412results about "General control strategies" patented technology

The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor online parameter identification system and a compensation method thereof, comprising a data acquisition module, a deep transfer learning parameter identification module, a parameter optimization module, a temperature compensation module and a controller parameter integration module. The deep transfer learning parameter identification module establishes mapping and function relations between characteristic factors and motor parameters through a teacher network, a transfer network, a memory network and an output layer, processes time sequence information and outputs a parameter identification result, and the parameter optimization module finely adjusts the parameters based on a particle swarm optimization algorithm. The temperature compensation module carries out temperature compensation on the optimized parameters according to a temperature distribution model, the controller parameter integration module generates control parameters, and the motor control module generates torque control signals according to the control parameters, so that fusion processing of multi-physical field characteristics is realized, and the precision and adaptability of parameter identification are greatly improved; and the d-q axis inductance identification error is reduced by more than 70%, and the millihenry-level precision is achieved.

The invention discloses a feedforward torque compensation control method and system for a photoelectric pod. The method belongs to the technical field of photoelectric pod real-time control. The technical problem that the requirement for high dynamic performance of the photoelectric pod is difficult to meet in photoelectric pod control is solved. The method comprises the following steps: sensor arrangement: arranging accelerometers at each motion axis of the photoelectric pod; signal acquisition and calculation: calculating the angular acceleration of each motion axis through acceleration data output by an accelerometer; calculating the disturbance torque: calculating the disturbance torque of each motion axis through the angular acceleration of each motion axis; calculating a current value of a feed-forward path: calculating a current value required by a motor of each motion shaft to resist the disturbance torque through the disturbance torque of each motion shaft; feed-forward path current and feedback path integration: injecting the current value as a feed-forward signal into a current loop given link in the servo control system, and resisting disturbance of each motion axis by controlling motor current of each motion axis.

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.

An electric drive system includes an electric machine having a stator assembly and a rotor assembly. The stator assembly has a plurality of multi-phase stator windings, including a first stator winding and a second stator winding. A first inverter is adapted to feed the first stator winding. A second inverter is adapted to feed the second stator winding. The rotor assembly includes rotor windings having a single phase. A controller is configured to selectively command excitation of the rotor windings with a pulsed field current such that a direct-axis (d-axis) stator flux linkage is generated. A d-axis stator voltage is induced in the first stator winding and the second stator winding by the d-axis stator flux linkage. Pulsed power transfer is enabled through interaction of the d-axis stator voltage and respective d-axis winding currents in the first stator winding and the second stator winding.

The invention discloses a load prediction-based regenerative braking electric hoist control method for hot-line work, and relates to the technical field of electric hoist control. The method comprises the following steps: collecting parameters of the electric hoist, and obtaining a predicted load weight according to an LSTM model; adjusting parameters of a PID controller according to the load weight, recording the parameters as initial PID parameters, generating a control signal according to the initial PID parameters, and driving the electric elevator to operate; setting a regenerative braking triggering standard, and judging whether the electric hoist reaches the regenerative braking triggering standard or not; if the electric hoist reaches the regenerative brake triggering standard, monitoring the recovered energy and generating an expected cumulative reward Q; and updating the optimized PID parameter according to the expected cumulative reward Q to obtain an updated PID parameter, and generating a control signal according to the updated PID parameter to control the electric hoist. According to the invention, the reliability of control of the regenerative braking electric hoist based on load prediction for hot-line work 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 relates to the technical field of automobile electronic mechanical braking system control, in particular to an electronic mechanical braking system motor control method based on error compensation, which comprises the following steps of: analyzing the difference of each kind of motor data between all adjacent moments within a preset duration before each moment and the amplitude distribution of each kind of motor data in a frequency domain; determining the disturbed degree; determining a coupling correlation index by analyzing the correlation of the disturbances between each type of motor data and all other types of motor data within the preset duration and the interdependence relationship between each type of motor data and all other types of motor data; and the current of the automobile motor at the current moment is controlled. The problem of distortion caused by noise and non-linear interference of a single data source in an electronic mechanical braking system is solved, control deviation and errors caused by multi-physical field coupling are solved, and the accuracy and reliability of motor control are improved.

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.

An electric apparatus includes a rotary electric machine, an electric power control unit, and an AC electric power source connection portion. The rotary electric machine includes a stator core on which a slot shared by a β-phase first coil and a β-phase second coil is formed. The electric power control unit includes: a third full-bridge circuit and a fourth full-bridge circuit that are connected to each of both ends of each β-phase coil; and a third connection-disconnection device and a fourth connection-disconnection device that are connected between each of one end of each β-phase coil and each full-bridge circuit. The AC electric power source connection member is connected to both ends of each connection-disconnection device such that magnetic fluxes are cancelled each other when a current supplied from an external AC electric power source to the β-phase coils that are magnetically coupled flows.

The invention provides a multi-motor cooperative control system based on an open-source real-time operating system, and relates to the technical field of multi-motor control, the system calculates a target rotating speed through an upper computer controller, and ensures that a rotating speed instruction can be simultaneously sent to a plurality of dynamometers by using a real-time controller. By means of the EtherCAT high-speed communication protocol, the system can synchronously transmit instructions with extremely low delay, and it is guaranteed that all the drivers receive and execute the same operation instructions at the same moment. In addition, by setting consistent acceleration and deceleration time and PI control parameters of a speed loop and a current loop in the driver, the synchronism and response performance of the system are further optimized. The invention aims to realize high-precision synchronous operation.

The invention relates to the technical field of motor control, in particular to a coating machine die head motor control method and system based on a neural network model. The method comprises the following steps: acquiring real-time position data, rotation direction identification data and angular velocity change data of each section of motor of the die head of the coating machine and torque feedback data of each section of gap adjusting mechanism, and forming a multidimensional motor state data set containing time sequence marks; constructing a direction sensitive activation function according to the rotation direction identification data and the angular velocity change data; and setting a forward weight coefficient and a reverse weight coefficient based on a direction sensitive activation function to carry out dynamic switching mechanism simulation on the direction dependence characteristic of the mechanical gap. According to the method, inter-segment torque propagation and stress waves are analyzed in combination with the neural network model, multi-segment coordination compensation is achieved, and the problem of inter-segment coupling interference is solved.

The invention discloses a permanent magnet motor state monitoring control system based on petroleum drilling machine driving, and relates to the technical field of permanent magnet motor state monitoring. Comprising a data acquisition and construction module, a data preprocessing and feature extraction module, a dynamic monitoring and trend analysis module, a deep learning evaluation module and a fuzzy control and real-time compensation module, the collected real-time data are stored in a time sequence mode, a data set is established, and complete and accurate basic data are provided for subsequent analysis and model evaluation. Through real-time data acquisition, deep learning evaluation, fuzzy control optimization and error compensation, and adaptive regulation and control of dead zone time, the stability, reliability and energy efficiency of the petroleum drilling machine driving permanent magnet motor are improved, the short circuit risk, energy loss and harmonic damage are reduced, the system performance is optimized, and the operation efficiency is improved.

The invention relates to the technical field of PWM (Pulse Width Modulation), and discloses a method for optimizing double random PWM, which comprises the following steps: randomizing a carrier frequency fc and a pulse position to obtain double random PWM, performing parameter setting on random distribution of the carrier frequency and the pulse position by adopting a Sigmoid function, improving a genetic algorithm by utilizing a particle swarm algorithm, and optimizing the double random PWM. Optimizing a minimum value fmin of a random number of a carrier frequency or a pulse position, a maximum value fmax of the random number of the carrier frequency or the pulse position and a curve transverse adjustment parameter sigma of random number Sigmoid distribution in the double random PWM by adopting an improved genetic particle swarm algorithm; according to the method, harmonic energy is dispersed from frequency and phase dimensions to a wider range through double random PWM, the switching frequency and the harmonic amplitude at the integral multiple of the switching frequency are reduced, random numbers are distributed in a Sigmoid mode, and the carrier frequency and the pulse position can more easily avoid a sensitive area by means of the nonlinear probability density characteristic that samples are more on the two sides and less in the middle, so that the switching efficiency is improved. And EMI peaks caused by extreme parameters in traditional uniform distribution are reduced.

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.

An electric apparatus includes: an electricity storage device; a rotary electric machine including an α-phase first coil and an α-phase second coil; and an electric power control unit that controls electric power transfer of each of the electricity storage device and the rotary electric machine. The electric power control unit includes: a first full-bridge circuit connected to both ends of the α-phase first coil; and a second full-bridge circuit connected to both ends of the α-phase second coil. When electric power is transmitted via the α-phase first coil and the α-phase second coil between the first full-bridge circuit and the second full-bridge circuit, the electric power control unit controls a phase difference between the first full-bridge circuit and the second full-bridge circuit in a range that includes 90° to 180°.

The invention provides a motor driving method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a driving signal parameter of a driving signal corresponding to a current vibration period, and determining a driving stage of the current vibration period and a detection stage of a continuous driving stage; in the driving stage of the current vibration period, driving the motor to vibrate according to the driving signal, and in the detection stage of the current vibration period, obtaining the back electromotive force of the motor corresponding to the current vibration period; and according to the back electromotive force of the motor corresponding to the current vibration period, obtaining the driving signal frequency of the to-be-executed vibration period, and obtaining the driving stage of the to-be-executed vibration period and the detection stage following the driving stage. Through a real-time asynchronous closed-loop control mode, dynamic adjustment of driving signal parameters is realized, and the stability of motor vibration can be maintained when an external load changes.

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 discloses a remote control car motor rotating speed intelligent control method and system based on an efficient response driving algorithm, and the method comprises the steps: employing a multi-objective optimization algorithm, analyzing the road condition, the car speed and environment data in real time, optimizing the operation state of a motor, and balancing the rotating speed precision, the response time and the energy consumption; a reinforcement learning algorithm is combined, and a control strategy is dynamically adjusted according to real-time feedback; the vehicle state is evaluated through a vehicle-mounted sensor, and the motor rotating speed and power output are automatically adjusted; in the low-power-consumption mode, the battery efficiency is automatically optimized, and energy recovery is carried out during braking; the system has sensor fault detection and automatic switching functions, predicts future road conditions in combination with machine learning, and optimizes a driving strategy; according to the remote control car motor rotating speed intelligent control method and system based on the efficient response driving algorithm, quick response is achieved under operation in different environments, accurate rotating speed control is provided, energy consumption is reduced through the intelligent algorithm, and the cruising ability is improved.

The invention relates to a motor control system optimization method and device based on an adaptive filtering algorithm. The method comprises the following steps: acquiring motor operation parameters of a motor in a target time period; adjusting the filter parameter to obtain a first filter parameter by combining the frequency characteristic of the motor operation parameter and the optimal response target of the motor to the motor control system; determining a current operation mode of the motor based on the motor operation parameters, and adjusting the filter parameters to obtain second filter parameters based on a target filtering strategy matched with the current operation mode; and obtaining an adjusted filter parameter by combining the first filter parameter and the second filter parameter, and filtering a control signal of the motor control system based on the adjusted filter parameter to obtain a filtered control signal, so that the motor control system drives a motor to operate according to the filtered control signal. By adopting the method, the control stability and accuracy of the motor control system under variable working conditions can be improved.

An electric apparatus includes: an electric power storage device; a rotary electric machine; an electric power control unit; and an angle sensor that acquires a phase of a rotor of the rotary electric machine. The electric power control unit acquires a target DC component of a current that flows through the β-phase first coil and the β-phase second coil of the rotary electric machine by electric power supplied from an external AC electric power source in accordance with a stop phase of the rotor acquired by the angle sensor at the time of stopping of the rotary electric machine and charges the electric power storage device by an electric power conversion operation based on the target DC component.

An electric apparatus includes an electric power storage device, a rotary electric machine, an electric power control unit, a motor temperature sensor, and a battery temperature sensor. The rotary electric machine includes each coil. The electric power control unit includes a first full-bridge circuit and a second full-bridge circuit that are connected to both ends of each coil, and a third full-bridge circuit and a fourth full-bridge circuit that are connected to both ends of each coil. The electric power control unit controls electric power supply of each coil in accordance with the temperature acquired by each temperature sensor, and switches between and performs a first mode in which a heat generation amount of the electric power storage device is larger than a heat generation amount of the rotary electric machine and a second mode in which a heat generation amount of the electric power storage device is smaller than that of the first mode.

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 discloses a motor control method and device for an automatic and rapid unfolding and folding tent. The method comprises the steps that a motor technical index information set in the working process of the automatic and rapid unfolding and folding tent is acquired; the motor technical index information set comprises a collection information sequence of each type of technical indexes of the motor; acquiring a working current standard value of the motor; preprocessing the motor technical index information set to obtain a preprocessed motor technical index information set; and performing control feedback processing on the preprocessed motor technical index information set and the working current standard value to obtain an input current adjustment value of the motor.

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.

An electric drive system includes an electric machine having a stator assembly and a rotor assembly. The stator assembly has a plurality of multi-phase stator windings including a first stator winding and a second stator winding. A first inverter is configured to power the first stator winding. A second inverter is configured to power the second stator winding. The rotor assembly includes single-phase rotor windings. A controller is configured to selectively command excitation of the rotor windings with a pulsed field current such that stator flux linkage is created in the direct axis (d-axis). A d-axis stator voltage is induced in the first stator winding and the second stator winding by the stator flux linkage in the d-axis.The interaction of the d-axis stator voltage and the corresponding d-axis winding currents in the first stator winding and the second stator winding enables pulsed power transmission.

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