236results about "General control strategies" patented technology

The invention relates to the technical field of servo drivers, in particular to a servo driver control method, and the technical scheme comprises the steps: carrying out the online identification of load inertia and external disturbance through a self-adaptive observer, generating a dynamic compensation parameter, constructing a multi-model parallel self-adaptive observer group, and carrying out the online identification of the load inertia and external disturbance through the self-adaptive observer group, a dynamic confidence evaluation mechanism is designed, disturbance dynamic compensation is realized, parameter sudden change and slow change scenes can be taken into consideration, the real-time performance of dynamic response can be ensured, compensation parameters are input into a fuzzy neural network controller, an optimal control quantity is generated in combination with a preset control target, a multi-source compensation parameter input channel is constructed, and the optimal control quantity is generated. A dynamic input weighting module is designed, fuzzy rule confidence is updated through an online strategy gradient algorithm to generate an optimized control quantity, the working condition adaptability can be enhanced, a dynamic target can be dealt with, finally, a sliding mode variable structure algorithm is adopted to carry out high-frequency buffeting suppression on the control quantity, and a final driving signal is output to a power module. And the control precision of the servo driver is improved.

The embodiment of the invention provides a motor control method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining a current speed error corresponding to a current iteration period of a motor, and a preorder speed error and a preorder output compensation parameter corresponding to a previous iteration period; the current speed error is obtained based on a preset speed instruction corresponding to the current iteration period and a corresponding speed feedback parameter; then, based on the iteration control parameter, the current speed error, the preorder speed error and the preorder output compensation parameter, calculating to obtain a current output compensation parameter corresponding to the current iteration period of the motor; and finally, performing compensation control on the motor based on the current output compensation parameter, thereby effectively reducing the speed fluctuation of the motor, remarkably improving the stability and positioning precision of the system during low-speed operation, and meanwhile, ensuring high stability and high robustness of the whole control system.

The invention discloses a method, a system and a related device for controlling a motor based on an adaptive algorithm, which are used for improving the accuracy of motor control. The method comprises the following steps: acquiring initial data of a motor; decomposing the initial data into intrinsic mode function components, and performing time-frequency transformation on the intrinsic mode function components; dynamic time-frequency features of the intrinsic mode function component are extracted, cross-band weighted fusion is carried out on the dynamic time-frequency features through a preset attention weighting mechanism, and a multi-dimensional feature vector is generated; inputting the multi-dimensional feature vector into a preset deep learning model, and constructing a target prediction model in combination with a loss function and an adaptive momentum optimization algorithm; transmitting the target prediction model to an analysis module of the motor to obtain a load change trend and a confidence coefficient; dynamically adjusting the proportion of the weight of the PID controller according to the load change trend and the confidence coefficient, and optimizing the parameters of the unit of which the proportion is adjusted through a gradient descent method; and dynamically regulating and controlling the motor based on the PID controller.

The invention relates to a multi-motor load balance control method based on a normalized current average value, and the method comprises the following steps: S1, collecting an actual torque current feedback value and a corresponding rated current value of each loop motor, S2, carrying out the normalization processing of the current feedback values according to the rated value, and calculating a normalized current average value, s4, an extreme value search control algorithm framework is established, and a gain coefficient is optimized by using the framework; S5, gain adjustment is carried out on a deviation value; and S6, respective speed compensation is superposed to an original speed instruction to form a new target speed instruction, and the new target speed instruction is sent to a frequency converter, so that real-time closed-loop adjustment of the multi-motor load is realized. According to the scheme, real-time closed-loop coordination of the power of each motor in the multi-motor driving system is realized, and the operation consistency and robustness of the system are enhanced.

The invention relates to the field of motor control and adjustment, in particular to a motor rotating speed adjusting method and system for a remote control driving vehicle, and the method comprises the steps: obtaining and preprocessing vertical, transverse and longitudinal vibration signals and running speed data of each wheel of the vehicle; extracting a vibration anomaly feature sequence and an average vehicle speed sequence through a sliding window method, and analyzing correlation to quantify road condition features; quantizing the wheel cooperative stability based on the wheel vibration correlation and the transverse / vertical energy ratio difference degree, and fusing the maximum road condition feature value and the stability mean value to obtain a rotating speed adjustment factor; the actual target rotating speed of the motor is calculated by combining the preset vehicle speed, the transmission ratio and the like, and precise vehicle speed adjustment is achieved through PID closed-loop control. According to the method, the rotating speed adjusting factor is constructed by quantifying the three-dimensional road condition characteristics and the vehicle dynamic stability, real-time adaptive adjustment of the vehicle speed is achieved in combination with PID closed-loop control, and the safety and stability of remote control driving are remarkably improved.

The invention relates to the technical field of servo loading, and discloses a rotating speed control method of a servo loading system, which comprises the following steps: constructing the servo loading system; the servo motor is driven to work at a constant torque; establishing a disturbance estimation model under servo loading disturbance; rotating speed data of the tested motor are obtained in real time, rotating speed errors are input into a speed PID controller, a basic control signal is generated, disturbance compensation and error response are fused, and a master control signal is constructed; pID parameters of a speed PID controller are optimized and adjusted on line through an improved fast exploration random tree algorithm; and fixing the speed PID parameter according to an error stability criterion, keeping the current control output, and readjusting the PID parameter when the disturbance trend changes. According to the invention, the rotating speed control precision and the operation stability of the servo loading system under complex disturbance conditions can be improved.

The invention relates to a multi-motor cooperative control method, system and device based on position and speed double feedback and a self-adaptive sliding mode and a medium, and relates to the technical field of multi-motor cooperative control. The multi-motor cooperative control method comprises the following steps: acquiring an actual position signal and an actual speed signal of each motor, and converting and calculating a position synchronization error and a speed synchronization error between the motors; calculating a position tracking error and a speed tracking error of each motor according to a preset reference position signal and a reference speed signal; fusing the weighted operation position synchronization error, the speed synchronization error, the position tracking error and the speed tracking error to construct a sliding mode surface function; iteratively optimizing the sliding mode surface function according to a preset fuzzy reasoning mechanism, outputting a self-adaptive adjustment amount, updating the original switching gain, and calculating a new switching gain; and calculating the final control quantity of each motor according to the new switching gain, the sliding mode surface function and the saturation constraint function, and outputting the final control quantity to a corresponding motor driver to drive the motor to move.

The invention belongs to the technical field of ship electric propulsion, and particularly relates to a ship electric propulsion dual-mode control system with a multi-redundancy architecture, and the system comprises the steps: firstly, accurately obtaining the actual rotating speed and electromagnetic torque of a motor through a sensor group with redundancy configuration and two-out-of-three voting logic; secondly, calculating load disturbance intensity by utilizing time domain difference analysis, and calculating the deviation between the actual torque and the theoretical hydrodynamic torque in combination with a propeller characteristic coefficient, so as to generate a load anomaly index; generating a dynamic flexible factor with a damping characteristic based on the index by using a Sigmoid function and low-pass filtering logic; and finally, carrying out weighted fusion on output instructions of the rotating speed mode and the torque mode according to the factor. According to the method, normal acceleration and sea wave disturbance can be accurately distinguished, smooth seamless switching between a static water speed stabilization mode and a severe sea condition machine protection mode is achieved, and control oscillation and mechanical damage are effectively avoided.

The invention discloses an efficient brushless motor cogging tension compensation method, which comprises the following steps of S1, performing compensation initialization on a motor, and setting a target electrical angular velocity of the motor; s2, recording initial position information of the motor during rotation through an encoder for performing compensation process state judgment; s3, a PID controller is used for calculating a target voltage value needed for enabling the motor to rotate according to the target electrical angular speed, encoder data is used as an index, and the motor voltage needed for compensating the cogging tension in the lowest operation state of the motor is recorded and stored; according to the method, external equipment is not needed, data are obtained completely by means of a control system and an internal sensor of the motor, such as an encoder of the motor, and compensation is achieved through an optimized algorithm and control logic through a tooth groove tension calibration method. The whole compensation process can be completed in the motor control system, and expensive and complex external equipment does not need to be additionally added.

The embodiment of the invention provides a motor speed observation method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining an electrical angle of a motor; then, gain processing is carried out based on the electrical angle, the observer proportional gain parameter and the observer integral gain parameter, and a proportional integral output value is obtained; next, feed-forward processing is carried out based on the electrical angle and a feed-forward gain parameter, a feed-forward output value is obtained, and the feed-forward gain parameter, an observer proportional gain parameter and an observer integral gain parameter are all generated based on the speed ring bandwidth of the speed ring; and finally, performing superposition processing based on the proportional integral output value and the feedforward output value to obtain a speed observation result of the motor, thereby greatly improving the observation real-time performance and accuracy of motor speed observation.

The present invention relates to a gear-shifting control method, a vehicle controller and a hybrid vehicle. The method comprises: determining whether a clutch is overheated; when the clutch is overheated, performing torque unloading, and making a request for transmission gear-shifting; and performing speed regulation on a first electric motor until the speed regulation is completed. By means of the method, in a gear-shifting speed regulation stage, transmission gear-shifting can be performed when a clutch is overheated, such that the safety and performance of a gear-shifting process can be improved.

To provide a fastening tool capable of restraining or preventing dispersion of a stop position when a driving mechanism stops.SOLUTION: The fastening tool includes a motor having a motor shaft, a housing, a pin-gripping part, a driving mechanism connected to the pin-gripping part and configured to perform rearward movement and forward movement, a position acquisition part configured to acquire a relative position of the driving mechanism, and a motor control part configured to switch a moving direction and a moving speed of the driving mechanism. The motor control unit starts forward movement of the shaft such that the movement speed becomes a first speed, decelerates the movement speed to a second speed slower than the first speed by PWM control for changing a duty ratio output to the motor when the acquired relative position reaches a deceleration position behind the initial position in the forward movement, and stops driving of the motor when the acquired relative position reaches a predetermined braking position in front of the deceleration position and behind the initial position.SELECTED DRAWING: Figure 11

The invention provides a low-delay wireless communication linear motor terminal sliding mode servo control device and method, and relates to the technical field of industrial automation control. The device comprises a master side remote control end and a slave side mobile end, the remote control end comprises an upper computer and a main side industrial gateway; the mobile terminal comprises a slave side wireless communication module, a servo driver, a linear motor body and a state data acquisition module; the method comprises the following steps: firstly, carrying out linear motor dynamic modeling and establishing an error dynamic equation of a linear motor wireless servo system; then constructing a non-singular fast terminal sliding mode surface; a disturbance observer is designed, and control deviation caused by communication delay, external load abrupt change and friction force are regarded as lumped disturbance for real-time estimation; and finally, based on the nonsingular fast terminal sliding mode surface, deducing a control law of a nonsingular fast terminal sliding mode controller, and calculating final control input of the linear motor wireless servo system.

An anti-interference control method for a permanent magnet synchronous motor driving system with output containing measurement noise comprises the following steps: when the permanent magnet synchronous motor driving system is disturbed and current is used as system output to have measurement noise, noise and disturbance suppression is realized through output filtering, an improved equivalent input interference method and control law optimization; the method specifically comprises the following steps: step 1, establishing a permanent magnet synchronous motor driving system state space model considering system state disturbance and output measurement noise; 2, introducing an output filtering strategy, transferring noisy output to a state equation, and combining a filter state and an original system state to form an extension system; 3, a traditional equivalent input interference method is improved, a parameter variable sliding mode observer is constructed to replace a state observer, and the equivalent input interference method is integrated to reduce observation errors; 4, designing a proportional-integral controller, and enabling the expansion system to output tracking reference current; and 5, constructing a Lyapunov function to perform stability analysis, and ensuring that all signals of the closed-loop system are consistent and finally bounded. According to the anti-interference control method for the permanent magnet synchronous motor driving system with the output containing the measurement noise, disturbance and noise are effectively suppressed, and the stability and the control precision of the permanent magnet synchronous motor driving system are improved.

The embodiment of the application discloses a motor control method, a control device, a control system and a vehicle. The motor control method comprises the following steps: obtaining real-time motor data in a direct memory access mode; determining motor control data according to the real-time motor data and target motor data after half of a motor control period; and driving the motor according to the motor control data after half of the motor control period. The embodiment of the application uses the direct memory access mode to replace the CPU to obtain the real-time motor data, saves the CPU computing resources, reduces the CPU processing speed requirement, and further reduces the cost. Moreover, one data update can be completed within half of the motor control period, the output frequency requirement of the control signal is reduced, the requirement of the motor driving system is reduced, the development cost is reduced, and the motor electromagnetic compatibility performance is improved.

The invention provides a clamping mechanism for a pole-climbing robot and a control method of the clamping mechanism. The clamping mechanism comprises a plurality of pairs of clamping units which are symmetrically arranged up and down, a driving unit and a connecting and fixing assembly. The clamping unit is in transmission connection with the driving unit, and the connecting and fixing assembly is used for achieving detachable connection between the clamping unit and the pole-climbing robot body frame. Each pair of clamping units comprises two clamping arms which are symmetrically arranged, an acute inclined included angle is formed between the axis of each clamping arm and the normal of the surface of a climbed object, and when the two clamping arms are closed, a surrounding type structure capable of covering the cross section of the climbed object is formed. The loading capacity of the clamping mechanism can be improved.

The application provides a current sampling system and method, the current sampling system comprising a motor three-phase circuit and a processing module; a first phase comprising a first IGBT chip and a second IGBT chip; a second phase comprising a third IGBT chip and a fourth IGBT chip; a third phase comprising a fifth IGBT chip and a sixth IGBT chip; a sampling unit of the processing module sampling at a wave trough moment and a wave peak moment of a switching cycle to form a first current sampling value and a second current sampling value; a calculation unit extracting effective current sampling data in the first current sampling value and the second current sampling value at the wave trough moment of the switching cycle, and correcting current sampling zero value data in the first current sampling value and the second current sampling value into estimated current sampling data. After the above technical scheme is adopted, the sampling current of the on-chip current sensor in the new generation of IGBT chips can be directly used for motor control, the current sensor in the original circuit is saved, the circuit structure is simplified, and the cost is reduced.

A motor controller 18 is configured to operate a motor 16 of a printing apparatus 14. The motor controller stores a first set of parameters defining a first control function mapping control inputs and

The present disclosure relates to a control method, device and system of a coal mining machine traction system, belonging to the field of coal mining machines. The method is applied to a controller in the coal mining machine traction system. The method comprises: detecting the voltage value of a DC bus in real time; in response to the voltage value being lower than a first preset threshold, obtaining voltage fluctuation information within a preset time period; determining the predicted duration of DC bus under-voltage according to the voltage fluctuation information, and comparing it with a first target duration; in the case where the predicted duration is determined to be less than the first target duration, controlling the output frequency of the frequency converter according to the voltage fluctuation information to perform PID adjustment on the speed of the traction motor, thereby controlling the traction motor to generate power at a reduced speed and feeding the generated power of the traction motor back to the DC bus through the inverter module to maintain the voltage of the DC bus. The robustness of the coal mining machine traction system under under-voltage conditions is ensured, and the reliable production of the coal mining machine traction system is guaranteed.

The stepless speed regulation controller comprises a rectifier circuit for taking power from commercial power and rectifying AC voltage of the commercial power into a 100 Hz DC pulsating signal; a zero point extraction circuit for collecting the 100 Hz DC pulsating signal and converting the 100 Hz DC pulsating signal into a zero-crossing pulse signal through resistance R17, R18 and R19 to the b electrode of the triode Q5, and through resistance R13 to the c electrode of the triode Q5; a controller connected with the zero point extraction circuit for collecting the zero-crossing pulse signal, the controller transmitting the zero-crossing pulse signal to a signal modulation circuit, the signal modulation circuit outputting an H bridge control signal; and an H bridge control circuit connected with the signal modulation circuit, the H bridge control circuit converting the H bridge control signal into a driving signal and outputting the driving signal to a motor. The stepless speed regulation controller is used for improving the reliability of the stepless speed regulation controller.

The invention discloses a four-quadrant operation method under excitation loss fault tolerance of an electro-magnetic doubly salient motor, and belongs to the field of motor control. According to the operation method, a quadrant operation interval is determined through logical judgment of output polarity and rotation speed polarity of a rotation speed ring regulator. The torque pulsation problem existing during torque output is considered, a two-period twelve-state control strategy adopted during positive torque output is designed, and a designed two-period six-state control strategy is adopted during negative torque output. And switching back and forth between the two designed control strategies through designed quadrant judgment to realize torque commutation output. According to the method, smooth switching of the electrically excited doubly salient motor in the four-quadrant state can be achieved, torque ripple suppression can be achieved in the stable state, and the two designed strategies and methods are simple and convenient and high in portability.

A nonlinear and adaptive alternating-current servo electric motor angular position control method and system includes: acquiring original electric motor rotor angular position data; inputting the original electric motor rotor angular position data into a rotor angular position control module; performing second-order time differentiation on the electric motor rotor position data, so as to generate electric motor rotor angular acceleration data; inputting the electric motor rotor angular acceleration data and an output from the rotor angular position control module into an incremental inverse dynamic control module at the same time; and inputting the output from the incremental inverse dynamic control module into an electric motor current control module.

The embodiment of the invention provides a motor control method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining a target speed instruction, and obtaining a real-time rotating speed signal of a motor in a current sampling period; then, based on the target speed instruction and the real-time rotating speed signal, an initial current control instruction is generated; then, based on the real-time rotating speed signal, the real-time angular acceleration of the motor is determined, and a compensation current instruction is generated based on the real-time angular acceleration; and finally, generating a target current control instruction based on the compensation current instruction and the initial current control instruction, and performing operation control on the motor based on the target current control instruction, thereby effectively suppressing resonance disturbance, enabling acceleration and deceleration characteristics of the motor to tend to be gentle, remarkably reducing rotation speed fluctuation, enabling system dynamic response to be smoother, and improving system performance. Therefore, the anti-interference performance and the operation stability of the whole motor transmission system are improved.

Inverter control device (16) which controls an inverter circuit (9), wherein the inverter control device (16) is configured as follows: to calculate an estimated DC current value based on a duty cycle value and an AC current sensor value output by an AC current sensor, to perform a diagnosis of a DC current sensor (12) based on the estimated DC current value and a DC current sensor value output by the DC current sensor (12), and to correct the estimated DC value based on a sum of the AC values ​​of the AC sensor values ​​and to perform the diagnosis of the DC sensor (12) based on an estimated DC value after correction and the DC sensor value.

The present invention relates to an electrical drive system for or in a motor-vehicle, having at least one multi-phase electric machine, which has a double rotor, wherein the double rotor is made from flux-guiding material made of solid material, with a three-stage or multi-stage inverter circuit for driving the electric machine, which has: a controllable three-stage or multi-stage inverter coupled to the electric machine on the output side, which is designed to supply the electric machine with an AC voltage, and an operating mode setting device, which is designed to operate the inverter as a function of at least one parameter influencing the overall efficiency of the electrical drive system, selectively in a three-stage or multi-stage operation or in a two-stage operation.

The invention relates to a frequency converter control method, a frequency converter, a readable storage medium and a program product. The method comprises the following steps: acquiring a power supply phase current under an alpha-beta coordinate system; determining a power supply phase voltage according to the power supply phase current; acquiring a reference voltage and a bus voltage of the output end of the rectification inverter; performing voltage loop control according to the reference voltage and the bus voltage to obtain voltage loop current; performing power control according to the voltage loop current, the power supply phase voltage and the power supply voltage, and determining a reference phase current; the power supply voltage is determined according to the power supply phase voltage; performing current loop control according to the reference phase current and the power supply phase current to obtain a target phase voltage; the target phase voltage is used for adjusting the voltage output by the rectification inverter. By adopting the method, the voltage control is accurate.

The invention discloses an RBF-based sliding mode rotating speed controller parameter optimization and control method and system, and relates to the technical field of motors. According to the method, a sliding mode surface coefficient c, a switching gain eta and an exponential term coefficient q of a sliding mode rotating speed controller are used as parameter optimization objects, an RBF sub-network is constructed for each type of parameters, and a three-branch RBF network is formed; the input vector of the RBF sub-network of the sliding mode surface coefficient c is composed of a motor speed tracking error and differential; and the input vectors of the RBF sub-networks of the switching gain eta and the exponential term coefficient q are sliding mode surfaces formed based on a sliding mode surface coefficient c, a motor speed tracking error and an error derivative, so that the collaborative dynamic optimization of c, eta and q is realized. The gain is increased in the approaching stage to accelerate convergence, the gain is actively reduced in the pre-overshoot stage to suppress overshoot, and the gain is reduced in the steady-state stage to suppress buffeting. The method has high robustness in the face of mismatch of flux linkage and rotational inertia and sudden change of external load.

The application discloses a parameter identification device and method based on a Lugre friction model. The method comprises the following steps: creating a PID closed-loop control system configured with the Lugre friction model, drawing a first characteristic curve of output rotating speed w and friction torque F fric ; identifying Coulomb friction and stribeck speed of the friction torque F fric according to the first characteristic curve; obtaining a peak voltage Umax input by a servo motor; inputting a speed extremely slowly changing identification voltage to the servo motor, the identification voltage rising from an initial voltage to the peak voltage Umax at first and then falling from the peak voltage Umax to a negative peak voltage Umax; obtaining a displacement S between the servo motor and a controlled object, and drawing a second characteristic curve of the displacement S and the identification voltage; identifying bristle stiffness coefficient σ0 according to the second characteristic curve; creating a current loop of the servo motor in the PID closed-loop control system; drawing a third characteristic curve of displacement response of the servo motor; and identifying bristle damping coefficient σ1 according to the third characteristic curve.

To provide an electric machine with rectified rotor windings and a control method thereof.SOLUTION: An electric machine includes a stator defining multiple stator poles with associated stator windings configured to receive a stator current. The electric machine also includes a rotor defining multiple fixed rotor poles with associated rotor windings, the rotor defining a field excited by magnetic fields produced by the stator windings when receiving the stator current to produce relative motion between the rotor and the stator and, the rotor being maintained in synchronicity with the magnetic fields produced by the stator during operation of the electric machine. The electric machine also includes a rectification system configured control against an alternating current being induced in the rotor poles as the field is excited by magnetic fields produced by the stator windings when receiving the stator current.SELECTED DRAWING: Figure 8

The invention provides a servo motor acceleration and deceleration curve implementation method and a servo motor control system, and belongs to the technical field of motor control. The method comprises the following steps: acquiring a target final speed value, a current actual speed value, a target acceleration value and an acceleration efficiency coefficient of the motor servo driver; constructing a smooth speed curve function based on the target final speed value C; calculating the difference value between the target speed and the actual speed, determining the motion direction according to the plus or minus of the difference value, and calculating the theoretical acceleration time T and the smoothing parameter b according to the acceleration; generating a continuous speed reference curve according to the smoothing parameter b and the target final speed C; the speed reference curve serves as a set value of a speed loop, closed-loop control is conducted on the motor through the PID controller, mechanical vibration and noise in the start-stop process are remarkably reduced, the service life of equipment is prolonged, and motion positioning precision and tracking stability are improved.