanent magnet synchronous motor starts to work. After the motor shaft of the permanent magnet synchronous motor rotates, the discrete HALL position signal is output to the quasi-sensorless control module through HALL15

b. The quasi-sensorless control module receives the discrete HALL position signal from HALL15 And the q-axis voltage of the PI regulator is given u _q and the d-axis voltage is given u _d , and the discrete HALL position signal The q-axis voltage is given u _q and the d-axis voltage is given u _d for calculation. After the calculation, the actual rotor position signal θ _m , the actual d-axis current signal i _d , the actual q-axis current signal i _q and the permanent magnet The load torque T _L of the synchronous motor; the quasi-sensorless control module outputs the actual rotor position signal θ _m to the fifth subtractor, and outputs the actual q-axis current signal i _q and load torque T _L to the position/speed integrated controller, Output the actual q-axis current signal i _q to the third subtractor, output the actual d-axis current signal i _d to the fourth subtractor, and output the actual rotor position signal θ _m to the IPark transformation module;

c. Through the upper computer system, input the given position signal θ _m ^* to the fifth subtractor, and then receive the actual rotor position signal θ _m through the quasi-sensorless control module; the fifth subtractor then sends the given position signal θ _m ^* and the actual rotor position signal θ _m are subtracted to obtain the position error signal θ _m ^* -θ _m ; the fifth subtractor outputs the position error signal θ _m ^* -θ _m to the position/speed integrated control device;

d. The position/speed integrated controller receives the position error signal θ _m ^* -θ _m output by the fifth subtractor, the actual q-axis current signal i _q and the load torque T _L output by the quasi-sensorless control module; The given q-axis current signal of the permanent magnet synchronous motor is obtained after the operation of the integrated speed controller The position/speed integrated controller outputs a given q-axis current signal to the third subtractor

e. The third subtractor receives the given q-axis current signal output by the position/speed integrated controller and the actual q-axis current signal i _q output by the quasi-sensorless control module; the third subtractor performs the given q-axis current signal The error signal of the q-axis current is obtained after calculation with the actual q-axis current signal i _q The third subtractor outputs the error signal of the q-axis current to the PI regulator

f. The fourth subtractor receives the given d-axis current signal given by the host computer system and the actual q-axis current signal i _q output by the quasi-sensorless control module; the fourth subtractor takes the given d-axis current signal And the actual q-axis current signal i _q is subtracted to obtain the error signal of the d-axis current The fourth subtractor outputs the error signal of the d-axis current to the PI regulator

g. The PI regulator receives the error signal of the q-axis current output by the third subtractor and the error signal of the d-axis current output by the fourth subtractor After the operation of the PI regulator, the q-axis voltage setting u _q and the d-axis voltage setting u _d are obtained; the PI regulator outputs the q-axis voltage setting u _q and the d-axis voltage setting u _d to the IPark transformation module;

h. The IPark transformation module respectively receives the q-axis voltage reference u _q and the d-axis voltage reference u _d output by the PI regulator, and the actual rotor position signal θ _m output by the quasi-sensorless control module; After the operation, the voltage component u _α and voltage component u _β in the static two-phase coordinate system are obtained; the IPark transformation module outputs the voltage component u _α and voltage component u _β in the static two-phase coordinate system to the space vector modulation module;

i. The space vector modulation module receives the voltage component u _α and the voltage component u _β under the static two-phase coordinate system output by the IPark transformation module; the six-way control signal of the three-phase inverter is obtained after the operation of the space vector modulation module; the space The vector modulation module outputs six control signals of the three-phase inverter to the three-phase inverter 6;

j. The three-phase inverter receives six control signals of the three-phase inverter output by the space vector modulation module, and drives the operation of the permanent magnet synchronous motor through the six control signals of the three-phase inverter.

The beneficial effects of the present invention are that, compared with the three-loop system control structure (accompanying drawing 1) of traditional position, speed, electric current, the quasi-sensorless position servo control device of permanent magnet synchronous motor of the present invention, owing to lacking this serial structure of speed closed loop, makes The new system responds faster to changes in position commands; the expensive photoelectric encoder, resolver and other position sensors are removed, and a special algorithm is used to estimate the rotor position information with the low-cost and low-resolution HALL15, and the current sensor is removed. The phase current is obtained by the method of control theory reconstruction, which not only improves the environmental adaptability and reliability of the system, but also reduces the control cost of the system. It is suitable for textile machinery applications in various environments and high-efficiency point-to-point movement.

Description of drawings

The specific implementation manners of the present invention will be described in further detail below in conjunction with the accompanying drawings.

Figure 1 is a schematic block diagram of a traditional position, speed, and current three-loop servo system;

Fig. 2 is a functional block diagram of a quasi-sensorless position servo control device for a permanent magnet synchronous motor;

Fig. 3 is a functional block diagram of the position/speed integrated control module;

Figure 4 is a functional block diagram of the quasi-sensorless control module.

detailed description

Embodiment 1, Figure 2 provides a quasi-sensorless position servo control device for permanent magnet synchronous motor; including PI regulator 3, IPark transformation module 4, space vector modulation module 5, three-phase inverter 6, permanent magnet synchronous Motor 12, HALL 15, quasi-sensorless control module 14, third subtractor, fourth subtractor, fifth subtractor and position/speed integrated controller 13; HALL is a HALL sensor;

HALL15 is set on the body of permanent magnet synchronous motor 12, when the motor shaft of permanent magnet synchronous motor 12 rotates, discrete HALL position signals are output through HALL15 The quasi-sensorless control module 14 accepts discrete HALL position signals q-axis voltage given u _q and d-axis voltage given u _d ; discrete HALL position signal After the q-axis voltage setting u _q and the d-axis voltage setting u _d are calculated by the quasi-sensorless control module 14, the actual rotor position signal θ _m , the actual d-axis current signal i _d , and the actual q-axis current signal i _q and the load torque T _L of the permanent magnet synchronous motor 12; the fifth subtractor accepts the actual rotor position signal θ _m and the given position signal θ _m ^* , and the fifth subtractor compares the actual rotor position signal θ _m and the given The position signal θ _m ^* is subjected to differential calculation to obtain the position error signal θ _m ^* -θ _m ; the position/speed integrated controller 13 receives the position error signal θ _m ^* -θ _m and the actual q-axis current signal i _q and load torque T _L ; after being calculated by the position/speed integrated controller 13, the given q-axis current signal of the permanent magnet synchronous motor 12 is output The third subtractor accepts the given q-axis current signal and the actual q-axis current signal i _q , the third subtractor compares the given q-axis current signal Make a difference operation with the actual q-axis current signal i _q , and output the error signal of the q-axis current The fourth subtractor accepts the actual _d -axis current signal id, and receives the given d-axis current signal through the host computer system After the fourth subtractor performs a difference operation on the two, the error signal of the d-axis current is output The PI regulator 3 respectively receives the error signal of the q-axis current and the error signal of the d-axis current After calculation, output q-axis voltage setting u _q and d-axis voltage setting u _d respectively; IPark transformation module 4 accepts q-axis voltage setting u _q and d-axis voltage setting u _d , and outputs static two-phase coordinates after calculation The voltage component u _α and voltage component u _β in the coordinate system; the space vector modulation module 5 accepts the input of the voltage component u _α and voltage component u _β in the stationary two-phase coordinate system, and outputs the six-way control of the three-phase inverter 6 after calculation Signal; the three-phase inverter 6 receives six control signals output by the space vector modulation module 5 to drive the permanent magnet synchronous motor 12 to run.

In actual work, the steps are as follows:

1. The permanent magnet synchronous motor 12 starts to work. After the motor shaft of the permanent magnet synchronous motor 12 rotates, a discrete HALL position signal is output to the quasi-sensorless control module 14 through the HALL15

2. The quasi-sensorless control module 14 receives the discrete HALL position signal of HALL15 And the q-axis voltage of PI regulator 3 is given u _q and the d-axis voltage is given u _d , and the discrete HALL position signal The q-axis voltage is given u _q and the d-axis voltage is given u _d for calculation. After the calculation, the actual rotor position signal θ _m , the actual d-axis current signal i _d , the actual q-axis current signal i _q and the permanent magnet The load torque T _L of the synchronous machine 12 . The quasi-sensorless control module 14 outputs the actual rotor position signal θ _m to the fifth subtractor, outputs the actual q-axis current signal i _q and load torque T _L to the position/speed integrated controller 13, and outputs to the third subtractor The actual q-axis current signal i _q outputs the actual d-axis current signal i _d to the fourth subtractor, and outputs the actual rotor position signal θ _m to the IPark transformation module 4 .

3. Through the upper computer system, input the given position signal θ _m ^* to the fifth subtractor, and then receive the actual rotor position signal θ _m through the quasi-sensorless control module 14 (the quasi-sensorless control module 14 described in step 1 The actual rotor position signal θ _m ) is output to the fifth subtractor. The fifth subtractor performs differential operation on the given position signal θ _m ^* and the actual rotor position signal θ _m to obtain the position error signal θ _m ^* -θ _m ; the fifth subtractor converts the position error signal θ _m ^* -θ _m is output to the position/speed integrated controller 13 .

4. The position/speed integrated controller 13 receives the position error signal θ _m ^* -θ _m output by the fifth subtractor, the actual q-axis current signal i _q and the load torque T _L output by the quasi-sensorless control module 14 . The given q-axis current signal of the permanent magnet synchronous motor 12 is obtained after calculation by the position/speed integrated controller 13 The position/speed integrated controller 13 outputs a given q-axis current signal to the third subtractor

5. The third subtractor receives the given q-axis current signal output by the position/speed integrated controller 13 And the actual q-axis current signal i _q output by the quasi-sensorless control module 14 . The third subtractor for the given q-axis current signal The error signal of the q-axis current is obtained after calculation with the actual q-axis current signal i _q The third subtractor outputs the error signal of the q-axis current to the PI regulator 3

6. The fourth subtractor receives the given d-axis current signal given by the upper computer system and the actual q-axis current signal i _q output by the quasi-sensorless control module 14; the fourth subtractor converts the given d-axis current signal And the actual q-axis current signal i _q is subtracted to obtain the error signal of the d-axis current The fourth subtractor outputs the error signal of the d-axis current to the PI regulator 3

7. The PI regulator 3 receives the error signal of the q-axis current output by the third subtractor and the error signal of the d-axis current output by the fourth subtractor After the operation of the PI regulator 3, the q-axis voltage setting u _q and the d-axis voltage setting u _d are obtained; the PI regulator 3 outputs the q-axis voltage setting u _q and the d-axis voltage setting u to the IPark transformation module 4 _d .

8. The IPark transformation module 4 respectively receives the q-axis voltage reference u _q and the d-axis voltage reference u _d output by the PI regulator 3 , and the actual rotor position signal θ _m output by the quasi-sensorless control module 14 . After the operation of the IPark transformation module 4, the voltage component u _α and the voltage component u _β under the static two-phase coordinate system are obtained; the IPark transformation module 4 outputs the voltage components u _α and the voltage component under the static two-phase coordinate system to the space vector modulation module 5 Voltage component u _β .

9. The space vector modulation module 5 receives the voltage component u _α and the voltage component u _β in the static two-phase coordinate system output by the IPark transformation module 4 . Six control signals of the three-phase inverter 6 are obtained after calculation by the space vector modulation module 5 . The space vector modulation module 5 outputs six control signals of the three-phase inverter 6 to the three-phase inverter 6 .

10. The three-phase inverter 6 receives the six control signals of the three-phase inverter 6 output by the space vector modulation module 5, and drives the operation of the permanent magnet synchronous motor 12 through the six control signals of the three-phase inverter 6.

The above-mentioned PI regulator 3, IPark transformation module 4, space vector modulation module 5, three-phase inverter 6, permanent magnet synchronous motor 12, HALL15, the third subtractor, the fourth subtractor, the fifth subtractor and The permanent magnet synchronous motor 12 is an existing known technology.

In the quasi-sensorless position servo control device of the permanent magnet synchronous motor described above, the quasi-sensorless control module 14 replaces the traditional position based on two-phase current sensor and photoelectric encoder 11 (as shown in FIG. 1 ), resolver, etc. In the control scheme of the sensor, the position/speed integrated single-loop controller 13 is used to replace the position and speed two-loop control structure of the traditional servo system.

Through the following explanations, further describe the operation method of the quasi-sensorless control module 14 and the position/speed integrated controller 13 (position/speed integrated single-loop controller):

One, the position/speed integrated controller 13 of the present invention, its realization mode is as follows:

In the first step, the equation of motion of the motor (permanent magnet synchronous motor 12) obtained is:

Second step, get the state variable of system (permanent magnet synchronous motor quasi-sensorless position servo control device of the present invention):

Combine formula (1) and formula (2) to get:

The third step, order F= _-TL /J, then the state equation of the position servo system of the permanent magnet synchronous motor 12 is:

The fourth step is to take the sliding mode surface design similar to the PD regulator as:

s=c ₁ x ₁ +c ₂ x ₂ (5)

The fifth step is to select the control law:

In the sixth step, the control function of the quadrature axis current is:

in, is given by the quadrature axis current,

According to the above formula, the position/speed integrated control of the position/speed integrated single-loop controller 13 can be realized. Wherein, above-mentioned T _e is motor (permanent magnet synchronous motor 12) output torque ω _m is the actual speed of the motor (permanent magnet synchronous motor 12), T _L is the load torque, and θ _m is the actual rotor position signal, which are all estimated by the quasi-sensorless control module 14; J is the motor inertia, and P is the motor pole logarithm, Ψ _a is the flux linkage of the permanent magnet, which are all related parameters of the permanent magnet synchronous motor 12, For _a given position signal, c1 and _c1 are constants.

The specific implementation steps are as follows:

1. The position error signal θ _m ^* -θ _m is obtained after the actual rotor position signal θ _m and the given position signal θ _m ^* are calculated by the fifth subtractor; the position error signal θ _m ^* is obtained by the fifth subtractor -θ _m is sent to the position/speed integrated controller 13;

2. The position/speed integrated controller 13 is based on the above formula Calculate the given q-axis current signal

Two, the quasi-sensorless control module 14 of the present invention, its realization mode is as follows:

The quasi-sensorless control module 14 described above is composed of a phase current reconstruction module 16 and a full-dimensional observer rotor position information estimation module 17 connected with each other (as shown in FIG. 4 ):

The implementation of the phase current reconstruction module 16 is as follows:

The ω _m mentioned above is the actual speed of the motor (permanent magnet synchronous motor 12); L _a , Φ _a , R _a are the inductance, flux linkage and resistance of the motor (permanent magnet synchronous motor 12); u _q is the q axis Voltage setting, u _d is the d-axis voltage setting.

The specific implementation steps are as follows:

1. Input the q-axis voltage setting u _q , the d-axis voltage setting u _d and the motor actual speed signal ω _m output by the full-dimensional observer rotor position information estimation module 17 into the phase current reconstruction module 16;

2. The phase current reconstruction module 16 calculates the actual quadrature-axis current setting i _d and the actual direct-axis current setting i _q of the permanent magnet synchronous motor 12 according to formulas (8)-(11).

The calculation formula of the full-dimensional observer rotor position information estimation module 17 is as follows:

Also known by the principles of electromechanics, the kinematic equation of the motor (permanent magnet synchronous motor 12) is:

Jdω _m /dt+B _m ω _m +T _L ＝T _ε (12)

dθ _m /dt = ω _m (13)

The ω _m mentioned above is the actual speed (i.e. the rotor mechanical angular velocity) of the motor (the permanent magnet synchronous motor 12); θ _m is the actual rotor position signal (i.e. the mechanical angular position); T _e is the output of the permanent magnet synchronous motor 12 Torque; T _L is the load moment (that is, the load disturbance torque); J is the moment of inertia; B _m is the viscous damping coefficient.

Because the sampling frequency of the controller is much higher than the change time of the disturbance torque, T _L is the load torque (that is, the load disturbance torque) as a state variable, which can be assumed to be a constant value, that is, T _L is the load torque ( That is, the differential of load disturbance torque) to time is zero.

Assume:

dT _L /dt=0 (14)

The dynamic state equation of the motor is obtained from (12) and (13):

in,

The input variable of formula (15) is the output torque T _e of the permanent magnet synchronous motor 12, the state variable is the actual rotor position signal θ _m (mechanical angular position), the actual speed ω _m (mechanical angular velocity) of the permanent magnet synchronous motor 12 and _TL are the load torque (ie load disturbance torque), and the output variable is the actual rotor position signal θ _m (mechanical angular position). Formula (5) can be written as formula (16);

According to the dynamic state equation (15), a full-dimensional state observer can be established, see equation (17):

in, is the estimated state variable, is the state feedback gain matrix.

From (15)-(16):

in, is the observation error. Its characteristic equation is:

det_sI-(A-KC)]=s ³ +(k ₁ +B _m /J)s ² +(k ₂ +k ₁ B _m /J)sk ₃ /J=0 (19)

Choose an appropriate K so that (A-KC) has a stable and appropriate eigenvalue, , with x(t), u(t) and irrelevant; and irrelevant.

According to the specified expected poles α, β, γ, the expected characteristic polynomial of the observer is:

s ³ -(α+β+γ)s ² +(αβ+βγ+γα)s-αβγ＝0 (20)

From (19) and (20):

Assuming B _m =0, and α=β=γ, formula (21) can be rewritten as:

Formula (17) can be rewritten as:

which is:

According to the expected characteristics of the system, select the position of the pole, and construct the observer according to formula (24), then the load torque T _L , the actual rotor position signal θ _m (mechanical angular position) and the actual position of the permanent magnet synchronous motor 12 can be observed The value of velocity ω _m (mechanical angular velocity).

The implementation steps of this method are as follows:

1. HALL15 converts the discrete HALL position signal Feedback to the full-dimensional observer rotor position information estimation module 17;

2. The rotor position information estimation module 17 of the full-dimensional observer estimates the actual rotor position (the actual rotor position signal θ _m ), the actual speed ω _m and the load torque T _L of the permanent magnet synchronous motor 12 according to the formula;

3. The PI regulator 3 inputs the given q-axis voltage u _q and the given d-axis voltage u _d into the phase current reconstruction module 16 (the given q-axis voltage u _q and the given d-axis voltage u _d are regulated by PI 3 obtains, and PI regulator 3 is existing known technology);

4. The phase current reconstruction module 16 estimates the actual d-axis current signal i _d and the actual q-axis current signal i _q of the permanent magnet synchronous motor 12 according to formula (24), and feeds back the actual q-axis current signal i _q Give the rotor position information estimation module 17 of the full-dimensional observer.

Finally, it should also be noted that what is listed above is only a specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the present invention should be considered as the protection scope of the present invention.

Claims (3)

1. A quasi-sensorless position servo control device for a permanent magnet synchronous motor, characterized in that it includes a PI regulator (3), an IPark transformation module (4), a space vector modulation module (5), a three-phase inverter (6), Permanent magnet synchronous motor (12), HALL (15), quasi-sensorless control module (14), the third subtractor, the fourth subtractor, the fifth subtractor and position/speed integrated controller (13); HALL (15) is a HALL sensor; The HALL (15) is arranged on the permanent magnet synchronous motor (12) body, and when the permanent magnet synchronous motor (12) works, a discrete HALL position signal is output through the HALL (15); The quasi-sensorless control module (14) receives discrete HALL position signals, given q-axis voltage u _q and given d-axis voltage u _d , and outputs the actual rotor position after calculation by the quasi-sensorless control module (14) signal θ _m , the actual d-axis current signal i _d , the actual q-axis current signal i _q and the load torque T _L of the permanent magnet synchronous motor (12); The fifth subtractor receives a given position signal θ _m ^* and a rotor position signal θ _m , and performs a difference operation on the two to output a position error signal θ _m ^* -θ _m ; The position/speed integrated controller (13) receives the position error signal θ _m ^* -θ _m , the actual q-axis current signal i _q and the load torque T _L , and outputs the given value of the permanent magnet synchronous motor (12) through calculation The q-axis current signal The third subtractor accepts the given q-axis current signal and the actual q-axis current signal i _q , and make a difference between the two to output the error signal of the q-axis current The fourth subtractor accepts the given d-axis current signal and the actual d-axis current signal i _d , and make a difference between the two to output the error signal of the d-axis current The PI regulator (3) respectively receives the error signal of the d-axis current and the error signal of the q-axis current And output q-axis voltage setting u _q and d-axis voltage setting u _d respectively through operation; The IPark transformation module (4) accepts the given q-axis voltage u _q and the given d-axis voltage u _d , and outputs the voltage component u _α and voltage component u _β under the static two-phase coordinate system through calculation; The space vector modulation module (5) accepts the input of the voltage component _uα and the voltage component _uβ under the static two-phase coordinate system, and outputs six control signals of the three-phase inverter (6) through calculation; The three-phase inverter (6) receives six control signals output by the space vector modulation module (5) to drive the permanent magnet synchronous motor (12) to run; The quasi-sensorless control module (14) is composed of a phase current reconstruction module (16) connected with each other and a full-dimensional observer rotor position information estimation module (17); the full-dimensional observer rotor position information estimation module (17) Accept the actual q-axis current signal i _q and the discrete HALL position signal; the full-dimensional observer rotor position information estimation module (17) outputs the actual rotor position signal θ _m , load torque T _L and permanent magnet synchronous motor (12 ) actual speed ω _m ; the phase current reconstruction module (16) accepts the actual speed ω _m , q-axis voltage given u _q and d-axis voltage given u _d ; the phase current reconstruction module (16) outputs The actual d-axis current signal i _d , the actual q-axis current signal i _q ; The implementation method of the phase current reconstruction module (16) is as follows: ${\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$ ${\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$ ${\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}}{\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 10</span>}<span\; class="notranslate">\; )</span>$ ${\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}}{\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$ Described L _a , Φ _a , R _a are respectively the inductance, permanent magnet flux linkage and resistance of the permanent magnet synchronous motor (12); The implementation method of the full-dimensional observer rotor position information algorithm estimation module (17) is as follows: Also known by the principle of electromechanics, the kinematic equation of the permanent magnet synchronous motor (12) is: Jdω _m /dt+B _m ω _m +T _L ＝T 12) dθ _m /dt = ω _m (13) Described B _m is viscous damping coefficient; Described T _e is the output torque of permanent magnet synchronous motor (12), and J is motor inertia; Because the sampling frequency of the controller is much higher than the change time of the disturbance torque, the load disturbance torque, as a state variable, can be assumed to be a constant value, that is, the differential of the load disturbance torque to time is zero; Assume: dT _L /dt=0 (14) From (12) and (13), the dynamic state equation of the motor is obtained: $\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; B</span>}\mathrm{<span\; class="notranslate">\; u</span>}\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; C</span>}\mathrm{<span\; class="notranslate">\; x</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 15</span>}<span\; class="notranslate">\; )</span>$ in, $\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\end{array}\right]<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ;</span>$ Formula (15) can be written as formula (16): $\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\end{array}\right]<span\; class="notranslate">\; +</span>\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 16</span>}<span\; class="notranslate">\; )</span>$ From the dynamic state equation (15), a full-dimensional state observer can be established, see equation (17): $\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; d</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; B</span>}\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; -</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; )</span>\\ \stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; C</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 17</span>}<span\; class="notranslate">\; )</span>$ in, is the estimated state variable, K=[k ₁ k ₂ k ₃ ] ^T is the state feedback gain matrix; From (15)-(16): $\mathrm{<span\; class="notranslate">\; d</span>}\stackrel{<span\; class="notranslate">\; ~</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; K</span>}\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; ~</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 18</span>}<span\; class="notranslate">\; )</span>$ Its characteristic equation is: det[sI-(A-KC)]=s ³ +(k ₁ +B _m /J)s ² +(k ₂ +k ₁ B _m /J)sk ₃ /J=0 (19) Choose an appropriate K so that (A-KC) has a stable and appropriate eigenvalue, , with x(t), u(t) and irrelevant; and irrelevant; According to the specified expected poles α, β, γ, the expected characteristic polynomial of the observer is: s ³ -(α+β+γ)s ² +(αβ+βγ+γα)s-αβγ＝0 (20) From (19) and (20): $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; J</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; \&gamma;</span>}\mathrm{<span\; class="notranslate">\; J</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; twenty\; one</span>}<span\; class="notranslate">\; )</span>$ Assuming B _m =0, and α=β=γ, formula (21) can be rewritten as: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 3</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 3</span>}{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{\mathrm{<span\; class="notranslate">\; 3</span>}}\mathrm{<span\; class="notranslate">\; J</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; twenty\; two</span>}<span\; class="notranslate">\; )</span>$ Formula (17) can be rewritten as: $\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}\left[\begin{array}{c}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; T</span>}}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; J</span>}}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; J</span>}}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]\left[\begin{array}{c}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; T</span>}}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\end{array}\right]<span\; class="notranslate">\; +</span>\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; J</span>}}\\ \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; +</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\end{array}\right]<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; twenty\; three</span>}<span\; class="notranslate">\; )</span>$ which is: $\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; d</span>}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&times;</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; d</span>}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; /</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; J</span>}}<span\; class="notranslate">\; \&times;</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; J</span>}}<span\; class="notranslate">\; \&times;</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; T</span>}}}_{\mathrm{<span\; class="notranslate">\; L</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; J</span>}}<span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&times;</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; d</span>}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; T</span>}}}_{\mathrm{<span\; class="notranslate">\; L</span>}}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&times;</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; twenty\; four</span>}<span\; class="notranslate">\; )</span>$ According to the expected characteristics of the system, select the position of the pole, and construct the observer according to formula (24), then the load torque T _L , the actual speed ω _m of the permanent magnet synchronous motor (12) and the permanent magnet synchronous motor (12) can be observed The value of the actual rotor position signal θ _m . 2. according to the described permanent magnet synchronous motor quasi-sensorless position servo control device of claim 1, it is characterized in that: the realization method of position/speed integrated controller (13) is as follows; In the first step, the equation of motion of the motor is obtained as: ${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; J</span>}\frac{{\mathrm{<span\; class="notranslate">\; d\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$ The second step is to get the state variables of the system: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}^{<span\; class="notranslate">\; *</span>}\\ {\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$ Combine formula (1) and formula (2) to get: $\left\{\begin{array}{c}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ {\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}}{\mathrm{<span\; class="notranslate">\; J</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; J</span>}}<span\; class="notranslate">\; \&lsqb;</span>\frac{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; P\&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}<span\; class="notranslate">\; \&rsqb;</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$ The third step, order F＝-T _L /J, then the state equation of the permanent magnet synchronous motor position servo system is: $\left[\begin{array}{c}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right]<span\; class="notranslate">\; +</span>\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; a</span>}\end{array}\right]{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; +</span>\left[\begin{array}{c}\mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; f</span>}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$ The fourth step is to take the sliding mode surface design similar to the PD regulator as: S＝c ₁ x ₁ +c ₂ x ₂ (5) The fifth step is to select the control law: $\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}\mathrm{<span\; class="notranslate">\; sgn</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$ In the sixth step, the control function of the quadrature axis current is: ${\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; q</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}\mathrm{<span\; class="notranslate">\; sgn</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; k</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$ said For a given q-axis current signal, According to the above formula, the integrated control of position/speed can be realized; The P is the number of pole pairs of the motor, and c ₁ and c ₂ are constants. 3. a kind of permanent magnet synchronous motor quasi-sensorless position servo control method utilizing the described device of claim 1 or 2 is characterized in that: A, permanent magnet synchronous motor (12) starts working, after the motor shaft of permanent magnet synchronous motor (12) rotates, output discrete HALL position signal to quasi-sensorless control module (14) by HALL (15); b. The quasi-sensorless control module (14) receives the discrete HALL position signal from HALL (15) and the q-axis voltage given u _q and d-axis voltage given u _d of the PI regulator (3), and the discrete HALL position signal, q-axis voltage reference u _q and d-axis voltage reference u _d are calculated, and the actual rotor position signal θ _m , actual d-axis current signal i _d , actual q-axis current signal i _q and the load torque T _L of the permanent magnet synchronous motor (12); the quasi-sensorless control module (14) outputs the actual rotor position signal θ m to the fifth subtractor, and outputs the actual rotor position signal θ _m to the position/speed integrated controller (13) q-axis current signal i _q and load torque T _L , output the actual q-axis current signal i _q to the third subtractor, output the actual d-axis current signal i d to the fourth subtractor, and output the actual d-axis current signal i _d to the IPark transformation module (4) Output the actual rotor position signal θ _m ; c. Through the upper computer system, input the given position signal θ _m ^* to the fifth subtractor, and then receive the actual rotor position signal θ _m through the quasi-sensorless control module (14); The position signal θ _m ^* and the actual rotor position signal θ _m are subtracted to obtain the position error signal θ _m ^* -θ _m ; the fifth subtractor outputs the position error signal θ _m ^* -θ _m to the position/speed Integrated controller (13); d. The position/speed integrated controller (13) receives the position error signal θ _m ^* -θ _m output by the fifth subtractor, the actual q-axis current signal i _q output by the quasi-sensorless control module (14) and the load Torque T _L ; the given q-axis current signal of the permanent magnet synchronous motor (12) is obtained after the operation of the position/speed integrated controller (13) The position/speed integrated controller (13) outputs a given q-axis current signal to the third subtractor e, the third subtractor receives the given q-axis current signal output by the position/speed integrated controller (13) And the actual q-axis current signal i _q output by the quasi-sensorless control module (14); the third subtractor is to the given q-axis current signal The error signal of the q-axis current is obtained after calculation with the actual q-axis current signal i _q The third subtractor outputs the error signal of the q-axis current to the PI regulator (3) f. The fourth subtractor receives the d-axis current signal given by the system And the actual d-axis current signal i _d output by the quasi-sensorless control module (14); the fourth subtractor will give the given d-axis current signal And the actual d-axis current signal i _d after the difference operation, the error signal of the d-axis current is obtained The fourth subtractor outputs the error signal of the d-axis current to the PI regulator (3) g. PI regulator (3) receives the error signal of the q-axis current output by the third subtractor and the error signal of the d-axis current output by the fourth subtractor After the operation of the PI regulator (3), the given q-axis voltage u _q and the given d-axis voltage u _d are obtained; the PI regulator (3) outputs the given q-axis voltage u _q and u q to the IPark transformation module (4) d-axis voltage given u _d ; h. The IPark conversion module (4) respectively receives the q-axis voltage reference u _q and the d-axis voltage reference u _d output by the PI regulator (3), as well as the actual rotor position output by the quasi-sensorless control module (14) Signal θ _m ; get the voltage component u _α and voltage component u _β under the static two-phase coordinate system after the operation of the IPark transformation module (4); the IPark transformation module (4) outputs the static two-phase to the space vector modulation module (5) Voltage component u _α and voltage component u _β in the phase coordinate system; i, the space vector modulation module (5) receives the voltage component u _α and the voltage component u _β under the static two-phase coordinate system output by the IPark transformation module (4); draw three-phase after the operation of the space vector modulation module (5) Six-way control signals of the inverter (6); the space vector modulation module (5) outputs six-way control signals of the three-phase inverter (6) to the three-phase inverter 6; j. The three-phase inverter (6) receives the six control signals of the three-phase inverter (6) output by the space vector modulation module (5), and drives the permanent drive through the six control signals of the three-phase inverter (6). The operation of the magnetic synchronous motor (12).