36results about "Modelling/simulations for control" patented technology

Disclosed are systems and methods for motor control using optimal efficiency reference generation. An electronic controller can determine current values of a motor in a rotating reference frame. Each current value can be associated with a dimension of a set of dimensions of the rotating reference frame. The electronic controller can further determine flux linkage values for each dimension of the set of dimensions of the rotating reference frame based on the current values using an optimization cost function that accounts for motor speed, copper loss, and core loss. The electronic controller can further determine target flux linkage values for each dimension of the set of dimensions of the rotating reference frame. The electronic controller can then control a power switch network coupled between a power source and the motor based on the flux linkage values and the target flux linkage values.

The application discloses a kind of robot joint adaptive super-spiral observation methods based on barrier function, belong to robot joint drive and motor non-inductive control technical field.This method faces the robot joint module using permanent magnet synchronous motor, constructs super-spiral observer, and designs the segmented adaptive gain law based on barrier function, on-line adjustment is carried out to observer parameter, so that position, speed estimation error can quickly converge to preset area in finite time, and disturbance upper limit does not need to be known in advance;Wherein, in the stage of greater error, observation gain is improved to speed up convergence speed, and gain is adaptively reduced after error enters boundary region to suppress chattering, so that rapidity and smoothness are considered.This method can reduce the dependence of robot joint module on position sensor, improve the compactness and reliability of module structure, reduce observation chattering, and improve the position and speed estimation accuracy under the condition of sudden load and parameter perturbation.

This invention discloses a method for estimating the rotor position of a robot servo motor based on circle fitting. The method includes: in each control cycle of the robot servo motor, using a Hall sensor to detect the absolute position of the servo motor rotor in real time and outputting two Hall signals; using a fitted Taubin circle and its parameters to perform debiasing and normalization processing on the two Hall signals output in each control cycle, and calculating the corrected rotor position angle for each control cycle using an arctangent function; wherein the Taubin circle is constructed based on data digitization and robust fitting using the RANSAC algorithm. This invention improves the accuracy of robot joint motor position detection and control performance by fitting a Taubin circle based on data digitization and the RANSAC algorithm, correcting the Hall signals in real time, and calculating the rotor position angle.

Embodiments of the present application relate to the technical field of converters. Disclosed are a data-driven predictive current modeling method and apparatus for a permanent magnet synchronous motor, a medium, and a device, aiming to solve the problem in the prior art of reduced prediction accuracy due to the fact that a predictive current model is prone to noise interference. In the present application, firstly, a data-driven current prediction model of a motor is obtained by considering the impact of a cross-saturation effect on an electromagnetic field in an actual situation; secondly, a ridge regression-based calculation model of a parameter vector in the model is constructed on the basis of historical data; and then dynamic adjustment of a ridge parameter is established by assessing the severity of noise in the data, so as to realize adaptive penalty of the data noise, a target solution of a penalty term is determined, and the parameter vector is further inferred to obtain a final prediction model, thereby improving the accuracy of current prediction under noise working conditions.

Assistance apparatus and computer-implemented method for removing spurious signal components in a measured motor current signal of an electric motor (11) for optimized motor diagnosis, comprising the steps - receiving (S1) the measured motor voltage signal (Um) and a measured motor current signal (Im) measured at the motor (11), - generating (S2) a modelled current signal (Ims) by a motor model (15) depending on the measured motor voltage signal (Um), - generating (S3) a reference current signal (Ips) by the motor model (15) depending on an undisturbed sinusoidal motor voltage signal (Up), - adapting (S4) a noise removal module to infer optimal denoising parameters by inputting the modelled current signal (Ims) and the reference current signal (Ips) into the noise removal module (16), - determining (S5) a denoised motor current signal (Id) by inputting the measured motor current signal (Im) into the adapted noise removal module, and - outputting (S6) the denoised motor current signal (Id) for optimized motor diagnosis.

This invention discloses a rapid electromagnetic-thermal coupling optimization method for permanent magnet motors considering demagnetization. Specifically, it involves finding an initial topology for the permanent magnet motor that satisfies the temperature rise condition after electromagnetic-thermal coupling calculations, and obtaining the average temperature rise of each component of the motor. This temperature rise is then fixed in the parametric electromagnetic model of the motor, and the motor efficiency is calculated using LHS sampling and finite element method. or With the degree of demagnetization D m Furthermore, a demagnetization penalty term is introduced into the efficiency calculation. D m Mapped to a 01 array, denoted as D m_01 Using efficiency data and demagnetization data D m_01 The Kriging response surface and the decision tree response surface were trained separately. Using demagnetization as a constraint, the motor efficiency was optimized and validated using NAGA-II. If the accuracy of the efficiency response surface was insufficient, it was trained and optimized again to enhance its predictive ability in the high-efficiency region of the motor. Electromagnetic-thermal coupling calculations were performed using the highest-efficiency topology predicted by the efficiency response surface to obtain the efficiency. or re .like or re If the requirements are met, the optimization ends; if not, a new round of optimization begins, and this cycle continues.

Conveyor system (1) with a plurality of conveying path units (11A to 11H) forming a conveying path (10) along which one or a plurality of conveying bodies move, wherein the plurality of conveying path units (11A to 11H) each comprise: a plurality of drive units to be supplied with energy in order to generate a thrust force that moves the conveying body; and a processor (27) for determining whether each of the plurality of drive units is in an overload state, and also for determining whether the conveyor path unit (11) is in an overload state, and wherein in each of the plurality of conveyor path units (11A to 11H) the processor (27) performs an overload protection processing which reduces a temperature of the drive unit which is determined to be in the overload state, or a temperature of the conveyor path unit (11) which is determined to be in the overload state.

- Method and system for estimating the electromagnetic torque of a synchronous machine. - The method comprises a measurement step (E1) of the rotor voltage and the stator and rotor currents, a determination step (E2) of a flux-current model of the machine in which the dynamic magnetic uncertainties have a non-zero constant second derivative, a determination step (E3) of a polytopic linear variable-parameter system from the flux-current model, a determination step (E4) of a state observer for the linear variable-parameter system, an estimation step (E5) of the state variables by the state observer, and an estimation step (E6) of the electromagnetic torque from the estimated state variables. Figure for the abstract: Fig. 1

The invention relates to a method for determining the angular frequency (ω) without a sensor. e ) and / or position (φ e ) of a permanent magnet rotor of a brushless electric machine (1), in particular a linear or rotary machine, wherein the electric machine (1) is supplied with a d-voltage (u d ) and a q-voltage (u q ) is provided, where the d-voltage (u d ), as part of an injection procedure, a high-frequency d-test signal voltage (u d,inj ) is applied with a predetermined carrier frequency, whereby several phase currents (i1,i2) of the machine (1) are measured and a demodulated current (i) is calculated based on the measured phase currents (i1,i2). q_dem ) is determined, whereby a d-voltage deviation (Δu) is determined using a motor model (9), in particular a mathematical one. d ) and a q-voltage deviation (Δu q ) is determined, wherein in a fusion device (6) the angular frequency (ω e ) and / or position (φe ) of the permanent magnet rotor based on the demodulated current (i q_dem ) and the d-voltage deviation (Δu d ) and the q-voltage deviation (Δu q ) is determined, wherein the fusion device (6) has a controller (22) with an I-component, in particular an I-controller, to which a sum signal is supplied which depends on the demodulated current (i q_dem ) and the d-voltage deviation (Δu d ) and the q-voltage deviation (Δu q ) and a feedback of the determined angular frequency (ω) e ) and / or position (φ e ) of the permanent magnet rotor.

This invention provides a method and system for controlling the speed of a permanent magnet synchronous motor, belonging to the field of motor control technology. The method first constructs a discrete-time mathematical model of the motor and an external system including lumped reference signals and lumped disturbances, and establishes a composite system model accordingly. Then, a dimension-reduced observer is constructed to estimate the external signals, and state and input transformations are performed in conjunction with regulator equations. Next, a constraint set for the transformed system is constructed, and the state variables are decomposed into nominal components, deterministic error components, and uncertain error components. Furthermore, a time-varying constraint compression set is dynamically constructed based on the errors, and an online model predictive control optimization problem with dynamically tightened constraints is solved to obtain the nominal control quantity. Finally, the nominal control quantity and the estimated external signals are combined to synthesize the actual control voltage. This invention effectively suppresses disturbances, strictly ensures system safety constraints, guarantees the recursive feasibility and closed-loop stability of the control, and improves the dynamic response speed.

The present application relates to synchronous control system, specifically relates to a vehicle-mounted scissor structure lifting platform and a double-motor synchronous control method thereof, to solve the technical problems of poor anti-interference performance and poor synchronization accuracy of the double-shaft synchronous control method used in the existing vehicle-mounted lifting platform, and provide a vehicle-mounted scissor structure lifting platform and a double-motor synchronous control method thereof, in the double-motor synchronous control method, the position loop cross-coupling controller and the speed loop cross-coupling controller in the controller can effectively reduce the synchronization error caused by the coupling between the shafts through the cross-coupling control algorithm, and then the strong robustness characteristics of the sliding mode control are used, the position loop sliding mode controller and the speed loop sliding mode controller are used to eliminate the external interference of the motor, enhance the anti-interference performance of the whole lifting platform, and realize the high-speed and high-precision synchronous operation of the vehicle-mounted scissor structure lifting platform under the condition of large load through the double-shaft cross-coupling synchronization algorithm.

Regarding a control device for controlling the output of an electric motor, this invention provides a technology that can efficiently and effectively adapt the parameters for controlling the output of the electric motor to perform a predetermined task. [Solution] When the control device controls the output of an electric motor to perform a predetermined task, it uses a trained machine learning model to control the output of the electric motor. The machine learning model is trained by reinforcement learning. The reinforcement learning process includes obtaining a first cumulative penalty value and a second cumulative penalty value for each of the first and second parameters, which are generated by adding noise to the current learning parameters, when a predetermined task is performed, and setting the learning rate to suppress learning in the current process when both the first and second cumulative penalty values ​​obtained in the current process are greater than the smaller of the first and second cumulative penalty values ​​obtained in the previous process.

To enable the determination of the cause of load fluctuations in a motor drive control system. [Solution] The system comprises a motor, a mechanical load driven by the motor, a control unit for controlling the motor, a detection means for detecting drive data including input data and output data in a system including the motor and mechanical load, a state monitoring model calculation unit for calculating a state monitoring model composed of multiple parameters using the drive data, and a determination unit for determining the cause of fluctuations in the characteristics of a system including the motor and mechanical load based on changes in the parameters constituting the state monitoring model.

The application discloses a gain scheduling intelligent closed-loop control method based on a permanent magnet synchronous motor, wherein under different working conditions, the gain and error accumulation can be intelligently controlled. The control structure can guarantee the independence of the speed instruction input to the output and the interference input to the output, so that the system has better reference trajectory tracking and interference suppression capability. In order to obtain the best control performance when the parameters are uncertain, a gain scheduling closed-loop control system is used in the advanced pre-input system. Compared with the controller without the controller, the steady-state error is smaller and the dynamic response is better under the condition of external load torque interference and permanent magnet synchronous motor parameter uncertainty.

The application discloses a permanent magnet synchronous motor direct drive control anti-interference torque method and electronic equipment, a control model without interference torque is established according to a vector control algorithm, when no interference torque is introduced, a current loop, a speed loop simulation model and a control flow are established, parameters of the current loop and the speed loop are adjusted, time domain waveforms are similar to simulation, and the purpose of permanent magnet synchronous motor direct drive is achieved. An interference source is introduced, an interference torque signal flow is established, an anti-interference torque simulation model is established on the basis of the interference torque, a transfer function of the anti-interference torque is derived, the purpose of permanent magnet synchronous motor direct drive control anti-interference torque is achieved, and the permanent magnet synchronous motor direct drive control anti-interference torque method is realized in a general electronic equipment.

The present application belongs to but is not limited to the technical field of current prediction control, and particularly relates to a kind of permanent magnet synchronous motor harmonic suppression current prediction control method and system, comprising: S1, the PMSM model considering harmonic disturbance and model uncertainty is established;S2, improved ESMO is designed;S3, error boundedness analysis is observed;S4, sliding mode convergence analysis;S5, DPCC control.The present application can accurately observe the harmonic disturbance caused by inverter nonlinearity and the model uncertainty caused by parameter mismatch, the observation signal and the actual disturbance amplitude, the phase synchronization is good, significantly improves the harmonic suppression ability of current prediction control, enhances the adaptability of system to parameter mismatch and complex working condition, guarantees the stability and control precision of motor drive system operation.

An assistance apparatus and computer-implemented method for removing spurious signal components in a measured motor current signal of an electric motor for optimized motor diagnosis is provided, including the steps: receiving the measured motor voltage signal and a measured motor current signal measured at the motor; generating a modelled current signal by a motor model depending on the measured motor voltage signal; generating a reference current signal by the motor model depending on an undisturbed sinusoidal motor voltage signal; adapting a noise removal module to infer optimal denoising parameters by inputting the modelled current signal and the reference current signal into the noise removal module; determining a denoised motor current signal by inputting the measured motor current signal into the adapted noise removal module; and outputting the denoised motor current signal for optimized motor diagnosis.

The application discloses a kind of brushless doubly-fed motor natural synchronization operating condition operation characteristic analysis method, comprising: based on the frequency conversion of brushless doubly-fed motor winding, obtain the winding loop voltage equation of brushless doubly-fed motor natural synchronization operating condition;Based on the winding loop voltage equation of brushless doubly-fed motor natural synchronization operating condition, equivalent circuit is deduced and solved;On the basis of equivalent circuit solving result, the power angle of brushless doubly-fed motor is calculated, and then the active output characteristic, electromagnetic torque and excitation characteristic of brushless doubly-fed motor are obtained.The present application can clearly analyze the maximum output power and static performance of brushless doubly-fed motor under the excitation of brushless doubly-fed motor constant voltage source, effectively solve the problem that traditional brushless doubly-fed motor equivalent circuit cannot accurately analyze natural synchronization operating condition operation, and provide a theoretical analysis basis for brushless doubly-fed motor control winding DC excitation control mode.

A method according to the invention for determining admittance components (YΣ, YΔa, YΔb) of a three-phase three-phase motor (2) comprises the following steps: a) Generating a first phase current (iU), a second phase current (iV) and a third phase current (iW) which flow through phase windings of the three-phase motor (2), wherein the phase currents (iU, iV, iW) are generated by an inverter (4) to which a motor voltage (uM) is supplied as a control signal, and wherein the motor voltage (uM) is generated by superimposing a fundamental frequency voltage (uf) generated by a current controller (7) and a carrier voltage (uc) generated by a carrier voltage generator (8);b) Acquiring a number (n) of measurement sets with one sampling period (TPWM), wherein each of the measurement sets comprises the first phase current (iU) as the first measurement, the second phase current (iV) as the second measurement, and the third phase current (iW) as the third measurement, and wherein the measurement values ​​of each measurement set are acquired time-synchronously; c) Combining the measurement values ​​of the acquired number (n) of measurement sets to form an input vector (E); d) Multiplying the input vector (E) by a matrix (M) to form an output vector (A); e) Determining an isotropic admittance component (YΣ), a first anisotropic admittance component (YΔa), and a second anisotropic admittance component (YΔb) from the output vector (A).

A motor parameter estimation method is implemented in a motor parameter estimation device. The method includes: obtaining the encoder signal, phase current, and drive voltage of the motor; obtaining the number of motor poles based on the encoder signal and phase current; executing a simulation program based on the drive voltage, the number of motor poles, and an initial random parameter set; the simulation program calculates the simulation response current through a motor response simulation system; calculates the error value between the simulation response current and the phase current; determines whether the error value falls within a threshold range; when the error value falls outside the threshold range, executing the simulation program with the drive voltage, the number of motor poles, and an updated random parameter set; and when the error value falls within the threshold range, outputting the number of motor poles and the initial random parameter set.

Method for sensorless determination of the angular frequency (ωe) and / or position (φe) of a permanent magnet rotor of a brushless electric machine (1), in particular a linear or rotary machine, wherein a d-voltage (ud) and a q-voltage (uq) are provided to the electric machine (1), wherein a high-frequency d-test signal voltage (ud_inj) with a predetermined carrier frequency is applied to the d-voltage (ud) within the framework of an injection method, wherein several phase currents (i1, i2) of the machine (1) are measured and a demodulated current (iq_dem) is determined on the basis of the measured phase currents (i1, i2), wherein a d-voltage deviation (Δud) and a q-voltage deviation (Δuq) are determined on the basis of a motor model (9), in particular a mathematical one.wherein in a fusion device (6) the angular frequency (ωe) and / or position (φe) of the permanent magnet rotor is determined on the basis of the demodulated current (iq_dem) and the d-voltage deviation (Δud) and the q-voltage deviation (Δuq), wherein the fusion device (6) has a controller (22) with an integral component, in particular an integral controller, to which a sum signal is supplied which depends on the demodulated current (iq_dem) and the d-voltage deviation (Δud) and the q-voltage deviation (Δuq) and a feedback of the determined angular frequency (ωe) and / or position (φe) of the permanent magnet rotor, characterized in that the demodulated current (iq_dem) is supplied to a controller with a proportional component, in particular a proportional controller, and an output of the controller with a proportional component is used to generate the sum signal becomes.,

The invention relates to a computer-implemented method for providing a data-based control model for controlling an electric machine (3), comprising the following steps: - Providing (S1) training data points by measuring the electric machine at a multitude of different operating points, wherein the operating points are defined by values ​​of a manipulated variable (u [n] ), at least one controllable system state variable (x [n] ) and at least one uncontrollable system state variable (d [n] ) of a time step, wherein the training data points are determined by the operating points and at least one controllable system state variable (x) assigned to each of them. [n+1] ) of the next time step are determined; - Training or parameterizing (S2) a dynamic model depending on the training data points; - Training (S4) of the data-based control model by performing an optimization procedure based on a given loss function, the trained or parameterized dynamic model, and a selected set of initial system states and setpoints of the controlled variable, in order to optimize model parameters (θ) of the data-based control model, wherein the control model is designed to adjust the manipulated variable (u) depending on current values ​​of the controlled variable, one or more system state variables, and a setpoint controlled variable. [n] to spend.

The application discloses a control method and device of a double three-phase permanent magnet synchronous motor. The direct-axis current, the cross-axis current, the direct-axis voltage and the cross-axis voltage of the double three-phase permanent magnet synchronous motor are acquired, and then the acquired direct-axis current, cross-axis current, direct-axis voltage and cross-axis voltage are input into a model reference adaptive algorithm model to obtain the rotating speed and the rotor position output by the model reference adaptive algorithm model. Finally, the rotating speed and the rotor position are used to control the double three-phase permanent magnet synchronous motor. The compensator included in the model reference adaptive algorithm model is determined based on a forward path transfer function being strictly positive real. The model reference adaptive algorithm model can ensure stability to a certain extent, the obtained rotating speed and rotor position are relatively accurate, and thus accurate control of the double three-phase permanent magnet synchronous motor is realized.

This invention provides a sensorless control method for a permanent magnet synchronous motor, comprising the following steps: S1, simulating to obtain the id iq instruction table; S2, setting the motor speed ω to be less than the field weakening speed point, and collecting the three-phase current, voltage, and T of the motor. e S3, after performing Clark transformation on the three-phase current and voltage, i is obtained. α i β u α u β After obtaining the rotor angle, the position estimation module feeds it back to the park transformation unit and the park inverse transformation unit; S4, i α i β After performing the park transformation, we obtain i d i q The comparator in the current loop is fed back; S5, the id iq instruction table sends a set of instructions i to the comparator. d* i q* The system generates three-phase current through a PI current regulator, Park inverse converter, SVPWM module, and inverter. It then collects current, voltage, and electromagnetic torque, estimates the rotor angle, and repeats the current loop adjustment until the motor stabilizes. Finally, the id iq instruction table sends the next set of instructions. d* i q* S6, repeat S5 until all instructions in the id iq instruction table have been issued, and collect data; S7, calculate the optimal torque-speed-current relationship table through a mathematical model.

For adjusting the movement of the transmission unit of the linear motor, a mass term JT is specified as a function of the adjustment variable (SG) of the active drive coil (4). k The quality function J(SG) is used, and the quality function J(SG) used to regulate the movement of the transmission unit (3) along the stator (2) is optimized with respect to the adjustment variable (SG) to determine the optimal adjustment variable (SG) for the corresponding time step of the movement regulation. opt ), and based on the determined optimal adjustment variable (SG) opt The active drive coil (9) is energized, and at least two movement stages are provided during the movement of the transmission unit (3) along the stator (2), wherein different mass functions J(SG) are used in the at least two movement stages to determine the optimal adjustment variable (SG). opt ), where different mass functions J(SG) are expressed through the mass term JT used. k The number k of (SG) and / or the mass term JT k (SG) and / or weighting factor k k To distinguish them.

The present application belongs to the technical field of energy-saving control of electric drive system, and in particular to a driving execution layer control and multi-motor torque optimization distribution method for pure electric commercial vehicles. 2 The method comprises the following steps: S1: calculating total loss; S2: using a method combining a trend awareness mechanism and a golden section search to perform minimum loss control; S3: establishing a multi-motor torque distribution model; S4: using E An optimization algorithm is used to solve the multi-motor torque distribution coefficient; and S5: issuing a target torque and forming a closed-loop control. The present application establishes a driving permanent magnet synchronous motor loss model, takes copper loss and iron loss as main optimization objects, and provides a clear objective function basis for minimum loss control, which is conducive to directly reducing motor operating loss from the driving execution layer; and a trend awareness mechanism TAM is introduced on the basis of the golden section search method, so as to improve the search efficiency, convergence speed and working condition adaptability of the minimum loss control.

The application discloses a speed control method of a permanent magnet synchronous motor system constrained by current and rotating speed. The method provided by the application comprises the following steps: establishing a dynamic model of the permanent magnet synchronous motor system and converting the dynamic model into a state equation; designing a disturbance observer for unmatched disturbance; determining a penalty function according to the state equation of the permanent magnet synchronous motor system constrained by current and rotating speed obtained in step two and state constraints existing in the system; determining a corresponding adaptive speed controller of the permanent magnet synchronous motor according to the dynamic model of the permanent magnet synchronous motor, the state equation of the permanent magnet synchronous motor, the disturbance observer and the penalty function; and constructing a corresponding Lyapunov function according to the adaptive speed controller of the permanent magnet synchronous motor. The rotating speed and current of the permanent magnet synchronous motor can track a reference signal with a given precision without violating the required constraint conditions, and the method has robustness to external disturbance and uncertain parameters.

This invention discloses a method and system for estimating the temperature of a permanent magnet synchronous motor (PMSM) based on offline data. The method includes: constructing a temperature-considered voltage model of the PMSM; acquiring multiple sets of offline data and obtaining the sum and difference of the products of the dq-axis voltage and current under the offline data through calculation and relationship fitting; and combining the difference between the sum and difference of the products of the dq-axis voltage and current under the offline and online data with the temperature-considered PMSM voltage model to calculate the estimated winding temperature and flux linkage temperature. The system includes: a model construction module, an offline data acquisition module, an offline data calculation module, a relationship fitting module, an online data acquisition module, and a temperature estimation module. Using this invention simplifies implementation and storage, ensures that the temperature remains constant during data acquisition, and improves the accuracy of temperature estimation. This invention, as a temperature estimation method and system for PMSMs based on offline data, can be widely applied in the field of PMSM technology.