9400results about "AC motor control" patented technology

The invention discloses a motor control method and device based on an encoder, a medium and a program product, and relates to the field of motor control, and the method comprises the steps: receiving a position signal and a speed signal outputted by the encoder, and carrying out the filtering processing to obtain an operation state parameter; collecting mechanical vibration and electromagnetic noise generated in the operation process of the motor to obtain acoustic parameters of the motor, and extracting frequency characteristic parameters representing the rotating speed and motion characteristics of the motor; performing data fusion on the operation state parameters and the frequency characteristic parameters according to a preset weight to generate an operation state model; the operation state model is compared with a standard motion trail, and the position deviation value and the speed deviation value of the actual motion trail of the motor are calculated; and calculating a compensation control quantity according to the position deviation value and the speed deviation value, converting the compensation control quantity into a driving signal and outputting the driving signal to a motor driver so as to drive a motor to perform operation adjustment. According to the invention, the control precision of the motor in actual operation can be improved.

The invention relates to the technical field of vibration and noise control, discloses a new energy automobile motor high-frequency vibration and noise active suppression system and method, and aims to solve the problems of poor high-frequency vibration and noise suppression effect, real-time performance, adaptive capacity and system cost complexity of an existing new energy automobile motor. The method comprises the following steps: acquiring and preprocessing motor operation state data, extracting high-frequency harmonic characteristics, and generating predicted harmonic characteristics in combination with working condition prediction; and superposing the self-adaptive compensation quantity to a motor voltage instruction, and driving an inverter through pulse width modulation to realize active suppression of high-frequency vibration and noise. The system comprises a data acquisition preprocessing module, a harmonic feature extraction module, a working condition sensing prediction module, a self-adaptive compensation quantity generation module and a pulse width modulation correction module. By the adoption of the technical scheme, efficient, real-time and self-adaptive suppression of high-frequency vibration and noise of the motor can be achieved, the level of the high-frequency vibration and noise is remarkably reduced, the driving comfort is improved, and the complexity and cost of the system are optimized.

The invention discloses a high-precision linear vibration feedback motor system, and relates to the technical field of precise electromagnetic driving, and the system comprises a core driving module which is a moving magnet type linear motor of a Halbach array magnetic circuit structure, and is integrated with a multi-physics field sensing unit; the dynamic parameter tracking module is used for acquiring a reed rigidity coefficient, a damping coefficient and a magnetic constant in real time when the motor runs, and establishing a dynamic displacement model based on a recursive least square method; a double-closed-loop control framework is adopted, an inner loop adopts field-oriented control, and an outer loop is based on model prediction control; the aging prediction unit activates a temperature rise compensation algorithm when the accumulated number of vibration times is greater than a set threshold value; the self-adaptive calibration engine is used for injecting a sweep frequency excitation signal when the system is started, and automatically compensating individual difference parameters according to the harmonic peak offset; and the digital twin mapping unit is used for establishing a real-time mapping relationship between the physical parameters of the motor and the virtual model, and dynamically correcting the model parameters by comparing the actual displacement with the model displacement.

The invention relates to the technical field of motor control, and discloses a permanent magnet synchronous motor control system and method for an electric drive hydraulic source, and the system comprises a data collection module which is used for collecting the state parameters of the electric drive hydraulic source and the operation data of a permanent magnet synchronous motor in real time through multiple sensors; the sensor redundancy and fault-tolerant module is used for performing parallel sampling through hardware dual-redundancy configuration and dual sensors; the self-adaptive fuzzy logic control module is used for dynamically adjusting a rotating speed instruction and a torque instruction of the permanent magnet synchronous motor based on the collected state parameters; a data driving optimization module; and a digital twinning prediction maintenance module. A self-adaptive fuzzy logic control module is used for dynamically generating a motor rotating speed and torque instruction based on parameters such as real-time pressure, flow deviation and change rate, a fuzzy logic algorithm is used for processing a nonlinear time-varying load and quick response, a self-adaptive fuzzy logic control rule weight and a power conversion circuit parameter are optimized through a reinforcement learning algorithm, and the control precision is improved. And dynamic self-optimization of permanent magnet synchronous motor control is realized.

The invention relates to the technical field of variable frequency speed regulation, in particular to an automatic water pump control strategy and energy efficiency optimization method and system.The method comprises the following steps of obtaining water pump outlet flow data, calculating flow acceleration, determining the pressure gradient direction, matching the hydraulic power trend, calculating frequency instruction deviation and setting the adjustable range; lagging and current rising mark inertia disturbance, power frequency limitation is set, a compensation value is generated, the frequency rate is dynamically adjusted in combination with all factors, and the frequency conversion adjusting priority is generated. According to the method, through matching of the flow acceleration and the pressure gradient, the sensing capacity for dynamic changes of fluid is improved, frequency adjustment of a frequency converter is optimized in combination with frequency deviation calculation, energy consumption increase caused by lag is reduced, and based on correlation analysis of the motor rotating speed change rate and current fluctuation, inertia disturbance accurate recognition is achieved; the voltage compensation timeliness is improved by combining bus voltage dynamic monitoring and a reverse compression strategy, the frequency of the frequency converter is dynamically adjusted by combining multiple parameters, and the response speed and the energy efficiency are improved.

A power tool system includes a power tool, a sensor, and an electronic controller of the power tool. The power tool includes a power tool housing, a motor housed within the power tool housing, and a pack interface coupled to the power tool housing. The pack interface receives a power tool battery pack having a corresponding tool interface. The sensor senses an electrical parameter corresponding to a power tool battery pack coupled to the pack interface. The electronic controller of the power tool controls the power tool battery pack to discharge current; receives an output of the sensor when the power tool battery pack is controlled to discharge current; generates a temperature estimate by processing the output of the sensor using a thermal model stored on the memory; and generates a temperature warning signal in response to the temperature estimate exceeding a temperature threshold.

The invention relates to a motor power self-adaptive control method and system based on multi-dimensional sensor data, and the method comprises the steps: collecting multi-dimensional signals, such as ground resistance, motor temperature and battery voltage, in real time, carrying out the self-adaptive filtering and noise reduction, analyzing the correlation of all parameters through a multivariable decoupling algorithm, and determining a power demand weight; when it is detected that the ground resistance is a dominant factor, the system generates a load feature vector through weighted fusion, a database is matched to determine an optimal power target value, and PWM output is dynamically adjusted through a fuzzy control algorithm; and a closed-loop feedback mechanism continuously optimizes control parameters to ensure that the system quickly responds to sudden change of ground resistance. According to the method, intelligent adaptation of the motor power is achieved, the problems that adjustment lags behind and multi-parameter coupling processing is insufficient in the traditional technology are effectively solved, the stability of the sweeping robot under the complex ground working condition is remarkably improved, and the service life of the motor and the service life of a battery are remarkably prolonged.

The invention relates to the technical field of motor control, in particular to a control and parameter intelligent optimization method for an anti-impact high-precision PMSM (permanent magnet synchronous motor) feeding servo system, which comprises the following steps of: S1, establishing a physical structure and a dynamic model of a PMSM driving feeding system; s2, designing a variable gain fractional order super-spiral sliding mode controller VGFSTSMC, realizing finite time convergence of position tracking errors by dynamically adjusting and controlling gain coefficients, and inhibiting system jitter; s3, designing an adaptive sliding mode disturbance observer ASMDO, and estimating and compensating unknown disturbance in real time through adaptive gain adjustment and an integral sliding mode surface; s4, identifying a system Stribeck friction model based on a least square method, and inputting the system Stribeck friction model as a friction feedforward compensation FFC to a current loop to reduce the disturbance uncertainty of the system; s5, dynamically adjusting and optimizing control parameters of the VGFSTSMC and the ASMDO by adopting an optimization algorithm so as to minimize a root-mean-square value RMSE of a position tracking error and a maximum instantaneous error; and S6, VGFSTSMC, ASMDO and FFC are combined with an optimization algorithm, and the PMSM is driven to realize high-precision position control.

The invention discloses a six-winding high-voltage variable-frequency speed regulation control method and system, and belongs to the technical field of high-voltage variable-frequency speed regulation, and the method comprises the steps: building an electric-thermal-magnetic coupled six-dimensional nonlinear system model through collecting the structural parameters, thermosensitive data and an initial state of a motor; establishing a frequency domain regulation and control matrix among the six windings in combination with the operation condition and the load type; predicting a future disturbance power trend by using a weighted short-time Fourier analysis method, dynamically correcting the reference current of each winding, and generating six groups of PWM control signals; when the performance of the winding is degraded, fault-tolerant topology reconstruction and driving task redistribution are executed; periodically reconstructing a control matrix through a thermoelectric feedback mechanism, and executing parameter adaptive optimization according to a current balance coefficient and hot redundancy distribution; according to the method, high-precision current coordination control, frequency domain energy decoupling and winding thermal load balancing can be realized, and the speed regulation response speed, the stability and the fault-tolerant capability of the system are remarkably improved.

The invention discloses a current harmonic disturbance suppression method and suppression system for a permanent magnet synchronous motor. The method comprises the following steps: acquiring voltage and current signals of an electrical loop phasor test in the operation of the motor; an inductance identification algorithm based on high-frequency response is adopted, high-frequency excitation signals are injected, current response is monitored, and stator inductance parameters are calculated; constructing a multi-synchronous rotating coordinate system based on the parameter, and decomposing the current signal to obtain each harmonic current component; building a fuzzy full-order sliding mode observer, inputting an inductance parameter, voltage data and a harmonic current component, and dynamically adjusting a sliding mode surface parameter to observe the position and the rotating speed of a rotor; independently controlling each harmonic current adjusting channel under a multi-coordinate system in combination with observation information, and generating a compensation control signal; and the synthesized master control signal is output to the driving circuit. The system comprises six units, and the method and the system can accurately obtain parameters, efficiently decompose harmonic waves, accurately observe states, realize multi-frequency harmonic disturbance suppression, and improve motor operation stability and efficiency.

The invention relates to the technical field of servo control, in particular to a high-precision current closed-loop control system and method for a servo driver, and the method comprises the steps: collecting three-phase current, rotor position, winding temperature and bus voltage, and constructing a state data set; constructing a parameter identification model fusing physical prior and an attention mechanism, deducing inductance and flux linkage parameters influenced by temperature, saturation and cross coupling, and correcting a motor model in real time; the correction parameters are injected into an FOC decoupling and feedforward link, and a self-adaptive PI regulator is linked to set the gain of a current loop on line; calculating a d-q axis voltage command according to the update model to respectively control excitation and torque components; an extended state observer is introduced to estimate load abrupt change and parameter disturbance, feed-forward compensation is carried out, and three-phase PWM is generated through anti-Parker and SVPWM; and an inverter nonlinear compensation model of a dead zone and switch delay is constructed, PWM is pre-distorted and output to a power device, and robust and low-ripple current closed-loop control of the servo motor is realized.

The invention relates to the technical field of mining permanent magnet synchronous motor sensorless control, and particularly discloses a composite sliding mode control and adaptive phase-locked loop collaborative optimization method. Aiming at the technical bottlenecks of a traditional control strategy in the aspects of rotating speed fluctuation suppression, load disturbance compensation and rotor position observation precision, a collaborative architecture of a time-varying integral terminal sliding mode control module, a sliding mode disturbance observation module and a self-adaptive phase-locked loop module is constructed, so that the dynamic performance optimization of the system is realized. According to the method, through the dynamic coupling design of the time-varying gain nonlinear reaching law and the fast integral terminal sliding mode surface, the convergence speed and the buffeting suppression requirement are balanced while the disturbance dynamic influence is eliminated; multi-dimensional decoupling observation of external load disturbance is realized based on a hierarchical disturbance observer architecture, and a disturbance real-time suppression path is established in combination with a feed-forward compensation strategy; and constructing an error self-adaptive correction mechanism of rotor position observation by dynamically adjusting a phase-locked loop proportionality coefficient and a phase compensation parameter. The limitation of parameter solidification and observation coupling in traditional control is broken through, the rotating speed tracking stability, the position observation precision and the anti-interference capability under complex working conditions are remarkably improved, and an innovative solution is provided for a high-precision servo driving system.

The invention relates to the technical field of inverter power control, and discloses a given current-based inverter power control method and system, and the method comprises the steps: calculating a fluctuation compensation parameter based on a bus voltage, and carrying out the real-time compensation of a q-axis basic current, and obtaining a first given q-axis current; predicting the bus voltage of the next period and correcting the first given q-axis current in advance to obtain a second given q-axis current; on the basis of the stator voltage saturation state, weak magnetic d-axis current given is generated, low-pass filtering is carried out on the second q-axis current given and the weak magnetic d-axis current given, and a d-axis current instruction and a q-axis current instruction are obtained; a PWM driving signal corresponding to a dq-axis current instruction is generated, an inverter switch is controlled, meanwhile, a power deviation signal is collected to update q-axis basic current, accurate prediction of bus voltage and advanced correction of given current are achieved, compared with traditional lag compensation, the dynamic response is faster, and the power control precision and the operation stability are improved.

The invention discloses an IADRC and torque compensation fused PMSM speed regulation control method. The method comprises the steps of establishing a mathematical model of a surface-mounted permanent magnet synchronous motor in a rotating coordinate system; an improved Luenberger load torque observer is designed; designing an active disturbance rejection controller; designing an improved super-spiral sliding mode algorithm; and designing an improved speed loop active disturbance rejection controller. The improved Luenberger observer identifies the load torque of the system in real time, and parameters obtained through identification are compensated to the improved active-disturbance-rejection controller, so that system oscillation caused by load change is avoided; a traditional non-linear state error feedback control rate in active disturbance rejection control is combined with a super-spiral sliding mode algorithm, and a new piecewise function is designed and applied to a sliding mode reaching law. According to the method, the response speed and the working efficiency of the system are effectively improved, meanwhile, the anti-interference performance of the system is enhanced, and the robustness of the system is improved.

A propulsion system, comprising: a motor assembly including a stator and a rotor, a heat exchanger configured to receive air to cool a liquid, and a thermal plate including one or more channels configured to convey the liquid from the heat exchanger to the motor assembly. The heat exchanger is mechanically and fluidically coupled to the thermal plate.

The dual inverter system includes a first inverter connected to one end of a stator coil of the motor and a second inverter connected to the other end. The controller can execute a dual mode in which the motor is driven by two inverters and a single mode in which the motor is driven by only one inverter. The controller closes the upper SW elements of all of the first and second inverters, opens all the lower SW elements, and closes the connection switch when the voltage at the DC end of the first inverter exceeds the threshold voltage. Alternatively, the controllers close all the lower SW elements of the first and second inverters to open all the upper SW elements and close the connection switches.

Disclosed in the present invention are a current lookup table-based permanent magnet synchronous motor wide voltage range control method and a medium. The method comprises: by means of a full-speed domain current calibration method, obtaining a rotating speed-torque two-dimensional lookup table under a rated bus voltage; on the basis of the lookup table, multiplying a given rotating speed with a front-and-rear amplitude limiting voltage ratio to achieve wide voltage range control; and performing friction torque compensation and sampling delay compensation of a three-phase current at different rotating speeds. The present invention takes into account bus voltage fluctuation under the complex working condition of an electric vehicle, and multiplies the given rotating speed with a variable voltage coefficient ku to obtain an input rotating speed of an input current lookup table, such that precise current control of the permanent magnet synchronous motor under different bus voltage working conditions can be achieved, thereby avoiding the complex and tedious process of re-calibration of the current lookup table under different bus voltages; the present invention also takes into account friction torque compensation and phase current sampling delay compensation at different rotating speeds, wherein the friction torque compensation can be achieved by directly adding a friction torque error into a given torque signal in real time.

The invention discloses an intelligent control method and system for a motor driver, and the method comprises the steps: building an acoustoelectric incidence matrix through collecting harmonic current and sound pressure fluctuation data in the operation process of a motor, and forming a fault feature library; identifying an available fault mode to determine an energy collection point, and performing phase deviation processing on the collection point to generate an auxiliary driving signal; performing spectrum analysis on the sound pressure fluctuation data to obtain an acoustic characteristic spectrum, extracting an efficiency indication tone through characteristic decomposition, mapping the efficiency indication tone into a torque optimization parameter, and establishing a noise reduction control table; performing spectrum analysis on the enhanced control domain to identify a high-energy frequency band, executing a frequency shift operation to generate a safety frequency band signal, and forming a multi-frequency band management strategy in combination with a noise reduction control table; a management strategy is decomposed into parallel control flows for sequential staggered arrangement, and an energy-saving control matrix is generated; and generating a PWM control signal based on the matrix, carrying out edge reconstruction, and obtaining a softened edge waveform through an anti-resonance injection technology to complete intelligent control of the motor driver.

A power tool is provided including a power supply interface receiving a removable battery pack, a brushless direct current (BLDC) motor including a rotor and a stator, and a multi-phase inverter bridge circuit. A controller is provided to output drive signals to the inverter bridge circuit to control flow of current from to the motor, where each drive signal is activated within each corresponding phase of the motor within a conduction band. The controller is configured to control a length of the conduction band at a variable value within a first torque range below a torque threshold and at a substantially constant value within a second torque range above the torque threshold. The torque threshold is greater than approximately 1 Newton-meters and the motor produces a maximum power output of at least approximately 1250 watts at the torque of approximately 1 Newton-meters.

The invention discloses a motor control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a three-phase current, converting the three-phase current into a total current of a current period in a static coordinate system, and extracting a high-frequency current of the current period from the total current; extracting a rotor position and a rotor rotating speed from the high-frequency current; compensating the rotor rotating speed by using the expected rotating speed to obtain a quadrature-axis expected current; converting the total current into a quadrature-direct axis coordinate system, extracting a fundamental frequency current from the quadrature-direct axis coordinate system, compensating the fundamental frequency current by using a quadrature axis expected current and a direct axis bias current to obtain a first expected voltage, superposing the first expected voltage and a direct axis high-frequency voltage, and performing coordinate system conversion on a superposition result by using a rotor position to obtain a second expected voltage; obtaining a second expected voltage under the static coordinate system; and the three-phase current of the current period is controlled according to the second expected voltage to drive the motor, so that the motor has more obvious salient polarity through the direct-axis bias current, and vector control over the electrode is achieved.

The invention belongs to the technical field of motors, and discloses a motor and a control method and device thereof, a storage medium and a computer program product, and the method comprises the steps: obtaining the rotating speed of the motor under the condition that the motor needs to be started, and obtaining an output signal of a Hall position sensor unit; determining whether the motor is not started and is in a downwind state or not according to the rotating speed of the motor and an output signal of the Hall position sensor unit; if it is determined that the motor is not started and is in the downwind state, the output voltage of the inversion unit is controlled to be preset voltage so that the motor can rotate; and after the first set time, the output voltage of the inverter unit is adjusted, so that the motor is started downwind after speed reduction, and the motor runs after speed increase after downwind starting. According to the scheme, when the motor is started in the downwind state, the speed is reduced to the minimum value, then the motor is started in the downwind state, and the speed is increased to the target value after the motor is stabilized, so that the motor is started in a silent mode in the downwind state, rotating speed overshoot operation is avoided, and reliability and use experience are improved.

The invention provides a motor parameter online identification method based on an improved golden section method, and belongs to the technical field of motor parameter identification, and the method comprises the steps: S1, obtaining a residual function of a recursive least square method with a forgetting factor when parameter identification is not carried out on a motor model for the first time; s2, detecting whether the residual function exceeds a preset threshold value or not, and executing a step S3 when the residual function exceeds the preset threshold value; s3, taking the residual function as a target function, and adjusting the forgetting factor by using a golden section method to obtain an optimized forgetting factor; and S4, carrying out motor parameter online identification by using a recursive least square method with the optimized forgetting factor. The method has the advantages that the forgetting factor is dynamically adjusted through the golden section method, the residual function serves as the target function, the optimal solution of the forgetting factor under the corresponding working condition can be found when the system changes rapidly, the tracking speed is increased, the steady-state precision is further improved, and therefore the overall performance of parameter identification is improved.

The invention discloses an electro-magnetic doubly salient motor torque ripple suppression method based on harmonic double closed-loop control, and the method comprises the steps: constructing the harmonic double closed-loop control of a torque ripple outer ring and a current harmonic inner ring in an electro-magnetic doubly salient motor current source type drive system of a multiplexing excitation winding; a torque pulsation outer ring observes electromagnetic torque through a model reference adaptive method, pulsation components of the torque pulsation outer ring are extracted in combination with an adaptive notch filter, and a current harmonic inner ring given value is output through closed-loop regulation; the current harmonic inner ring extracts harmonic current by constructing a harmonic space decoupling transformation matrix and combining with a rotating coordinate system of corresponding subharmonics, current harmonics counteracting torque pulsation of the electro-magnetic doubly salient motor are generated through closed-loop adjustment, and the output characteristic of the motor is improved. According to the method provided by the invention, the torque ripple amplitude can be suppressed in a closed-loop manner, the given value of the harmonic current can be automatically adjusted, specific current harmonic injection is realized, the output torque ripple of the electro-magnetic doubly salient motor is eliminated, and the problems that a traditional harmonic injection method is not matched under different operation conditions of the motor and depends on motor parameters are solved.

The invention discloses a hybrid effective flux linkage observer and a permanent magnet synchronous motor control method, device and system. The method comprises the following steps: carrying out Clarke conversion on an obtained three-phase current of the permanent magnet synchronous motor to obtain a current in a static coordinate system, and carrying out park conversion based on rotor position information to obtain a current in a synchronous rotating coordinate system; the effective flux linkage of the permanent magnet synchronous motor is obtained through the hybrid effective flux linkage observer; on the basis of the obtained effective flux linkage of the permanent magnet synchronous motor, dead-zone compensation voltage is obtained through self-adaptive gain dead-zone compensation calculation based on back electromotive force reconstruction, and the rotating speed and the rotor position of the permanent magnet synchronous motor are obtained through phase-locked loop calculation; according to the rotating speed and the rotor position of the permanent magnet synchronous motor, the current under the synchronous rotating coordinate system, the dead zone compensation voltage and the obtained reference rotating speed and reference current, the reference voltage of the motor at the k moment is obtained through a rotating speed loop and a current loop and used for achieving low-speed position-sensorless control over the permanent magnet synchronous motor.

The invention discloses an open-phase self-fault-tolerant control method for a phase-shift-free dual three-phase permanent magnet synchronous motor. The method can automatically adjust a current distribution relation in the case of an open-phase fault and suppress torque pulsation in combination with neutral point voltage compensation. Comprising the following steps: driving two pairs of three-phase winding modules of the phase-shift-free DTP-PMSM in parallel by adopting two two-level three-phase voltage source inverters, and providing a mathematical model of the motor; current distribution is automatically adjusted; compensating the voltage of the neutral point, and calculating the offset of the fault module; the current is redistributed to suppress the torque ripple after the fault, and the secondary oblique wave component generated by the phase failure fault is eliminated; a current loop controller is improved through dead-beat predictive control; the speed ring controller is optimally designed into an improved sliding mode controller; an improved double-loop controller system is formed by combining improved sliding mode control and dead-beat prediction control, high-gain parameters are set to improve the dynamic response performance of the system, and a new self-fault-tolerant control system is formed.

The invention discloses a frequency conversion vector control method for a digital energy-saving pump station, which belongs to the technical field of vector control and comprises the following steps: constructing a coupling vector model, simulating the running states of a pump unit under different working conditions through a virtual test signal, and automatically correcting the coupling vector model; operating data of a pump set are collected in real time, an operating situation feature set is constructed, predictive vector control is carried out, an optimal voltage vector sequence is generated, and meanwhile load fluctuation of a pipe network is predicted; demand pre-judgment is carried out on the starting and stopping time and the action amplitude of the anti-backflow device, a bidirectional disturbance suppression mechanism is constructed, current vector parameters are pre-adjusted, and calculus correction is carried out based on deviation judgment; when multiple pumps operate in parallel, the instantaneous operation efficiency point of the pump set is calculated in real time, the efficiency change trend is predicted, a load distribution scheme is generated, the comprehensive energy efficiency is evaluated, energy efficiency self-optimization is carried out, the comprehensive energy efficiency of the system is improved, and control experience reuse is achieved.

The invention provides a cross-coupling cooperative control method for double permanent magnet synchronous motors of an aviation airborne suspension lifting system. The cross-coupling cooperative control method comprises the following steps: acquiring a global instruction and real-time state feedback of the double motors; based on the global instruction and the real-time state feedback, constructing a dynamic topology and dynamically adjusting the weight to obtain the weight of the dynamic topology; generating a collaborative correction based on the weight of the dynamic topology and a consistency protocol; dynamic error balanced distribution under load disturbance is carried out based on the collaborative correction amount; and controlling the double motors based on an error balanced distribution result. According to the method, dynamic weight distribution and dynamic error balanced distribution are combined, multi-source interference working conditions such as mechanical unbalance loading, dynamic coupling and parameter disturbance can be dealt with, synchronous errors and disturbance fluctuation in a dual-motor system can be accurately monitored and coordinated, and high-precision stability of cooperative driving is guaranteed.

The invention provides a dual-motor synchronous coordination control method of an electric helicopter, which comprises the following steps: taking a first controller as a main control motor driving system, and establishing a rotor rotating speed reference by adopting a rotating speed loop control strategy; and the second controller serves as a slave control motor driving system, a torque loop control strategy is adopted, and load disturbance is estimated and compensated in real time through the extended state observer. According to the dual-redundancy motor driving system, mechanical coupling interference is effectively inhibited, the fault tolerance of the system is enhanced, a feasible technical scheme is provided for safe flight of the electric helicopter, and the dual-redundancy motor driving system has important application value.

The invention discloses a novel model-free super-spiral sliding mode control method based on a sliding mode disturbance observer, and the method comprises the steps: designing a novel model-free super-spiral sliding mode controller of a rotating speed ring based on the combination of a novel super-local model and a second-order super-spiral law; meanwhile, a sliding mode disturbance observer is designed to estimate uncertain and unknown disturbance parts of system parameters in real time and feed back to a novel model-free super-spiral sliding mode controller of a rotating speed ring, so that the rotating speed of the motor is controlled; the controller introduces a linear system state item and a nonlinear disturbance item according to the novel super-local model, establishes a novel super-local model of the system, combines the novel super-local model of the system with a rotating speed ring state equation of the motor, establishes a novel super-local model of a rotating speed ring, and performs the super-local model of the rotating speed ring; and establishing a novel model-free super-spiral sliding mode control law of the rotating speed ring based on the novel super-local model of the rotating speed ring and an observation result of the sliding mode disturbance observer. The influence of external disturbance on the motor is effectively solved, buffeting is weakened, and effective tracking of the given rotating speed can be achieved.

The invention belongs to the technical field of power electronics, and relates to an energy feedback high-power-factor air conditioner compressor driving system. Comprising a direct-current bus, a direct-current bus electrolytic capacitor, a motor driving circuit, a shutdown energy feedback circuit, a permanent magnet synchronous motor and a motor control module, wherein the two ends of the direct-current bus electrolytic capacitor are connected with the positive electrode and the negative electrode of the direct-current bus respectively; in the energy feedback control module for driving the combined switch device in the shutdown energy feedback circuit, the motor driving circuit and the shutdown energy feedback circuit, the second connecting end I of each phase of bridge arm is connected with the positive electrode of the direct-current bus, and the second connecting end II of each phase of bridge arm is connected with the negative electrode of the direct-current bus; the first connecting end of the phase bridge arm of the shutdown energy feedback circuit is connected with the phase power grid voltage through the phase filter inductor. The method can maintain the stability of the DC bus voltage, and reduces the influence of the power grid voltage fluctuation and the air conditioner compressor load fluctuation.