CN103762925B - Adopt the H of the permagnetic synchronous motor of immune algorithm ∞method for estimating rotating speed - Google Patents

Abstract

The invention provides a kind of H adopting the permagnetic synchronous motor of immune algorithm _∞method for estimating rotating speed, comprises the vector control system of motor, and described vector control system feedback path is provided with a H _∞speed observer, realizes H by immune algorithm _∞the autonomous optimizing of speed observer parameter, obtains speed estimate value.Present invention optimizes that traditional speed observer is subject to the impact of system parameter variations, algorithm complexity is difficult to realize and the shortcoming such as antijamming capability is weak, according to H _∞control theory achieves the speed estimate of permagnetic synchronous motor, achieves immune H _∞the perfection of speed observer and mechanical velocity sensor is replaced, thus reduces system cost, and ensure that the stability of system, effectively improves the dynamic property of permagnetic synchronous motor.

Description

Adopt the H of the permagnetic synchronous motor of immune algorithm ∞method for estimating rotating speed

Technical field

The invention belongs to motor control technology field, be specifically related to a kind of H adopting the permagnetic synchronous motor of immune algorithm _∞method for estimating rotating speed.

Background technology

Permagnetic synchronous motor (permanentmagnetsynchronousmotor, PMSM) have that size is little, inertia is little, fast response time, efficiency advantages of higher, extensive use is obtained, as fields such as machine-building, electric automobile, industrial robot, Aero-Space in high accuracy and high reliability request occasion.Vector control is mainly used in permagnetic synchronous motor Alternating Current Governor System, the signal that wherein computing of der Geschwindigkeitkreis needs the mechanical pick-up device such as photoelectric encoder, resolver to detect participates in Field orientable control, simultaneously, high-resolution transducer adds system cost, reduce system reliability, also limit the application of permagnetic synchronous motor at some special occasions.

The H that early 1980s proposes _∞robust control theory (is H again _∞robust control theory) with the H of system _∞norm is performance index, is to solve the fairly perfect a kind of theoretical system of kinds of robust control problems at present.This theory has been widely used in the uncertainty that the fields such as electric power system, automatically control cause due to various factors to process practical object parameter.

Summary of the invention

The object of this invention is to provide a kind of H adopting the permagnetic synchronous motor of immune algorithm _∞method for estimating rotating speed, solves the problem that the employing mechanical pick-up device that exists in prior art causes cost high.

The technical solution adopted in the present invention is: the H adopting the permagnetic synchronous motor of immune algorithm _∞method for estimating rotating speed, comprises the vector control system of motor, and described vector control system feedback path is provided with a H _∞speed observer, realizes H by immune algorithm _∞the online optimizing of speed observer parameter, obtains speed estimate value.

Feature of the present invention is also,

Concrete enforcement in accordance with the following steps:

Step 1, derived by the electromagnetic torque of motor and mechanical motion equation and obtain permagnetic synchronous motor Mathematical Modeling: $\left\{\begin{array}{c}\stackrel{\·}{x}=\mathrm{Ax}+B_{1}w+B_{2}v\\ y=C_{2}x\\ z=C_{1}x+D_{12}v\end{array}\right.$ In formula, $x=\left[\begin{array}{c}{\mathrm{\ω}}_{\mathrm{rm}}\\ e_{\mathrm{\θ}}\\ {\mathrm{\ϵ}}_{\mathrm{\θ}}\end{array}\right],A=\left[\begin{array}{ccc}{-B}_m/J_m& 0& 0\\ -1& 0& 0\\ 0& 1& 0\end{array}\right],B_1=\left[\begin{array}{ccc}-1/J_m& 0& 0\\ 0& 0& 1\\ 0& 0& 0\end{array}\right],$ $B_2=\left[\begin{array}{c}{K}_t/J_m\\ 0\\ 0\end{array}\right],w=\left[\begin{array}{c}{T}_L\\ {\mathrm{\θ}}_{\mathrm{rm}}^{*}\\ {\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{rm}}^{*}\end{array}\right],C_2=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],C_1=\left[\begin{array}{ccc}{k}_{p1}{m}_1& 0& 0\\ 0& k_{p2}{m}_2& 0\\ 0& 0& k_{p3}{m}_3\\ 0& 0& 0\end{array}\right],D_{12}=\left[\begin{array}{c}0\\ 0\\ 0\\ k_{P4}n\end{array}\right];$

Wherein, e _θθ _rm ^*and θ _rmbetween site error, θ _rm ^*for given reference quantity, ε _θbe the integration of site error, v is control inputs signal, and w is exogenous disturbances signal; q _i=k _pi* m _i(i=1,2,3) and r=k _p4* n is weight coefficient, 0<k _pi<1 (i=1,2,3,4) is the regulatory factor obtained by immune algorithm; C ₁be used for regulating interference suppressioning effect, D ₁₂determine the size of control inputs, wherein m _iscope be the scope of 0-10, n be 0 ~ 0.02;

Step 2, builds H according to permagnetic synchronous motor Mathematical Modeling in step 1 _∞speed observer structure, feedback rate control is obtained by following formula, namely H _∞the given expression formula of speed observer:

$v^{*}=\mathrm{Kx}=-[{\left({D_{12}}^T{D}_{12}\right)}^{-1}{D_{12}}^T{C}_1+{\left({D_{12}}^T{D}_{12}\right)}^{-1}{B}_2^{T}P]x=-\frac{1}{r^2}\left[\begin{array}{ccc}{K}_t/J_m& 0& 0\end{array}\right]\mathrm{Px}$

Wherein, K is feedback rate control, D ₁₂ ^tfor D ₁₂transposition, matrix P is Riccati non trivial solution, and γ is the given upper bound, K _tfor torque constant, J _mfor the moment of inertia of rotor;

Step 3, containing C in the given expression formula in step 2 ₁and D ₁₂central 4 adjustable parameters, introduce H by immune algorithm _∞speed observer, utilizes immune algorithm to carry out online optimizing to these 4 adjustable parameters; In the middle of algorithm realization, the desired output k of the corresponding immune algorithm of stimulation u (k) that immune system B cell receives _pi, the rotating speed error originated from input value of antigen levels e (k) correspondence system, inhibition Ts cell concentration C _tsk () correspondence eliminates remaining solution, the steps include:

The stimulation that B cell receives is u (k): then u (k)=C _th(k)-C _ts(k)

If the antigen levels in kth generation is e (k), the concentration of the Th cell produced by antigenic stimulus is C _th(k):

C _Th(k)＝k ₁e(k)

Inhibition Ts cell concentration is C _ts(k): C _ts(k)=k ₂g [Δ u (k)] e (k)

U (k) is set to the output of Immunocontroller, then has following Feedback Control Laws:

u(k)＝k ₁e(k)-k ₂g[Δu(k)]e(k)＝k _pe(k)

Wherein, k _p=K{1-μ g [Δ u (k)] }, in formula: K=k ₁for gain; μ representative controls stablizing effect, μ=k ₂/ k ₁; G [Δ u (k)] is a selected nonlinear function, thus, obtain k _p1, obtain k according to above method _p2, k _p3and k _p4, by the k obtained _p1, k _p2and k _p3substitute into C respectively ₁matrix, obtains q ₁, q ₂and q ₃; By k _p4substitute into D ₁₂matrix obtains r;

Step 4, by given rotating speed ω _rm ^*with estimation rotational speed omega _rmmake the error signal Δ ω that difference obtains _rmsend into pi regulator, obtain system torque value, then adopt maximum torque per ampere control device, obtain the expectation set-point of d, q shaft current;

Step 5, the expectation set-point of q shaft current and output current poor, obtain current error Δ i _q, in like manner obtain Δ i _d, export u through pi regulator _sd, u _sq, u _sd, u _squ is exported again through park inverse transformation _{s α}, u _{s β}, export six road pwm signal supply inverter work finally by space vector pulse width modulation module, inverter exports DC bus-bar voltage V _dcwith the form of PWM ripple, voltage is applied on permagnetic synchronous motor.

Vector control system is made up of speed outer shroud and current inner loop, and current inner loop comprises i _dand i _qtwo system inner ring at place respectively, current signal detection circuit detects permagnetic synchronous motor three-phase input current i by Hall element _u, i _v, i _w, the current value i under clark converts convert to static two phase coordinate system _{s α}, i _{s β}, then obtain system ac-dc axis current i through park conversion _q, i _d; By speed outer shroud given rotating speed ω _rm ^*with H _∞the feedback speed ω that module is estimated _rmdiffer from, send into maximum torque per ampere control device through pi regulator, gained current i _q ^*, i _d ^*with actual current value i _q, i _dmake difference respectively and namely obtain output voltage u through pi regulator again _sd ^*and u _sq ^*; Two phase voltage u under rotating coordinate system _sd ^*with u _sq ^*two phase voltage u after park inverse transformation under convert to static two phase coordinate system _{s α} ^*, u _{s β} ^*, through the adjustment of PWM generator, produce PWM ripple, after three-phase inverter, drive permagnetic synchronous motor work.

The invention has the beneficial effects as follows:

1, present invention optimizes that traditional speed observer is subject to the impact of system parameter variations, algorithm complexity is difficult to realize and the shortcoming such as antijamming capability is weak, according to H _∞control theory achieves the speed estimate of permagnetic synchronous motor, achieves immune H _∞the perfection of speed observer and mechanical velocity sensor is replaced, thus reduces system cost.

2, H of the present invention _∞containing 4 adjustable parameters in speed observer implementation procedure, by adding immune algorithm, achieve the independent regulation of tracing property and robustness, and the online optimizing of parameter also ensure that the stability of system.

3, the vector control system structure of motor of the present invention is simple, stability is high, effectively improves the dynamic property of permagnetic synchronous motor.

Accompanying drawing explanation

Fig. 1 is the H of permagnetic synchronous motor of the present invention _∞the H of method for estimating rotating speed _∞speed observer schematic diagram;

Fig. 2 is the H of permagnetic synchronous motor of the present invention _∞the illustraton of model of the immune response system of method for estimating rotating speed;

Fig. 3 is the immune H of permagnetic synchronous motor of the present invention _∞the permagnetic synchronous motor speed estimate system construction drawing of method for estimating rotating speed;

Fig. 4 is the immune H of permagnetic synchronous motor of the present invention _∞the permagnetic synchronous motor speed-less sensor vector control system block diagram of method for estimating rotating speed.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

The H of permagnetic synchronous motor of the present invention _∞the H of method for estimating rotating speed _∞speed observer schematic diagram as shown in Figure 1.Require design state observer, make closed-loop system Asymptotic Stability, and from system input w to the H of the closed loop transfer function, of output z _∞norm is no more than a given upper bound γ, to ensure that closed-loop system has robust stability to the uncertainty entered by w.Wherein, v is control inputs signal, and w is exogenous disturbances signal, and z should design the evaluation signal needing to define, and observer K can be solved by the augmentation controlled device G of correspondence.

The H of permagnetic synchronous motor of the present invention _∞the specific implementation structured flowchart of method for estimating rotating speed as shown in Figure 3.Permanent magnet synchronous motor vector control system has carried out H _∞the design of speed observer, the electric current loop in the middle of system is decomposed, wherein, matrix A, B ₁and B ₂for coefficient matrix, x is state variable, for the first derivative of state variable x, w is exogenous disturbances signal, and z should design the evaluation signal needing to define, weighting matrix $C_1=\left[\begin{array}{ccc}{k}_{p1}{m}_1& 0& 0\\ 0& k_{p2}{m}_2& 0\\ 0& 0& k_{p3}{m}_3\\ 0& 0& 0\end{array}\right],D_{12}=\left[\begin{array}{c}0\\ 0\\ 0\\ k_{p4}n\end{array}\right],$ K _pi(i=1,2,3,4) regulatory factor for being obtained by immune algorithm.K is STATE FEEDBACK CONTROL rate, and ∫ is integral operation, thus obtains structure as shown in Figure 3.

The immune H of permagnetic synchronous motor of the present invention _∞the motor vector control system of method for estimating rotating speed as shown in Figure 4.Current signal needed for this system is obtained by current sensor (i.e. Hall element).Concrete method for estimating rotating speed is as follows:

1) adopt ripe vector control technology to design, select the control mode of breakdown torque current ratio, rotating speed outer shroud adopts traditional PI controller.Derived by the electromagnetic torque of motor and mechanical motion equation and obtain permagnetic synchronous motor Mathematical Modeling, $\left\{\begin{array}{c}\stackrel{\&CenterDot;}{x}=\mathrm{Ax}+B_{1}w+B_{2}v\\ y=C_{2}x\\ z=C_{1}x+D_{12}v\end{array}\right.$ In formula, $x=\left[\begin{array}{c}{\mathrm{\&omega;}}_{\mathrm{rm}}\\ e_{\mathrm{\&theta;}}\\ {\mathrm{\&epsiv;}}_{\mathrm{\&theta;}}\end{array}\right],$ $A=\left[\begin{array}{ccc}-B_m/J_m& 0& 0\\ -1& 0& 0\\ 0& 1& 0\end{array}\right],B_1=\left[\begin{array}{ccc}-1/J_m& 0& 0\\ 0& 0& 1\\ 0& 0& 0\end{array}\right],B_2=\left[\begin{array}{c}{K}_t/J_m\\ 0\\ 0\end{array}\right],w=\left[\begin{array}{c}{T}_L\\ {\mathrm{\&theta;}}_{\mathrm{rm}}^{*}\\ {\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{rm}}^{*}\end{array}\right],C_2=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],$ $C_1=\left[\begin{array}{ccc}{k}_{p1}{m}_1& 0& 0\\ 0& k_{p2}{m}_2& 0\\ 0& 0& k_{p3}{m}_3\\ 0& 0& 0\end{array}\right],D_{12}=\left[\begin{array}{c}0\\ 0\\ 0\\ k_{p4}n\end{array}\right];$ Wherein, e _θθ _rm ^*and θ _rmbetween site error, θ _rm ^*for given reference quantity, ε _θbe the integration of site error, v is control inputs signal, and w is exogenous disturbances signal; C ₁and D ₁₂for weighting matrix, q _i=k _pi* m _i(i=1,2,3) and r=k _p4* n is weight coefficient, 0<k _pi<1 (i=1,2,3,4) is the regulatory factor obtained by immune algorithm, C ₁be used for regulating interference suppressioning effect, D ₁₂determine the size of control inputs, wherein m _iit is as shown in table 1 with the span of n,

Table 1m _iwith the span of n

2) in order to realize tracking performance and the robust performance of system, the feedback path of permanent magnet synchronous motor vector control system devises a H _∞speed observer, see Fig. 1.Observer needs the ac-dc axis current i of system _d, i _qwith electromagnetic torque T _eparticipate in computing, the augmented matrix according to permagnetic synchronous motor system expresses G:

Build Observer Structure block diagram as shown in Figure 3, feedback rate control is obtained by following formula:

$v^{*}=\mathrm{Kx}=-[{\left({D_{12}}^T{D}_{12}\right)}^{-1}{D_{12}}^T{C}_1+{\left({D_{12}}^T{D}_{12}\right)}^{-1}{B}_2^{T}P]x=-\frac{1}{r^2}\left[\begin{array}{ccc}{K}_t/J_m& 0& 0\end{array}\right]\mathrm{Px}$

Wherein, K is feedback rate control, D ₁₂ ^tfor D ₁₂transposition, matrix P is Riccati non trivial solution, and γ is the given upper bound, K _tfor torque constant, J _mfor the moment of inertia of rotor;

3) in observer, asking for of K battle array needs to determine q ₁, q ₂, q ₃, these 4 adjustable parameters of r, workload is large, not easily obtains.Introduce the online optimizing that immune algorithm carries out 4 parameters.As shown in Figure 2, T cell is ripe in thymus gland, and be mainly used to the activity stimulating B cell and regulate other immunocytes, T cell is divided into again helper T lymphocyte Th and suppressor T lymphocyte Ts.B cell is reached maturity in marrow, is upset in removing pathogen process, secretory antibody conjugated antigen.When antigen is more, the Th secretion in body is accelerated, and Ts content reduces, thus can produce more B cell; Along with the minimizing of antigen, the Ts cytosis in body, inhibit Th cell to produce, then B cell is also along with minimizing, and through after a period of time, immune system tends to balance.In the middle of algorithm realization, the desired output k of the corresponding immune algorithm of stimulation u (k) that immune system B cell receives _pi, the rotating speed error originated from input value of antigen levels e (k) correspondence system, inhibition Ts cell concentration C _tsk () correspondence eliminates remaining solution.Searching process is as follows:

Stimulation u (k) that B cell receives is: u (k)=C _th(k)-C _ts(k)

If the antigen levels in kth generation is e (k), the concentration of the Th cell produced by antigenic stimulus is C _th(k):

C _Th(k)＝k ₁e(k)

Inhibition Ts cell concentration is C _ts(k): C _ts(k)=k ₂g [Δ u (k)] e (k)

U (k) is set to the output of Immunocontroller, then has following Feedback Control Laws:

u(k)＝k ₁e(k)-k ₂g[Δu(k)]e(k)＝k _pe(k)

Wherein, k _p=K{1-μ g [Δ u (k)] }.In formula: K=k ₁for gain; μ representative controls stablizing effect, μ=k ₂/ k ₁; G [Δ u (k)] is a selected nonlinear function, relevant with the change of antigen concentration.Thus, obtain k _p1, obtain k according to above method _p2, k _p3and k _p4, by the k obtained _p1, k _p2and k _p3substitute into C respectively ₁matrix, obtains q ₁, q ₂and q ₃; By k _p4substitute into D ₁₂matrix obtains r.

4) immune algorithm optimizing result exports (q ₁, q ₂, q ₃, r) determine after, thus determine Riccati equation, by solving the Feedback Control Laws that can obtain observer, i.e. the given input i of observer _q ^*, substitute into permagnetic synchronous motor state equation state variable ω _rm, will rotational speed omega be estimated _rmthe computing of permanent magnet synchronous motor vector control system is participated in as system actual speed signal.

5) based on immune H _∞the permagnetic synchronous motor Speedless sensor vector system of speed observer as shown in Figure 4, the permanent-magnetic synchronous motor stator three-phase current i detected by current sensor _u, i _v, i _w, and through clark conversion, obtain two-phase quiescent current i _{s α}, i _{s β}.Current i again under park conversion obtains two-phase rotating coordinate system _dand i _q.The rotating speed that outer shroud given rotating speed is estimated with observer is poor, and the regulation output through PI controller inputs as MTPA (breakdown torque current ratio) controller, calculates current expected value i _d ^*and i _q ^*.By d shaft current set-point i _d ^*poor with the d shaft current exported, obtain Δ i _d, desired value and the feedback current of q shaft current are poor, obtain current error Δ i _q, through the regulation output u of PI controller _sd, u _sq, u _sd, u _squ is exported again through park inverse transformation _{s α}, u _{s β}, export six road pwm signal supply inverter work finally by space vector pulse width modulation module, inverter exports DC bus-bar voltage V _dcwith the form of PWM ripple, voltage is applied on permagnetic synchronous motor.

Present invention optimizes that traditional speed observer is subject to the impact of system parameter variations, algorithm complexity is difficult to realize and the shortcoming such as antijamming capability is weak, according to H _∞control theory achieves the speed estimate of permagnetic synchronous motor, but in the tuning process of observer parameter, often relies on and repeatedly repeatedly debug, and utilizes immune algorithm to overcome this difficult problem.Successfully achieve immune algorithm H _∞the perfection of speed observer and mechanical velocity sensor is replaced, thus reduces system cost.The vector control system structure of motor of the present invention is simple, stability is high, effectively improves the dynamic property of permagnetic synchronous motor, simultaneously can the tracking performance of adjustment System and robust performance, can be applicable in the middle of engineering practice.

Claims (2)

1. adopt the H of the permagnetic synchronous motor of immune algorithm _∞method for estimating rotating speed, is characterized in that, comprises the vector control system of motor, and described vector control system feedback path is provided with a H _∞speed observer, realizes H by immune algorithm _∞the online optimizing of speed observer parameter, obtains speed estimate value, specifically implements in accordance with the following steps:

Step 1, derived by the electromagnetic torque of motor and mechanical motion equation and obtain permagnetic synchronous motor Mathematical Modeling: $\left\{\begin{array}{c}\stackrel{\&CenterDot;}{x}=Ax+B_{1}w+B_{2}v\\ y=C_{2}x\\ z=C_{1}x+D_{12}v\end{array}\right.$ In formula, $x=\left[\begin{array}{c}{\mathrm{\&omega;}}_{rm}\\ e_{\mathrm{\&theta;}}\\ {\mathrm{\&epsiv;}}_{\mathrm{\&theta;}}\end{array}\right],$ $A=\left[\begin{array}{ccc}-B_m/J_m& 0& 0\\ -1& 0& 0\\ 0& 1& 0\end{array}\right],$ $B_1=\left[\begin{array}{ccc}-1/J_m& 0& 0\\ 0& 0& 1\\ 0& 0& 0\end{array}\right],$ $B_2=\left[\begin{array}{c}{K}_t/J_m\\ 0\\ 0\end{array}\right],$ $w=\left[\begin{array}{c}{T}_L\\ {\mathrm{\&theta;}}_{rm}^{*}\\ {\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{rm}^{*}\end{array}\right],$ $C_2=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],$ $C_1=\left[\begin{array}{ccc}{k}_{p1}{m}_1& 0& 0\\ 0& k_{p2}{m}_2& 0\\ 0& 0& k_{p3}{m}_3\\ 0& 0& 0\end{array}\right],$ $D_{12}=\left[\begin{array}{c}0\\ 0\\ 0\\ k_{p4}n\end{array}\right];$

Wherein, e _θθ _rm ^*and θ _rmbetween site error, θ _rm ^*for given reference quantity, ε _θbe the integration of site error, v is control inputs signal, and w is exogenous disturbances signal; q _i=k _pi* m _i(i=1,2,3) and r=k _p4* n is weight coefficient, 0<k _pi<1 (i=1,2,3,4) is the regulatory factor obtained by immune algorithm; C ₁be used for regulating interference suppressioning effect, D ₁₂determine the size of control inputs, wherein m _iscope be the scope of 0-10, n be 0 ~ 0.02;

Step 2, builds H according to permagnetic synchronous motor Mathematical Modeling in step 1 _∞speed observer structure, feedback rate control is obtained by following formula, namely H _∞the given expression formula of speed observer:

$v^{*}=Kx=-\&lsqb;{\left({D_{12}}^T{D_{12}}^T\right)}^{-1}{D_{12}}^T{C}_1+{\left({D_{12}}^T{D}_{12}\right)}^{-1}{B}_2^{T}P\&rsqb;x=-\frac{1}{r^2}\&lsqb;\begin{array}{ccc}{K}_t/J_m& 0& 0\end{array}\&rsqb;Px$

Wherein, K is feedback rate control, D ₁₂ ^tfor D ₁₂transposition, matrix P is Riccati non trivial solution, and γ is the given upper bound, K _tfor torque constant, J _mfor the moment of inertia of rotor;

Step 3, containing C in the given expression formula in step 2 ₁and D ₁₂central 4 adjustable parameters, introduce H by immune algorithm _∞speed observer, utilizes immune algorithm to carry out online optimizing to these 4 adjustable parameters; In the middle of algorithm realization, the desired output k of the corresponding immune algorithm of stimulation u (k) that immune system B cell receives _pi, the rotating speed error originated from input value of antigen levels e (k) correspondence system, inhibition Ts cell concentration C _tsk () correspondence eliminates remaining solution, the steps include:

The stimulation that B cell receives is u (k): then u (k)=C _th(k)-C _ts(k)

If the antigen levels in kth generation is e (k), the concentration of the Th cell produced by antigenic stimulus is C _th(k):

C _Th(k)＝k ₁e(k)

Inhibition Ts cell concentration is C _ts(k): C _ts(k)=k ₂g [Δ u (k)] e (k)

U (k) is set to the output of Immunocontroller, then has following Feedback Control Laws:

u(k)＝k ₁e(k)-k ₂g[Δu(k)]e(k)＝k _pe(k)

Wherein, k _p=K{1-μ g [Δ u (k)] }, in formula: K=k ₁for gain; Representative controls stablizing effect, μ=k ₂/ k ₁; G [Δ u (k)] is a selected nonlinear function, thus, obtain k _p1, obtain k according to above method _p2, k _p3and k _p4, by the k obtained _p1, k _p2and k _p3substitute into C respectively ₁matrix, obtains q ₁, q ₂and q ₃; By k _p4substitute into D ₁₂matrix obtains r;

Step 4, by given rotating speed ω _rm ^*with estimation rotational speed omega _rmmake the error signal Δ ω that difference obtains _rmsend into pi regulator, obtain system torque value, then adopt maximum torque per ampere control device, obtain the expectation set-point of d, q shaft current;

Step 5, the expectation set-point of q shaft current and output current poor, obtain current error Δ i _q, in like manner obtain Δ i _d, export u through pi regulator _sd, u _sq, u _sd, u _squ is exported again through park inverse transformation _{s α}, u _{s β}, export six road pwm signal supply inverter work finally by space vector pulse width modulation module, inverter exports DC bus-bar voltage V _dcwith the form of PWM ripple, voltage is applied on permagnetic synchronous motor.

2. the H of the permagnetic synchronous motor of employing immune algorithm according to claim 1 _∞method for estimating rotating speed, is characterized in that, described vector control system is made up of speed outer shroud and current inner loop, and current inner loop comprises i _dand i _qtwo system inner ring at place respectively, current signal detection circuit detects permagnetic synchronous motor three-phase input current i by Hall element _u, i _v, i _w, the current value i under clark converts convert to static two phase coordinate system _{s α}, i _{s β}, then obtain system ac-dc axis current i through park conversion _q, i _d; By speed outer shroud given rotating speed ω _rm ^*with H _∞the feedback speed ω that module is estimated _rmdiffer from, send into maximum torque per ampere control device through pi regulator, gained current i _q ^*, i _d ^*with actual current value i _q, i _dmake difference respectively and namely obtain output voltage u through pi regulator again _sd ^*and u _sq ^*; Two phase voltage u under rotating coordinate system _sd ^*with u _sq ^*two phase voltage u after park inverse transformation under convert to static two phase coordinate system _{s α} ^*, u _{s β} ^*, through the adjustment of PWM generator, produce PWM ripple, after three-phase inverter, drive permagnetic synchronous motor work.