812results about "Motor parameters estimation/adaptation" patented technology

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 an electric vehicle permanent magnet motor control method and system based on temperature rise prediction, and belongs to the field of motor control. The method comprises the following steps: generating motor temperature rise sample data based on a meshless method; a chaotic mapping-dream optimization algorithm is adopted to optimize multivariate variational mode decomposition parameters, and high-precision temperature rise data are reconstructed; a GNN-BILSTM-Attention prediction model is constructed, and a space-time double Attention mechanism is fused to predict a future temperature rise; and establishing a temperature rise-electromagnetic parameter mapping model, designing a graded early warning control strategy, and forming a prediction-control closed loop. According to the invention, the speed and precision of temperature rise prediction are improved, prediction-control deep coupling is realized, and the operation reliability and control precision of the motor are significantly enhanced.

The invention belongs to the field of synchronous motor rotor position signal acquisition and processing, and particularly relates to a resolver angle compensation method which can improve the motor rotor position signal detection precision. The method comprises the following steps: step 1, acquiring rotary power transformation angle values of n periods; 2, determining an error array of n periods according to the electrical angle value of each period; step 3, performing interpolation calculation on the error array of n periods to obtain a 2-degree error distribution array; and 4, compensating the real-time sampling rotary power transformation angle according to the 2-degree error distribution array.

The invention discloses an intelligent low-voltage servo system based on three-ring control, and relates to the technical field of servo control, and the system comprises a double-shaft servo driver, an azimuth servo motor, a pitching servo motor, an azimuth angle sensor and a pitching angle sensor. The double-shaft servo driver comprises a control board assembly and a driving board assembly. The control panel assembly comprises a position loop controller, a speed loop controller and a current loop controller, and a three-ring cascaded closed-loop control structure is formed based on the position loop controller, the speed loop controller and the current loop controller; and the driving board assembly comprises a power amplification circuit and is used for driving an azimuth servo motor or a pitching servo motor to operate according to the pulse width modulation signal output by the current loop controller. According to the invention, a three-loop control structure of a position loop, a speed loop and a current loop is adopted, and feedforward compensation, disturbance observation and an intelligent management strategy are integrated to improve the dynamic performance and robustness of the system.

The invention relates to a method and equipment for detecting deflection of a galvanometer motor in a medical galvanometer scanning system. The method mainly comprises the steps that a dynamic threshold value library is established, a dynamic threshold value set matched with a current scene is called, and the dynamic threshold value set comprises an angle error threshold value, a vibration threshold value and a driver temperature threshold value; acquiring inner ring control signals in real time, wherein the inner ring control signals at least comprise a motor angle error signal, a vibration signal and a driver temperature signal; carrying out quantitative fusion on the collected signals through a multi-signal weight fusion algorithm and carrying out preliminary judgment; and comparing the preliminarily judged signals with a dynamic threshold group, judging whether each signal meets a corresponding threshold condition or not, and if all the signals meet the corresponding threshold condition, judging that the galvanometer motor deflects in place. Compared with the prior art, the precision is remarkably improved, the normal skin burn risk caused by position deviation is avoided, and the high-precision safety requirement of a medical scene is met.

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 provides a multi-mode temperature control method and device, a vehicle and a computer readable storage medium, and relates to the technical field of temperature control, and the method comprises the steps: obtaining the real-time temperature values of a plurality of regions in a speed reducer, and the temperature of a reference temperature measurement point of an oil pool region at the bottom of the speed reducer; calculating a thermal field gradient difference value; when any thermal field gradient difference value is larger than a preset temperature gradient threshold value, the initial rotating speed of the oil pump motor is subjected to compensation adjustment according to the thermal field gradient difference value, and the compensation rotating speed is obtained; the oil viscosity value of the speed reducer is obtained, and when the oil viscosity value is smaller than a preset viscosity threshold value, the compensation rotating speed is further subjected to compensation adjustment, and a target rotating speed is obtained; controlling the oil pump motor to operate according to the target rotating speed to adjust the flow speed of cooling liquid flowing to the speed reducer, and achieving temperature regulation and control of the speed reducer. According to the method, the temperature field distribution characteristics and the oil physical state are combined to perform double compensation on the initial rotating speed, and temperature regulation and control are performed on the speed reducer based on the compensated target rotating speed to realize effective heat dissipation.

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 provides a servo driving speed control method and system based on position feedback, and relates to the technical field of industrial automation control, and the method comprises the steps: firstly collecting a real-time position feedback signal of a servo driving execution mechanism, and carrying out the analysis to obtain position feedback multi-dimensional feature information; a dynamic association model of position feedback and load change is established by fusing real-time load state signals, and a load position association mapping relation is obtained; pre-judging a position change trend according to the mapping relation and historical operation data and generating a predictive speed regulation reference; then dynamically iteratively correcting the reference based on the real-time position feedback signal to obtain a target speed adjusting instruction; and finally, an instruction is transmitted to an execution mechanism, and a real-time operation state signal is fed back to form closed-loop control. According to the invention, high-precision and high-stability servo driving speed control is realized.

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.

A hydraulic system for a vehicle is provided. The hydraulic system includes a first electric motor, a second electric motor, a gearbox arranged to be driven by the first and second electric motors, a hydraulic pump arranged to be driven by the gearbox, and a control arrangement configured to individually control the first and second electric motors to either run at a reference speed or to deliver a reference torque and during operation control at least one of the first and second electric motors to deliver a reference torque.

The application discloses a kind of permanent magnet synchronous motor rotor initial position correction methods for electric vehicle, comprising the following steps: S 10, motor pre-positioning;S20, motor continuous positioning;S30, motor repeated positioning;S40, take the average of positioning angle;S50, take the rotor electric angle corresponding to each positioning angle sample value;S60, take the average of error of each position time sample value and actual value;S70, save average error value;S80, angle correction;The application realizes the correction of permanent magnet synchronous motor rotor initial position, solves the error generated in the process of installing rotary transformer as motor position feedback signal, ensures the consistency of permanent magnet synchronous motor rotor installation position in production process, improves the efficiency of entire drive system, reduces the probability that even can cause drive system failure in extreme situation, greatly improves the safety of drive system.

The application discloses a kind of accurate positioning method and device of robot joint, method includes: obtaining the first position signal of permanent magnet motor collected by resolver and the second position signal of permanent magnet motor collected by hall sensor, and first position signal and second position signal are respectively stored in the form of N-bit binary number;The low M bit of second position signal is used to the low M bit of first position signal is weighted replacement, obtain the motor weighted position signal after synthesis, in order to realize accurate positioning to robot joint, wherein, M < N.The application replaces the data of part of precision of resolver by part of high-precision data of hall sensor, obtains the motor weighted position signal after synthesis, to obtain accurate motor position signal, and then realize accurate positioning of robot joint.

To provide a motor control unit capable of effectively suppressing torque ripple even when a torque command value close to the upper limit of an output current is given.SOLUTION: A motor control unit 1 includes: a torque ripple compensation value calculation unit 12 that calculates a torque ripple compensation value 25 for compensating a torque ripple generated on a motor 4 based on an electrical angular velocity 24 and a torque command value 21 of the motor 4; a ripple amplitude upper limit calculation unit 14 that calculates a ripple amplitude upper limit 27 as the upper limit for the amplitude of the torque ripple compensation value 25 based on the torque command value 21 and the torque upper limit 26 set for the motor 4; and an amplitude adjustment unit 15 that adjusts the amplitude of each frequency component in the torque ripple compensation value 25 based on the ripple amplitude upper limit 27 and calculates a torque ripple compensation value 28 after amplitude adjustment.SELECTED DRAWING: Figure 1

A rapid detection and automatic release control system for cloth twining on a roller and a dyeing machine thereof relate to the technical field of dyeing machines, overcome the defects that a traditional dyeing machine lifting system is controlled by a frequency converter, and comprise a lifting roller, a servo motor and a servo driver, the servo motor is a non-band-type brake servo motor and is in transmission connection with the lifting roller through a synchronous belt; the servo driver is connected with and controls the speed of the servo motor, and the servo driver further comprises a brake resistor which enables a rotor of the servo motor to generate reverse electromagnetic brake torque and controls the free rotation speed of the rotor of the servo motor. The system can effectively reduce accidents that the fabric is tangled in the roller, reduce fabric wiping marks and improve the fabric quality, and after the system is introduced, a mechanical tangling detection device can be omitted, the machine design can be simplified, the machine cost can be effectively reduced, and the competitiveness is improved.

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.

A drive unit assembly includes a motor having: a motor housing; a shaft extending through the motor housing; a rotor coupled to the shaft; a stator arranged around the rotor; and one or more motor busbars communicatively coupled to the stator. The drive unit assembly further includes a filter having: a filter housing coupled to the motor housing; one or more filter busbars, each filter busbar having an inlet and an outlet configured to communicatively coupled to at least one of the one or more motor busbars; a printed circuit board (PCB) communicatively coupled to the one or more filter busbars; and one or more dissipative components coupled to the PCB.

To provide a motor control device capable of improving accuracy and reliability of magnetic flux estimation.SOLUTION: A motor control device has a voltage command preparation unit (41) generating a voltage command for controlling output voltage of a power conversion device according to a speed command or a torque command of a motor in which a rotor has a permanent magnet, a dead time compensation unit (42) performing a dead time compensation for the voltage command, and a magnetic flux estimation unit (50) estimating a magnetic flux of the permanent magnet. The magnetic flux estimation unit estimates the magnetic flux of the permanent magnet based on the voltage command, and a voltage drop occurring in the motor and the power conversion device, and between the motor and the power conversion device. The voltage drop includes a first voltage drop component due to resistance components, a second voltage drop component occurring due to the dead time compensation, and a third voltage drop component that is the voltage drop from which the first voltage drop component and the second voltage drop component are excluded.SELECTED DRAWING: Figure 1

The application discloses a torque control method, device, equipment, storage medium and program product, and belongs to the technical field of electromechanics. The method comprises the following steps: acquiring an expected output torque, an actual output torque and a current control value of a driving device, wherein the driving device comprises a rotating motor; determining an updated current control value based on the expected output torque and the actual output torque; determining a disturbance current compensation value based on the actual output torque, the current control value and a current compensation model; adjusting the updated current control value based on the disturbance current compensation value to obtain an adjusted updated current control value; and controlling the rotating motor to operate based on the adjusted updated current control value. According to the application, the adjusted updated current control value is more accurate, the number of control adjustments is reduced, and the adjustment efficiency is improved.

The invention relates to the technical field of intelligent sensors, in particular to a servo motor control method for automatic carbon fiber placement equipment, which comprises the following steps of: determining each tensioning action of a carbon fiber silk thread by utilizing a tension curve of the carbon fiber silk thread, determining a tensioning state fluctuation factor of the target tensioning action by utilizing the tension data in the target tensioning action; further determining the tension distribution balance degree of the carbon fiber silk yarn by utilizing each tension state fluctuation factor; determining sequences on the two sides of the balance degree difference sequence of the tension distribution balance degrees by using the tension distribution balance degrees of the carbon fiber threads; and determining the sequence on one side as a to-be-adjusted sequence by using the balance degree difference mean value of the sequences on the two sides, and determining the target rotating speed of the target servo motor by using the balance degree difference value in the to-be-adjusted sequence. According to the technical scheme, the rotating speed of the servo motor is regulated and controlled in a targeted mode according to the real-time fluctuation condition of relaxation changes of the carbon fiber silk yarn, and therefore the weaving quality and stability of the carbon fiber silk yarn are improved.

A method of estimating motor speed includes: calculating a first estimate of rotor mechanical frequency of a motor based on measured time between successive counter pulses, each of the counter pulses corresponding to a fixed number of counts per revolution of the motor; calculating a second estimate of the rotor mechanical frequency based on the number of counter pulses over a fixed period of time; and dynamically revising an official estimate of the rotor mechanical frequency, by weighting the first and second estimates inversely proportional to one another based on the rotor mechanical frequency. A corresponding motor control system is also described.

The invention discloses a motor control system with multi-gear speed regulation. The motor control system comprises a multi-path power supply input unit, a rectification unit, a gear detection unit, a control unit, an inversion unit and a motor, the multi-path power supply input unit is used for receiving external alternating current and carrying out gear switching, the multi-path power supply input unit comprises a path of common input power line and n paths of gear power supply input interface circuits, and n is an integer greater than or equal to 3; the gear power supply input interface circuit comprises a gear signal isolation element; the rectification unit is used for converting external alternating current output by the multi-path power supply input unit into direct current and then supplying power to the control unit and the inversion unit; the gear detection unit is used for detecting a gear signal in each gear power input interface circuit. According to the multi-gear speed regulation motor control system, compared with a traditional alternating current motor scheme, an original wiring mode is not changed, and direct replacement and use are achieved; and the device is efficient, energy-saving, small in size, light in weight, low in noise and low in cost.

The application relates to the technical field of biological sample pretreatment, and discloses a high-efficiency separation method of a tissue cell extraction device. The method comprises the following steps: performing parameter calibration and reference loss modeling of a driving motor, and eliminating background interference of an actuator; applying a disturbance signal to a dissociation chamber, locking the characteristic resonance frequency of a tissue sample through frequency domain energy analysis, and performing pulsating crushing to accelerate the dissociation of a matrix structure; extracting the net torque of the motor in real time, deducing the fluid dynamic viscosity, adaptively adjusting the motor speed according to the viscosity drop trend, maintaining the fluid shear force in a preset target interval, and avoiding mechanical damage to cells; calculating the mechanical energy dissipation power in real time, and performing feedforward temperature control compensation to eliminate temperature overshoot caused by thermal conduction lag. The application realizes closed-loop control of the physical phase evolution of a heterogeneous tissue dissociation process, solves the limitation of a fixed parameter in a traditional method, shortens the dissociation time, and significantly improves the single-cell yield and survival rate.

The invention relates to the technical field of propulsion motor noise control, in particular to a propulsion motor noise control method based on short-time Fourier transform, and the method comprises the following steps: S1, collecting a vibration signal during the operation of a ship propulsion motor through a sensor, and obtaining a signal sequence; s2, converting the signal sequence into a time-frequency two-dimensional signal sequence by adopting short-time Fourier transform; and S3, obtaining an output signal by processing the time-frequency two-dimensional signal sequence. The propulsion motor noise control method based on short-time Fourier transform can continuously monitor the noise level of the motor during the operation period through combining the advantages of the sum, and quickly adjust the control strategy according to real-time feedback, thereby achieving the purpose of automatically regulating and controlling the noise, effectively reducing the operation noise of the motor, facilitating the reduction of the structural fatigue, and improving the reliability of the propulsion motor. The service life of equipment is prolonged, so that the long-term maintenance cost is reduced.

The application discloses a method, system, terminal device and computer readable storage medium for latching motor position. The method comprises the following steps: receiving an interrupt signal, obtaining a control period and a preset delay compensation time value of a probe signal, and obtaining a plurality of position values of a motor encoder; latching a plurality of timer values of a timer inside a motor driving device in the control period; correcting the position of the motor according to a preset motor position correction rule based on the control period, the delay compensation time value, the plurality of position values and the plurality of timer values to obtain a motor position latch value; and latching the position of the motor based on the motor position latch value. The application can effectively improve the accuracy of the latched motor position.

A method for operating a pulse-width modulated electric motor in which at least one bridge branch is actuated with a high-side switch and with a low-side switch in the course of the pulse-width modulation. Between a switching-off procedure of the one switch and a switching-on procedure of the other switch, a dead time is formed that is composed of a hardware dead time duration which changes during motor operation and a software dead time duration which is adjustable. The switching times for the switching procedures that limit the dead time are acquired, and the software dead time is changed as a function of the acquired switching times.

This application provides a control method, apparatus, controller, and vehicle suspension for a linear motor. It relates to the field of vehicle linear motor suspensions. The method includes: receiving a control command sent by a first controller, the control command being used to control the operating state of the linear motor under high-frequency conditions; determining the target magnetic field strength and current direction to be adjusted by the linear motor according to the control command; generating an adjustment signal for the linear motor based on the target magnetic field strength and current direction; and controlling the linear motor according to the adjustment signal, so that the linear motor adjusts according to the target magnetic field strength and current direction. This improves the response speed of the linear motor.

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.

This invention discloses an AI-based predictive maintenance and closed-loop control system for industrial motor health, belonging to the field of motor monitoring and predictive maintenance. The system includes: a multi-dimensional high-frequency synchronous sensing unit for collecting motor operating parameters; a dynamic operating condition feature decoupling unit to eliminate the influence of speed fluctuations on signals under variable frequency drive through order analysis; an electromagnetic-mechanical coupling feature fusion unit to achieve deep fusion of current and vibration signals and construct a composite fault feature map; an artificial intelligence health prediction engine to output quantitative health assessment results based on a spatiotemporal sequence model; and an adaptive closed-loop control execution unit to automatically adjust motor operating parameters according to the assessment results, forming a complete link from sensing and prediction to closed-loop control. This invention solves the problems of high false alarm rate and difficulty in early fault identification under variable frequency operating conditions, achieving accurate assessment and automated closed-loop control of motor health status, significantly improving equipment reliability and intelligent operation and maintenance levels.