2230results about "Motor parameters estimation/adaptation" patented technology

The invention provides a control method based on differential rotation speed torque distribution, which relates to the technical field of intelligent control and comprises the following steps: performing difference calculation on an initial input quantity and a preset rotation speed instruction to generate a rotation speed deviation signal and a deviation change rate, and establishing a dynamic membership function library through a fuzzy controller; mapping the rotating speed deviation and the change rate thereof into a fuzzy language variable, performing reasoning operation according to a preset fuzzy control rule base, and outputting a frequency regulation quantity and a torque compensation coefficient of the frequency converter; and reading the generated torque compensation coefficient and shaft system torque values actually measured by the two torquemeters, calculating a dynamic difference value between the current total load torque and the target torque, establishing a torque distribution weight model according to the transmission characteristics of the differential mechanism, and generating differential torque correction instructions of the two motors in combination with the real-time rotating speed values. The control performance of differential drive is improved.

The invention discloses a self-adaptive logarithmic terminal sliding mode control method and device based on observation, and relates to the technical field of sliding mode control. According to the method, the terminal attractors are nested into the natural logarithmic function, terminal sliding mode control and logarithmic sliding mode control are effectively combined, rapid convergence can be achieved near and far away from the balance point, the global dynamics of the sliding mode surface is improved, and the sliding mode control efficiency is improved. Meanwhile, a self-adaptive logarithmic terminal sliding mode controller is constructed on the basis of super-spiral sliding mode control and self-adaptive gain, the self-adaptive gain is updated according to a self-adaptive law, the self-adaptive law is constructed on the basis of a preset nonlinear obstacle function, intelligent self-adaption of the super-spiral sliding mode control gain is achieved, and therefore sliding mode variables are restrained within a preset boundary; and the interference estimation error is quickly converged based on the estimation of the observer on the interference, the global quick convergence of the state tracking error is realized under the constraint of the sliding mode variable, the steady-state precision is high, the chattering phenomenon is weakened, and the convergence efficiency and the control precision are improved.

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 multi-motor cooperative control method and system based on speed compensation, particularly relates to the technical field of industrial multi-motor control, and is used for solving the problems of compensation misalignment and system oscillation caused by an existing parameter asynchronous drift working condition. Current and voltage signals of each motor are collected in real time, and dynamic resistance and inductance parameters are calculated on line; constructing a parameter variation causal entropy network to quantify causal influence intensity of single machine abnormity on the system, and synchronously generating a system collaborative vulnerability index to realize risk penetration perception; when low-frequency oscillation is detected, harmonic components are extracted, and a sensitivity grading model of parameter mismatch and oscillation frequency is established; a dominant compensation role is distributed based on causal entropy to focus on a key disturbance source, a dynamic amplitude limiting instruction is generated according to collaborative vulnerability to adapt to system stability, and resonance suppression priorities are distributed according to sensitivity levels to optimize resource configuration; and finally, a torque instruction is reconstructed and synchronously issued, so that cross-equipment accurate transmission of compensation energy is realized, and mechanical coupling oscillation is eliminated.

An electric linear actuator has a housing extending along a longitudinal axis. A spindle is provided in the housing and extends along the longitudinal axis. A rod is coaxially coupled to the spindle and extends from a proximal end located in the housing to a distal end located outside the housing. The rod is movable along the longitudinal axis in response to rotation of the spindle. A circuit board is located in the housing adjacent the proximal end of the rod. The circuit board includes a linear inductive sensor having a linear axis oriented parallel to the longitudinal axis. The linear inductive sensor senses an actual position of the proximal end of the rod.

The invention relates to the technical field of electric vehicle transmission and control, in particular to an electric vehicle speed reducer parking motor position feedback system. The system aims at solving the problems that the position feedback precision is reduced, the reliability is insufficient and the redundancy is deficient in a severe environment in the existing scheme. According to the system, through redundancy design of a main position sensing module (a magnetoelectric encoder) and an auxiliary position sensing module (an inductive sensor) and in combination with a multi-source data fusion module (based on Kalman filtering), anomaly detection and fault tolerance, position prediction and compensation and a temperature compensation and self-adaptive calibration mechanism, accurate feedback of the position of the parking motor rotor is achieved. According to the system, the accuracy and robustness of position feedback and the reliability of the system can be remarkably improved, the service life of a parking mechanism is prolonged, and the parking safety is improved.

The invention discloses a rotor unbalance rapid adjustment method based on Kalman filtering, and belongs to the technical field of rotor dynamic balance. According to the method, a rotor rotating speed signal is obtained through a magnetic encoder, and a piezoelectric vibration sensor is triggered to collect a radial vibration signal. In the aspect of signal processing, a zero phase shift filter is adopted to remove noise interference, and an initial phase and an amplitude are extracted by using FFT (Fast Fourier Transform). And calculating a rotating speed change rate based on the sliding time window, and judging whether the rotor is in a steady-state or transient-state working condition. Under the transient working condition, a state space model containing amplitude, phase and rotating speed is constructed, and unbalance adjustment parameters are predicted through Kalman filtering recursion; and under a steady-state working condition, accurately calculating a correction parameter by adopting a least square method. In addition, a least square fitting model based on a sine function is constructed, amplitude estimation is optimized, and the unbalance calculation precision is improved. According to the invention, the unbalance of the rotor can be quickly and accurately adjusted, and the stability and the service life of a rotating system are improved.

The invention provides a rotating speed control method for a brush motor, and relates to the technical field of data processing, and the method comprises the steps: collecting the voltage, current and rotating speed of the brush motor, calculating the change rates of the voltage, current and rotating speed at adjacent moments, constructing a corresponding change rate sequence, dividing the change rate sequence into a plurality of window intervals, and in each window interval, determining the rotating speed of the brush motor; calculating a delay amount group, judging whether the brush motor has response abrupt change or not, recording corresponding response abnormal moments, extracting rate evolution data corresponding to the response abnormal moments, calculating a weighted average rotating speed change rate, and obtaining a predicted rotating speed offset sequence; and according to a difference value between the predicted rotating speed offset sequence and the real-time rotating speed, calculating a compensation voltage increment, generating a compensation voltage signal, and ensuring that the rotating speed of the motor is stable. The rotating speed of the brush motor can be predicted, and the stability of the rotating speed is ensured through voltage correction.

The invention discloses a joint motor control method and system based on an angle sensor, a medium and a product, and relates to the field of general control or adjustment systems.The method comprises the steps that real-time angle data and temperature data of the angle sensor are collected, and a real-time data packet is generated; determining a rapid compensation parameter corresponding to the temperature value, performing preliminary compensation on the angle value to obtain a preliminary compensation angle value, and generating a motor control parameter to control a joint motor to operate; storing a plurality of continuous real-time data packets into a compensation cache region; when the number of the data packets in the compensation cache region reaches a preset number threshold value, temperature change features and angle drift features are extracted, and accurate compensation parameters are calculated; and performing secondary compensation on the preliminary compensation angle value based on the accurate compensation parameter to obtain an accurate compensation angle value, and updating the motor control parameter based on the accurate compensation angle value. According to the invention, response delay caused by a compensation algorithm can be reduced.

The invention relates to the technical field of motor control and sensors, and discloses a displacement error dynamic compensation method, device and equipment and a medium, and the method comprises the steps: obtaining the temperature data and original displacement data of a plurality of temperature measurement points in a moving part and an environment, calling a pre-built nonlinear mapping relation between a temperature gradient and a displacement deviation, and calculating the displacement error of the moving part; based on the nonlinear mapping relation, adaptive filtering is carried out on the temperature data and the original displacement data, a trend component representing temperature drift is separated out, displacement data without the trend component is obtained, and a dynamic compensation instruction is generated based on the trend component and the nonlinear mapping relation; and adjusting the displacement data of which the trend component is removed and outputting compensation displacement data. According to the method, the nonlinear mapping model of the temperature gradient and the displacement deviation is constructed, the drift trend is extracted in combination with multi-point temperature sensing and self-adaptive filtering, the compensation instruction is dynamically generated, accurate real-time correction of the displacement error is achieved, and the responsiveness and accuracy of compensation are improved.

The invention discloses a servo control system and method based on data analysis, and relates to the technical field of servo control, and the system comprises a data collection unit which achieves the communication between a characteristic analysis system and a real object servo system platform through a storage and display mode based on different data sources, and a data analysis unit which carries out the data analysis of the real object servo system platform. The data analysis unit is used for analyzing time-domain characteristics and frequency-domain characteristics of the system and carrying out historical data analysis and real-time data monitoring on stored data, and the data processing unit is used for carrying out related processing on the received data based on a Mallat algorithm. According to the invention, real-time observation and control of speed and position are realized, time-domain characteristic analysis and frequency-domain characteristic analysis can be carried out on response of the servo system, data processing is realized by adopting a Mallat algorithm, and designed PI controller parameters are sent to a servo system controller to realize real-time control of the servo system.

The invention relates to the technical field of motors, and discloses a high-temperature-resistant direct-current coreless gear motor and a test system, and the system comprises a temperature monitoring module, a current regulation and control module, a heat dissipation optimization module, a load response module, a cloud analysis module and a virtual verification module. By arranging the temperature monitoring module, multi-dimensional temperature data during operation of the motor can be acquired in real time, and a temperature distribution diagram can be generated, so that the system can comprehensively sense the internal thermal state of the motor and accurately identify local overheating risk points, thereby improving the operation reliability and safety of the motor under a high-temperature working condition; through cooperative operation and closed-loop control of the current regulation and control module, the heat dissipation optimization module and the load response module, according to real-time temperature and load changes, driving current parameters and heat dissipation resource distribution can be dynamically adjusted, and the heat dissipation efficiency is improved. And the output performance and the torque stability of the motor under high-temperature and high-load conditions are ensured.

The invention discloses a magnetic suspension motor high-voltage working condition self-adaptive thermal management system and method, and belongs to the field of magnetic suspension motors, and the management method comprises the steps: obtaining input voltage information and first rotating speed information, determining second rotating speed information according to the voltage information, and obtaining a high-voltage working condition self-adaptive thermal management result according to the fluctuation deviation of the first rotating speed information and the second rotating speed information; and determining target rotating speed information and controlling the operation of the magnetic suspension bearing according to the target rotating speed information to improve the stability. The motor further comprises a self-adaptive heat management module which is connected with the temperature sensor and used for collecting temperature data in real time and dynamically adjusting the heat dissipation intensity and mode. The module predicts the temperature change trend according to the thermal power and the temperature-heat dissipation correlation model, and starts or adjusts heat dissipation measures in advance, so that the temperature is maintained in a safe range. The operation stability of the magnetic suspension bearing is improved, real-time monitoring and dynamic management of the temperature of the motor are achieved, temperature rise is effectively controlled, safety and reliability are enhanced, downtime is shortened, the service life is prolonged, and energy efficiency is improved.

The invention provides a vibration control method and electronic equipment, and relates to the technical field of terminals. The motor vibration parameter can be obtained by integrating the use state and the electric quantity information of the electronic equipment, self-adaptive adjustment of the vibration parameter is achieved, and the use experience of a user is improved. The method is applied to the folding screen electronic equipment and comprises the following steps: acquiring a use state of the electronic equipment; acquiring electric quantity information of the electronic equipment; and acquiring vibration parameters according to the use state and the electric quantity information. And driving the motor to vibrate according to the vibration parameters.

The invention discloses an electronic switch assembly and a control method of a split-phase starting single-phase induction motor for a household clothes dryer. The assembly comprises an MCU, the MCU is loaded with a real-time algorithm software control program, and the starting speed state of the motor can be detected by analyzing and processing the change of steady-state positive sequence amplitude current in the starting process. Based on real-time positive sequence amplitude current analysis processing, the MCU calculates and detects an overspeed condition in real time, disconnects an auxiliary winding and connects a heater element so as to accurately control the transition of the motor to single-phase operation until a rated rotating speed is reached. Based on real-time positive sequence amplitude voltage and current analysis and processing, the overload condition of rated rotor speed reduction can be detected, and the auxiliary winding can be switched on again to maintain the operation performance of the motor. The assembly includes a housing having a heat sink for efficient thermal management and overheating protection of electronic devices. And an effective, reliable and low-cost solution is provided for the operation of the efficient clothes dryer by ensuring the accurate control on the starting and operating conditions of the motor and the overload protection.

A system for providing inrush current limiting for induction motor starting. The system utilizes a pre-start controller to initialize operation of a controller including multiple switches for controlling the voltage delivered to a motor having multiple phases. The pre-start controller activates each switch and determines whether a phase current flowing through the switches satisfies a threshold current. The switches are deactivated a phase current satisfies the threshold current. The pre-start controller determines an activation order for each phase and orders phases having higher phase currents higher in the order than lower phase currents, and determines an activation timing. Based on whether the highest phase current is positive or negative, the pre-start controller then activates, using a voltage at a corresponding angle and based on the activation order and activation timing, the phases to de-saturate the flux generated by the phase currents, thereby limiting an inrush current provided to the motor.

The invention relates to a servo driver parameter self-tuning oscillation suppression compensation method and related equipment, and the method comprises the following steps: carrying out the multi-channel synchronous collection of an operation state signal of a servo motor, and obtaining a real-time dynamic response data flow; performing time-frequency domain conjoint analysis on the servo motor based on the real-time dynamic response data flow to obtain an oscillation characteristic parameter matrix; performing oscillation source identification on the servo motor based on the oscillation characteristic parameter matrix to obtain an oscillation excitation source classification matrix; performing compensation parameter calculation on the oscillation excitation source classification matrix to obtain a multi-dimensional compensation coefficient set; and performing real-time parameter updating adjustment on the servo driver based on the multi-dimensional compensation coefficient set to obtain a servo control output signal after oscillation suppression, thereby solving the technical problem that a traditional servo driver depends on a fixed parameter setting method, is difficult to adapt to a complex and changeable working condition environment, and cannot effectively suppress an oscillation phenomenon.

The invention relates to the technical field of motor control, and discloses an absolute gravimeter motor control parameter adjusting method and device. The method comprises the following steps: determining a current control stage based on position information, motion information and motion duration of a trailer and a falling body; the intelligent agent corresponding to the stage is used for processing the corresponding state data, and action data is generated to adjust motor control parameters; calculating a reward value by utilizing a stage reward function, storing the empirical data to a corresponding playback buffer area, circulating to a receiving section, enabling the trailer and the falling body to have the same speed, and enabling the distance to be 0; if all the intelligent agents are trained, action data are generated through all the intelligent agents; and if an untrained agent exists, corresponding empirical data is extracted to continue training, and the absolute gravimeter is reset to continue iteration. By introducing an interactive learning mechanism of reinforcement learning, the gravimeter motor control parameters can be adaptively adjusted, the accuracy of trailer and falling body movement is improved, and then the measurement accuracy of gravitational acceleration is improved.

The motor control device that controls driving of a motor connected to a power converter performing power conversion from DC power to AC power, the motor driven using the AC power, includes a carrier wave generation unit that generates a carrier wave, a carrier wave frequency adjustment unit that adjusts the frequency of the carrier wave, and a gate signal generation unit that generates a gate signal for controlling operation of the power converter by performing pulse width modulation of a voltage command corresponding to a torque command using the carrier wave, and the carrier wave frequency adjustment unit adjusts the frequency of the carrier wave in accordance with the torque command and the rotation speed of the motor so that a phase of pulsating torque due to command current generated by the pulse width modulation using the carrier wave overlaps a phase of pulsating torque due to interlinkage magnetic flux of the motor within a predetermined phase difference.

The invention discloses a PWM-based motor signal feedback control method and device, and the device comprises a signal feedback circuit which is disposed on a motor or can be connected with the motor so as to receive a motor feedback signal, and can output a control signal. The method comprises the following steps: setting N different first function relational expressions established by motor state feedback signals and PWM duty ratios d in a main control board, and defining a PWM duty ratio range for each first function relational expression, and the PWM duty ratio ranges are not overlapped; setting A different second function relational expressions established by the motor state feedback signals and the PWM frequency f in the main control board, and defining a PWM frequency f range for each second function relational expression, and the PWM frequency ranges are not overlapped; the main control board accurately adjusts the target value of the motor in real time according to the multiple motor state feedback signals, meanwhile, the hardware structure of the main control board and the hardware structure of the motor are simplified, and cost is reduced.

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.

The invention discloses a deep-cone thickener rake frame driving method and system based on a permanent magnet motor, and belongs to the technical field of mine solid waste disposal and filling, and the method comprises the following steps: collecting real-time operation parameters of the permanent magnet motor, the real-time operation parameters including stator current, voltage, rotating speed and output torque; based on the output torque, whether the deep-cone thickener is in a rake pressing state or not is recognized, and when the deep-cone thickener is in the rake pressing state, the reference rotating speed of the permanent magnet motor is controlled to be reduced; the real-time temperature of a stator winding and a rotor permanent magnet area in the permanent magnet motor is obtained, and when the real-time temperature is higher than a preset threshold value, the output power of the permanent magnet motor is controlled; acquiring historical load data of the deep-cone thickener, and modeling the historical load data and the output torque to obtain a historical load-torque model; and constructing a torque change prediction model based on the historical load-torque model, predicting future torque data by using the torque change prediction model, and identifying an impending rake pressing risk.

The invention relates to the technical field of variable frequency motor control, and discloses an energy consumption optimization regulation method for a variable frequency motor of a shot blasting machine, which comprises the following steps of: acquiring a real-time current signal of the motor, and converting an endogenous high-frequency ripple form into a discrete gear signal reflecting a mechanical load through a signal processing module; according to the invention, the dependence on an external load sensor is eliminated, the adjustment basis is completely established on the electromagnetic characteristics of the motor, the control precision is improved, and the control precision is improved. Not only is the failure risk caused by sensor faults avoided structurally, but also response delay of traditional feedback control is replaced by an instantaneous feedforward mode in control logic, and close following of energy consumption and load is achieved.

A method includes determining a current slew rate associated with a motor of the steering column, determining a speed slew rate associated with the motor, determining a current and speed slew rate threshold for the motor, and determining whether the current slew rate or the speed slew rate indicates a pinch event based on a comparison of the current slew rate, the speed slew rate, and the current and speed slew rate threshold. The method also includes, in response to a determination that at least one of the current slew rate and the speed slew rate indicates a pinch event, selectively instructing the motor to one of stop operation and reverse operation for a calibration period and, in response to the pinch event having a magnitude that is less than a pinch event threshold, selectively instructing the motor to continue operation.

The invention discloses a self-adaptive adjustment control method of a servo motor and a related device, and relates to the technical field of motor control, and the method comprises the steps: obtaining a current motor operation parameter and a motor target operation parameter of the servo motor; calling the control prediction model to perform control signal prediction processing to obtain a predicted motor control signal; performing operation adjustment control processing on the servo motor, and performing acquisition processing on motor operation parameters to obtain a motor acquisition operation parameter set; performing comparison processing based on a motor acquisition operation parameter set and the motor target operation parameters to obtain a comparison error operation parameter set; and inputting the comparison error operation parameter set into a self-adaptive error correction controller to carry out error correction adjustment control processing, generating an adjustment control signal, and carrying out adjustment control processing on the servo motor until the average value of the comparison error operation parameters in the comparison error operation parameter set is within a preset range. In the embodiment of the invention, accurate control of the servo motor is realized.

A battery dynamic equalization apparatus includes a power battery; a motor controller; a direct-current charging and discharging port; and a controller. The controller is connected to the motor controller and configured to: in a first preset state, charge the power battery by the direct-current charging and discharging port, and control bridge arms of the motor controller to alternately charge and discharge a first battery pack and a second battery pack so as to achieve self-heating of the first battery pack and the second battery pack, and allow the absolute value of the difference between the battery level of the first battery pack and the battery level of the second battery pack to be lower than a preset threshold, realizing dynamic equalization of battery levels of the first battery pack and the second battery pack in the self-heating process, thereby improving the battery performance and extending the battery life.

A tool is provided including a motor, a power switch circuit disposed between a power source and the motor, and a control unit that controls the power switch circuit to drive the motor. The control unit is configured to apply a current clip threshold to a current passing through a bus line located between the power source and the power switch circuit to maintain a peak current of the bus line at approximately the current clip threshold. The control unit is further configured to variably control the current clip threshold based on the current passing through the bus line.

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 provides a balance control circuit and method for a fluid rotation inertia angular displacement sensor, which can be applied to the technical field of sensor control. The balance control circuit is characterized in that a position detector detects the angular displacement between a pendulous reed and a shell to obtain a detection voltage under the condition that the pendulous reed and the shell are deflected when a fluid rotation inertia angular displacement sensor is stimulated by an angular vibration signal with a preset frequency; the amplification circuit amplifies the detection voltage to obtain an amplified voltage; the zeroing circuit carries out subtraction operation on the amplified voltage and the reference voltage to obtain angular displacement error voltage; the control circuit performs proportional-integral adjustment on the angular displacement error voltage to obtain a control voltage; and the driving circuit converts the control voltage to obtain driving current, so that the torque coil generates electromagnetic torque under the control of the driving current, the pendulous reed rotates under the action of the electromagnetic torque, and the angular displacement between the pendulous reed and the shell is adjusted to the initial angular displacement.