141results about "Observer control" patented technology

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 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.

A method includes utilizing a learning model, which has been trained to mimic the nominal control outputs of a model predictive control, to generate a nominal control output for a system that is an aircraft system having one or more system constraints. The method also includes, based on the nominal control output, satisfying each of one or more system constraints, implementing the nominal control output; and, based on the nominal control output not satisfying one of the one or more system constraints, utilizing a safety stability filter that includes a control barrier function (CBF) portion and a control Lyapunov function (CLF) portion to modify the nominal control output and obtain a modified control output, and implementing the modified control output in the aircraft system. A system is also disclosed.

The invention belongs to the technical field of permanent magnet synchronous motor control, and particularly discloses a permanent magnet synchronous motor finite time switching active-disturbance-rejection rotating speed control method, which comprises the following steps: acquiring a reference rotating speed and an actual rotating speed of a permanent magnet synchronous motor; the absolute value of the error between the reference rotating speed and the actual rotating speed is calculated and compared with a preset first threshold value and a preset second threshold value, and the stage of the permanent magnet synchronous motor is judged; constructing a finite time cascade expansion state observer comprising a first-stage finite time ESO and a second-stage linear ESO to observe the state and lumped disturbance of the permanent magnet synchronous motor; and based on the stage of the permanent magnet synchronous motor, selecting a composite state of the observation value of the first-stage finite time ESO, the observation value of the second-stage linear ESO or the observation value of the first-stage observer and the observation value of the second-stage observer generated based on the Bezier curve to generate the rotating speed loop control law of the permanent magnet synchronous motor. According to the invention, the problems that the transient anti-interference capability is weak and the current performance is reduced due to the fact that transient control and steady-state control are not distinguished in the prior art are solved.

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

The 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 an adaptive anti-interference terminal sliding mode control method and device for a servo drive system, and the method comprises the steps: reading a torque current and an actual measurement motor speed, and obtaining a filtered motor speed through a speed filter; calculating a driving torque and a friction torque; lumped interference in the operation process of the servo motor is observed on line through an interference observer, and a lumped interference observed value is output; the chattering phenomenon existing in the lumped interference observation value is relieved through the interference filter; calculating a speed error and a nonsingular terminal sliding mode surface; calculating an adaptive anti-interference terminal sliding mode control law; converting the control law into a torque current reference instruction, and inputting the torque current reference instruction into a current loop of a speed regulation system for execution; and updating the motor speed observation value and the lumped interference observation value. Therefore, the problems that in the prior art, under the non-negligible interference observation error caused by the large interference change frequency, it is difficult to guarantee high-stability operation of the servo motor, and the robust anti-interference capacity is poor are solved.

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.

A motor control device includes: a manual steering command value calculation unit that calculates a manual steering command value using torsion bar torque; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assistance; and a control unit that controls drive of an electric motor based on the integrated angle command value. The manual steering command value calculation unit is configured to, in a driving assistance mode, calculate the manual steering command value using an equation of motion of a reference model of the steering device. The manual steering command value calculation unit calculates the manual steering command value using, as a virtual damper reaction force in the equation of motion, a virtual damper reaction force obtained by adding a virtual damper reaction force according to a derivative of the automatic steering command value to a virtual damper reaction force according to a derivative of the manual steering command value.

The invention relates to the field of flying saw servo control, in particular to a cold cutting flying saw servo synchronous tracking control method and system, and the method comprises the steps: firstly carrying out the time sequence alignment and detrending processing of current and speed signals through a synchronous collection link; secondly, calculating an original torque containing full-band information based on an inverse dynamic model; fast and slow dual-channel filtering is constructed, and high-frequency impact and steady-state load features are extracted respectively; and finally, calculating a dynamic confidence coefficient weight by using transient energy analysis, performing adaptive weighted fusion on the dual-channel signals, and injecting current loop feedforward. According to the scheme, mechanical noise is shielded, and meanwhile rapid compensation of millisecond cutting impact is achieved. According to the method, fast and slow dual-channel filtering based on an inverse dynamic model is adopted, a dynamic confidence coefficient weight is calculated in combination with a transient energy difference value, and self-adaptive fusion compensation of disturbance signals is achieved.

The application relates to the technical field of permanent magnet motor control, in particular to a permanent magnet synchronous motor speed active disturbance rejection control method, medium and equipment, the method comprising the following steps: establishing a state space model of a three-order observer high-order extended observer; adding a low-pass filter on the state space model of the three-order observer high-order extended observer and introducing parameters to obtain a state space model of an improved high-order extended state observer; defining a disturbance sensitive function and a noise sensitive function according to the state space model of the improved high-order extended state observer; quantifying the anti-disturbance performance and noise suppression performance of the active disturbance rejection control through the disturbance sensitive function and the noise sensitive function; and ensuring that the control accuracy and robustness of the active disturbance rejection control system under dynamic working conditions reach optimal performance indexes. The application solves the technical problem of the imbalance among the control accuracy, interference suppression and noise suppression of the existing permanent magnet motor speed control strategy.

The invention relates to the field of motor control, and discloses a switched reluctance motor control method, a switched reluctance motor control device, electronic equipment and a computer readable storage medium. The switched reluctance motor control method comprises the following steps: acquiring a total driving torque of a switched reluctance motor, and distributing the total driving torque to each phase winding of the switched reluctance motor to obtain a plurality of phase driving torques; obtaining a reference phase radial force corresponding to each phase driving torque; obtaining the actual phase radial force of each phase winding; obtaining a phase radial force error based on the reference phase radial force and the actual phase radial force, and generating a compensation phase current according to the phase radial force error; adjusting a motor control signal of the switched reluctance motor according to the compensation phase current; and controlling the switched reluctance motor based on the motor control signal. According to the switched reluctance motor control method, the switched reluctance motor control device, the electronic equipment and the computer readable storage medium provided by the embodiment of the invention, the stability of the switched reluctance motor is improved.

The present invention relates to a method of rotor current estimation of an electric machine (1), the electric machine (1) comprising a converter providing voltage to a primary side of a transformer, the method comprising: - a sampling step (32) in which a sample (34) is taken in the middle of a positive pulse (24) and a sample (36) is taken in the middle of a negative pulse (26) for each PWM period (22) of a voltage waveform (20) generated by the converter; - a balancing step (38) in which absolute current values (40, 42) corresponding to the samples (34, 36) are balanced; and an estimation step (44) in which a current value for the rotor current of the electric machine (1) connected to a secondary side of the transformer is estimated according to the balanced current values (40, 42).

The invention discloses a subsynchronous oscillation suppression method and suppression system for an offshore wind turbine generator, and relates to the technical field of new energy grid-connected control, and the method comprises the steps: obtaining a stator current signal and an actual rotating speed of the wind turbine generator, and carrying out the preprocessing of the stator current signal; constructing a three-order expansion state observer model based on the preprocessed stator current signal, determining an observer gain parameter through simulation optimization, and extracting a disturbance component; calculating an error signal according to a difference value between the preprocessed stator current signal and a first-order state variable output by a third-order expansion state observer model, generating a dynamic compensation signal based on the error signal and a disturbance component in combination with a nonlinear feedback mechanism, and superposing the dynamic compensation signal to an original current instruction to form a corrected current instruction; according to the amplitude of the disturbance component, the resistance, inductance and capacitance of the virtual impedance are dynamically adjusted according to the disturbance amplitude, and a virtual impedance control signal is obtained; and superposing the corrected current instruction and the virtual impedance control signal to generate a final current instruction.

The present invention relates to a method for operating a brushless DC motor (2), in particular a drive motor for an e-bike or a pedelec, which has a stator with at least one stator winding and a rotor equipped with permanent magnets. The method provides that an angular position signal (6), representing the angular position of the rotor relative to the stator, is determined by means of a rotor position sensor device (3) based on a first, sensorless angular position information (4) of the rotor and a second, sensor-based angular velocity information (5) of the rotor. The invention further relates to an arrangement (17) configured for carrying out the proposed method and to an advantageous vehicle.

The invention provides a water-air dual-purpose non-inductive motor direct thrust control method based on a hybrid observation strategy. The water-air dual-purpose non-inductive motor direct thrust control method comprises the following steps: estimating an electrical angle and an electrical angular speed of a motor rotor by adopting a speed-division non-inductive hybrid observation strategy; based on a high and low speed observation algorithm smooth switching mechanism of dynamic hysteresis, smooth fusion of two algorithm outputs in a dynamic hysteresis interval is realized through a weighted fusion algorithm; direct thrust control models are respectively constructed for water-air cross-medium scenes, and direct thrust is controlled by using a fuzzy-adaptive fractional order sliding mode controller. The hybrid observation strategy gives consideration to high-speed and low-speed working conditions, and the observation precision is improved by more than 30%; through a smooth switching mechanism based on dynamic hysteresis, high and low speed switching jitter is eliminated, and angle and speed estimation fluctuation is reduced by more than 40%; the accuracy of flight control response is improved and the control precision is optimized through a non-inductive motor direct thrust control method in a water-air different-domain scene; the thrust response speed is increased by more than 25%, and the control error is reduced to be within 5%.

This invention discloses a speed regulation method and system based on parameter identification, belonging to the field of motor parameter identification technology. It aims to solve the problem that conventional online parameter identification mechanisms use fixed convergence gains, which deviate from underlying thermodynamic laws, leading to oscillating and unstable speed estimation. The method includes: using the thermodynamic law of conservation of energy to determine the highest possible physical rate of change of the motor stator temperature; setting the physical speed limit boundary of the online parameter identification mechanism; obtaining a dynamic convergence gain with physical boundary awareness; constructing a sliding mode observer with an adaptive identification interface; performing stator resistance parameter identification through the received dynamic convergence gain; and resolving the actual rotor speed of the synchronous motor from the obtained stator resistance identification value to adjust the output power of the circulating water pump. This invention suppresses the oscillation and instability of the stator resistance identification value, ensuring the accuracy of speed analysis of the synchronous motor and the stability of the circulating water pump output power under high-temperature alternating conditions.

The application discloses a motor parameter corrector, a method, an air conditioner and a storage medium, wherein the motor parameter correction method comprises the following steps: acquiring a current working current of the motor; determining a target current interval in which the current working current is located; determining a corresponding first correction function according to the target current interval, and outputting a corrected motor parameter according to the current working current and the first correction function, wherein different target current intervals correspond to different first correction functions; and the technical scheme is designed to solve the problem that the existing single set of motor parameters cannot meet the precision of a control model.

The application discloses a kind of drive motor speed control system and its design method, new energy vehicle.Drive motor speed control system includes load observer, speed regulator, damping torque unit, motor torque synthesis unit;Load observer is used to obtain estimated load and estimated speed in real time;Speed regulator is used to receive motor target speed and feedback speed, and according to motor target speed and feedback speed, the output torque of speed regulator is calculated;Damping torque unit is used to receive feedback speed, and according to feedback speed, damping torque is calculated;Motor torque synthesis unit is used to receive estimated load, the output torque of speed regulator and damping torque, and according to estimated load, the output torque of speed regulator and damping torque, motor target torque is calculated;Wherein, feedback speed includes estimated speed or the running speed in the mechanical movement process of drive motor.Implementation improves the anti-interference and robustness of drive motor speed control in the process of vehicle gear shifting.

The invention provides a variable-rate collaborative reaching law nonsingular fast integral terminal sliding mode control method. The method comprises the following steps: designing a disturbance observer, a nominal controller and a compensation controller; the interference observer constructs an observer through the intermediate state vector and the adjustable gain matrix in combination with a smooth gain function to obtain a lumped interference observation value; an improved command filter technology is introduced into the nominal controller, and signal smoothing processing is achieved by dynamically adjusting a weight factor; then, a filtering error compensation mechanism is designed to counteract a filtering error; in the compensation controller, a non-singular fast integral terminal sliding mode surface is constructed through a sliding mode surface function, a fusion tracking error, an error integral term and a smoothing function tanh; designing adaptive estimation; based on adaptive estimation, an adaptive variable rate cooperative reaching law is updated, so that the observation error of the observer is disturbed, and the approximation error of the saturation model is compensated. According to the method, the dynamic response speed and the steady-state precision of trajectory tracking control can be remarkably improved.

The invention relates to a method and a system for improving low-speed operation performance of a frequency converter driving motor, and the method comprises the steps: employing a photoelectric pulse speed measurement sensor to measure speed through a T method, obtaining a motor rotating speed pulse signal of a current motor, obtaining a motor rotating speed through the measurement of a rotating speed observer, and transmitting the motor rotating speed to a sliding window processor; the current rotating speed of the motor is calculated and obtained through the sliding window speed measurement technology, rotating speed fluctuation generated when the photoelectric pulse speed measurement sensor rotates by one circle is extracted in a band-pass filtering mode to obtain the disturbance rotating speed, then the disturbance rotating speed is removed from the current rotating speed of the motor, and the real-time rotating speed used for driving the motor of the frequency converter control system is obtained. According to the invention, interval errors of grating signals of the photoelectric pulse speed measurement sensor caused by low-speed operation of the motor are eliminated through a sliding window speed measurement technology, and installation errors of the photoelectric pulse speed measurement sensor are eliminated through a band-pass filtering processing mode, so that a frequency converter control system obtains more accurate motor rotating speed signals; and the accurate control performance of low-speed operation of the frequency converter driving motor is improved.

The invention relates to an apparatus for determining a temperature of a rotor of an electric machine. The apparatus comprises an interface and a computing device. Input variables which are dependent on the operation of the electric machine are received via the interface. The computing device calculates, by means of a physical model, a first contribution to the heat transfer on the rotor on the basis of at least one of the input variables. In addition, the computing device calculates, by means of an artificial intelligence model, a second contribution to the heat transfer on the rotor on the basis of at least one of the input variables. The computing device calculates the temperature of the rotor on the basis of the first contribution and the second contribution to the heat transfer on the rotor.

The invention belongs to the field of sensorless operation control, and particularly relates to a double three-phase permanent magnet synchronous motor sensorless operation control method, which comprises medium-low speed control and medium-high speed control, the medium-low speed control comprises a high-frequency signal injection method, and the medium-high speed control comprises a sliding mode observer method. The transition interval adopts a weighting function for calculating a weight coefficient based on a cosine function for transition; the high-frequency signal injection method comprises the steps that pulsating high-frequency sinusoidal voltage is injected into the stator, high-frequency components in induced current are modulated through rotor salient polarity, zero and low-speed control is achieved, a phase discriminator structure is reconstructed to eliminate 180-degree position deviation during inversion, and a feed-forward loop is designed to suppress direct-current offset errors of acceleration and deceleration working conditions. The sliding mode observer method comprises the steps of extracting rotor position information through back electromotive force observation, combining smooth output of a phase-locked loop PLL, fusing disturbance suppression capability of an ESO (extended state observer) and noise robustness of the phase-locked loop PLL, and reducing position tracking lag when the rotating speed suddenly changes.

The invention relates to the technical field of motor control, and discloses a disturbance compensation control method of a servo driver, which comprises the following steps: acquiring the operation state of a servo motor to construct a port controlled Hamiltonian kinetic model, and extracting an interconnection matrix and a dissipation matrix; constructing a fractional order superhelix expansion state observer, and obtaining an initial lumped disturbance estimated value; extracting Hamiltonian energy dissipation residual errors to carry out adaptive adjustment on the fractional order superhelix expansion state observer, and outputting a high-fidelity disturbance estimation value; constructing a nonlinear dynamic damping matrix based on the high-fidelity disturbance estimation value to perform energy shaping on the servo motor; and a matching equation is established in combination with the nonlinear dynamic damping matrix and the port controlled Hamiltonian kinetic model, and a compound control law is solved to generate a driving signal to control the servo motor. According to the method, the observer is dynamically adjusted by using the energy residual error, and the damping topology is reconstructed, so that high-frequency chattering and transient oscillation are inhibited, and the anti-interference capability of the system is improved.

The invention belongs to the field of parameter setting of an active-disturbance-rejection controller, and particularly relates to a parameter setting method for an active-disturbance-rejection controller of a permanent magnet synchronous motor based on improved CPO. Firstly, a good point set is adopted to optimize population initialization individual position distribution, population distribution is more uniform, early-stage global search capability and stability are improved, secondly, nonlinear dynamic weight is introduced to better balance global search and local search, and finally, adaptive t distribution disturbance variation is introduced, development capability is improved, and falling into a local optimal solution is avoided. The improved CPO algorithm is used for parameter optimization of the active-disturbance-rejection controller, and the optimized active-disturbance-rejection controller can obtain a good control effect. Compared with an original CPO algorithm, the improved CPO algorithm has the advantages that the optimization convergence speed and convergence precision are greatly improved, finally, the improved CPO algorithm is applied to parameter setting of an ADRC controller, and the improved CPO algorithm can achieve a better control effect.

This invention relates to the field of brushless motor control technology, specifically a sensorless brushless motor control method and system based on a state observer. The method includes: detecting the current of the brushless motor under test to obtain an original operating current set; constructing an original observation model of the state observer; using the original observation model to obtain an observed operating current set; calculating the observation error value between the observed operating current set and the original operating current set; determining whether the observation error value is greater than a minimum error value; if it is, adjusting the original observation model to obtain an adjusted observation model; and recalculating the observation error value until the observation error value is not less than the minimum error value, thus obtaining a target observation model; and calculating the observed rotor position angle and observed rotor speed based on the target observation model. This invention can improve the accuracy of rotor parameter detection and the stability of motor control during brushless motor control.

This invention discloses an integrated control method for a high-speed switched reluctance motor drive system. The drive system includes a voltage source converter (VSC), with each phase of a three-phase AC power supply connected sequentially to the power input terminal of the VSC via resistors and inductors. The switched reluctance motor is driven by an SRM driver, which is interconnected with the voltage source converter. This method establishes an instantaneous power model and calculates the required voltage vector (i.e., P-DBC) by assuming the drive system reaches the expected behavior at the end of each control cycle. This yields the drive voltage of the SRM driver, which is directly provided by the VSC through instantaneous active power control of the P-DBC. This establishes a direct power connection between the VSC and the SRM, and controls the entire system by manipulating the instantaneous power flow.

This invention discloses a linear motor friction compensation method combining model feedforward and observer, belonging to the field of linear motor friction compensation. The invention addresses the problem of frictional abrupt changes in existing permanent magnet synchronous linear motors during positive and negative velocity crossings, where the Stribeck friction model leads to overcompensation. The method includes: calculating the current static frictional force F based on the current mover velocity v. f Take the current static friction force F f The friction force feedforward compensation is calculated as 0.5 times the current value. Simultaneously, an observer estimates the viscous friction force compensation as an auxiliary compensation for the current static friction force based on the q-axis current command and the current actual position of the mover. The friction force feedforward compensation and viscous friction force compensation are converted into a compensation current and then superimposed with the current control command output by the position loop controller to obtain a compensated current control command, which is then input to the current loop. This invention is used for friction force compensation in linear motors.