262results about "Observer control" patented technology

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.

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 discloses an active-disturbance-rejection control optimization system and method for a stepping motor servo system, and relates to the technical field of stepping motor control, and the system comprises a signal processing unit which is used for carrying out the filtering processing of an input signal of the stepping motor servo system; the state observer unit is used for calculating the disturbance compensation amount; and the control algorithm unit is used for carrying out active disturbance rejection control optimization on the stepping motor servo system. According to the method, an active-disturbance-rejection control closed loop combining feed-forward compensation and feedback adjustment is effectively constructed, the control precision, robustness and dynamic performance of the stepping motor servo system are improved, and the method has industrial application prospects and technical popularization value.

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 relates to an extended state type permanent magnet synchronous motor rotor position and speed estimation method. The invention relates to the technical field of motor control, and provides an extended state type counter electromotive force observer which takes alpha-beta axis current and alpha-beta axis total disturbance of a permanent magnet synchronous motor as system variables, alpha-beta axis actual current and action voltage as given values, and total disturbance of a system as observer output. And the back electromotive force of the permanent magnet synchronous motor is a main component for observing disturbance. The expansion state type phase-locked loop cancels a traditional PI regulator, the observed alpha-beta back electromotive force serves as phase-locked loop input, an observation angle error is obtained through calculation, and then the angle and speed of the motor are obtained and serve as output. In the angle compensation link, the phase difference between the observed counter electromotive force and the actual counter electromotive force is calculated according to the observer bandwidth and the motor rotating speed, a compensation angle is obtained through calculation, and accurate observation within the full-speed range is achieved.

The invention discloses a speed measurement method of an optimized speed observer, relates to the technical field of vehicle power control, and solves the problem that a small negative value is easily taken as a large positive value or a small positive value is easily taken as a large negative value due to the fact that a deviation angle crosses a period in angle error calculation of an existing speed observer. The speed measurement method comprises the following steps: the acquisition and processing module acquires and processes a pulse signal of the encoder to obtain a feedback angle; an angle estimation value is calculated; taking the difference between the feedback angle and the angle estimation value as a deviation angle, and performing nonlinear compensation to obtain an angle deviation value; inputting a matrix operation framework of a speed observer, and outputting a linear acceleration estimated value; the pulse signal of the encoder is collected and processed again, a feedback angle is obtained, M-method operation and filtering processing are carried out on the feedback angle and the last feedback angle, and the feed-forward speed is obtained; and the speed observer performs weighted fusion operation on the linear acceleration estimated value, the angle deviation value and the feedback angle to obtain a final angular velocity estimated value, so that a final estimated angle is obtained, and velocity measurement is completed.

The invention discloses a suspension flux linkage repetitive control method for a single-winding bearingless flux switching motor. A rotor dynamic eccentric suspension flux linkage model is established according to a magnetic suspension rotor system of the single-winding bearingless flux switching motor; a model compensation repetitive controller with an integral element, a model compensator and a same-frequency phase shift notch filter is arranged in the magnetic suspension rotor system; the integration element is used for eliminating steady-state errors, the model compensator is used for obtaining inverse system output signals so as to obtain accurate displacement control signals, and the notch filter is used for reducing same-frequency pulsation of rotor radial displacement; an expected suspension flux linkage is obtained through calculation of the model compensation repetitive controller, the expected suspension flux linkage is compared with an actual flux linkage obtained by the flux linkage observer to obtain a flux linkage error, expected voltage is obtained through calculation of the flux linkage error, and therefore an inverter switching signal is obtained. According to the method, the radial displacement pulsation of the rotor under the steady-state working condition and the displacement sudden change phenomenon under the dynamic working condition are effectively treated, and good control is achieved.

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 a rotor observation method and device of a permanent magnet synchronous motor, a motor and a storage medium, and relates to the technical field of permanent magnet synchronous motor control, and the method comprises the steps: employing a low-speed observer to observe a motor rotor under the condition that the rotating speed of the motor is smaller than a first preset rotating speed, performing closed-loop regulation on the rotating speed of the motor according to an output result of the low-speed observer; when the rotating speed of the motor is increased to be larger than the first preset rotating speed and smaller than the second preset rotating speed, a low-speed observer and a high-speed observer are adopted to observe a motor rotor at the same time, and closed-loop adjustment is conducted on the rotating speed of the motor according to the output result of the low-speed observer; the second preset rotating speed is greater than the first preset rotating speed; and when the rotating speed of the motor is increased to be greater than a second preset rotating speed, obtaining a synthesis result according to the output result of the low-speed observer and the output result of the high-speed observer, and performing closed-loop adjustment on the rotating speed of the motor according to the synthesis result. The method has the effect of improving the stability of the observer switching process.

The invention discloses a motor driving technology based on the combination of a BP neural network and a PID control algorithm, and relates to the technical field of motor driving control, in particular to a motor driving technology device based on the combination of a BP neural network adaptive algorithm and a PID control algorithm. The invention provides a motor driving technology device based on the combination of a BP neural network and a PID control algorithm and applied to a middle motor of an electric power-assisted bicycle. The technology device comprises the BP neural network, a TMR and HALL sensing observer and a PID controller. The TMR and HALL sensing observers are used for obtaining operation data of the electric power-assisted bicycle in real time; according to the operation data, the expected speed is obtained through the self-adaptive driving algorithm of the BP neural network, then the control current is obtained through calculation, and the PID controller can control the target motor according to the control current so as to achieve assistance. And the feedback circuit also compares the actual operation data with the expected operation data in real time to continuously adjust the PWM signal, so that stable motor assistance is realized, and the assistance performance and the driving stability of the electric moped are improved.

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 the technical field of brushless motor control, in particular to a position-sensorless brushless motor control method and system based on a state observer, and the method comprises the steps: carrying out the current detection of a brushless motor to be detected, obtaining an original operation current set, constructing an original observation model of the state observer, obtaining an observation operation current set through the original observation model, and obtaining a position-sensorless brushless motor. Calculating an observation error value of the observation operation current set and the original operation current set, judging whether the observation error value is greater than a minimum error value, if so, adjusting the original observation model to obtain an adjusted observation model, and calculating the observation error value again until the observation error value is not less than the minimum error value to obtain a target observation model; and calculating an observation rotor position angle and an observation rotor rotating speed according to the target observation model. According to the invention, the accuracy of rotor parameter detection and the stability of motor control during brushless motor control can be improved.

The invention provides a motor control method and device, equipment and a medium, and the method comprises the steps: obtaining at least two groups of sampling signals of a motor, verifying the validity of the sampling signals, determining the rotation angle of the motor based on effective signals if at least one group of sampling signals is effective signals, and collecting the electrical parameters of the motor if the sampling signals are invalid, calculating a rotation angle of the motor according to the electrical parameters, calculating the rotation angle and a preset motor zero angle to obtain a current angular position of the motor, and further controlling the motor based on the current angular position; the method does not independently depend on sensor signals for recognition, and for various conditions that the sensor signals are valid or invalid, the angular position of the motor can be calculated by adopting an angular position calculation mode corresponding to the sensor signals, so that the calculation flexibility of the angular position of the motor is improved, and the fault tolerance and adaptability of motor control are enhanced.

A magnetic suspension pump anti-disturbance control method comprises the steps that torque current, rotor angle and suspension current of a magnetic suspension pump are given according to a certain step length, suspension force under corresponding conditions is measured, and the corresponding relation among the torque current, the rotor angle, the suspension current and the suspension force is recorded; fitting the corresponding relation into a conversion formula or summarizing the corresponding relation into a table, and setting the table in a force / current conversion module; designing a suspension position loop module based on an improved active-disturbance-rejection control method added with magnetic suspension pump key information; setting parameters of a state observer and a controller in the suspension position ring module; the force / current conversion module is combined with the suspension force instruction, the rotor angle and the torque current to generate a current instruction, and suspension winding current is generated through the current closed-loop module and output to the magnetic suspension pump; and judging whether the impeller returns to the center balance position or not, and if not, continuing to adjust until the impeller returns to the center balance position and is stably suspended. According to the invention, the problem of unstable suspension displacement caused by sudden load change of the magnetic suspension pump is solved.

The present invention relates to the technical field of motor control, and provides a transfer function identification method based on iterative optimization. The transfer function identification method comprises the following steps: model derivation; initial value setting; actual data measurement; iterative optimization; stable output; and convergence determination. According to the present invention, an iterative learning filter is integrated into a batch least squares identification algorithm, so that the identified data is more accurate, the design of a high-accuracy controller is facilitated, and the anti-interference ability is strong, thereby achieving high parameter identification accuracy, and achieving high-speed and high-accuracy control of a system. An approximately feasible optimal solution is obtained by calculating by means of torque estimation, so that the reliability of the solution is ensured and the solution can better approximate an accurate value compared to a manually estimated initial value. Not only the step of manually estimating the initial value can be effectively eliminated, but also the identification accuracy of the transfer function is ensured, improving the open-loop precision and response speed of an engine.

The embodiment of the invention relates to the field of servo control, in particular to a servo system, a motor control method based on the servo system, equipment and a medium, and the system comprises a position loop control module, a speed loop control module and a motor module which are connected in sequence; the position loop control module comprises a position adjusting module, a speed feed-forward compensator and a speed error device; the position adjusting module is used for generating a speed instruction according to an obtained position instruction sent by the upper computer and a feedback position of the motor module; the speed feed-forward compensator is used for determining the compensation amount of the speed instruction according to the position instruction and a compensation formula; the speed error device is used for superposing the compensation amount and the speed instruction as a target speed instruction; the speed loop control module is used for receiving the target speed instruction, obtaining the feedback speed of a servo motor in the motor module, and outputting an electromagnetic torque instruction according to the target speed instruction and the feedback speed to drive the servo motor to work. By controlling the servo motor, the position dynamic following error can be reduced.

A traction control method for a vehicle, in which a driving motor and a torque vectoring motor are controlled based on motor traction control torque, includes determining, by a disturbance observer based on a vehicle model, observer torque based on the slipping wheel actual speed and a torque vectoring motor torque, which are feedback information obtained from a vehicle in which the driving motor and the torque vectoring motor are controlled, and determining torque vectoring motor traction control torque based on the determined observer torque and a speed control torque determined based on a torque-vectoring-motor-based wheel speed error among motor-based wheel speed errors.

The invention discloses a singular perturbation-based preset performance control method for a multi-motor driving system, which realizes effective control on slow and fast states and ensures the performance and stability of the system in the presence of singular perturbation. The method comprises the following steps: carrying out dynamic modeling on a multi-motor driving system, and decomposing a dynamic equation of the system into a fast subsystem and a slow subsystem by adopting a singular perturbation system; converting the tracking error by using a preset performance boundary, and obtaining a dynamic equation of the conversion error; the method comprises the following steps: converting an original limited tracking error into an unlimited tracking error through error conversion, converting an original limited tracking control problem into an unlimited tracking control problem, and ensuring that the converted tracking error is bounded, so that the original tracking error is kept within a preset performance boundary; designing a sliding mode surface and a disturbance observer, and estimating external disturbance suffered by the system; and designing a sliding mode controller, and performing compensation control by using the estimated external disturbance.

The present invention relates to the technical field of motor control, and disclosed are a motor control method and apparatus, a medium, and an electronic device. The method comprises: acquiring feature parameters of a motor; on the basis of the feature parameters, determining a stator flux parameter of the motor; on the basis of the stator flux parameter, performing compensation processing to obtain a target rotor flux parameter; on the basis of the target rotor flux parameter, determining a locking and synchronization angle of the motor; on the basis of the feature parameters, acquiring the current control angle of the motor; and on the basis of the current control angle and the locking and synchronization angle, determining a control angle of the motor.

The present invention relates to the technical field of vehicle motors. Disclosed are a motor rotor position correction method and an electronic device. The method comprises: acquiring a first signal and a second signal, wherein the first signal is a signal inputted by a resolver, and the second signal is a signal observed by an angle observer; on the basis of the first signal and the second signal, determining a feedforward correction function, wherein the feedforward correction function is used for carrying out feedforward correction on an output angle of a motor rotor position; and using the feedforward correction function to determine a correction angle of the motor rotor position. The present invention solves the technical problem in the prior art of poor motor control stability caused by a large error of a motor rotor position obtained by calculation.

The invention discloses an electric cylinder friction force parameter and state simultaneous estimation method and device and a medium. Aiming at the stick-slip phenomenon and the oscillation phenomenon caused by friction force in low-speed movement, the friction force model of the servo electric cylinder is constructed by combining a traditional static friction force model and a dynamic LuGre friction force model. And on the basis, according to a moment balance equation, a dynamic model of the servo electric cylinder is established. A motion state predictor of the servo electric cylinder is designed by means of a kinetic model and a friction force model of the servo electric cylinder. And updating a friction force state estimation error by using the motion state prediction error, designing a friction force state observer, and estimating the friction force state. In combination with the estimation of the friction force state, the self-adaptive law of the friction force model parameters is constructed, and the friction force model parameters are estimated online, so that the precise estimation of the friction force borne by the servo electric cylinder is realized, and the precise compensation effect of the servo electric cylinder system on the friction force is realized.

A method for operating a motor drive to supply power to an electric motor comprises: measuring a first phase current and a second phase current in the electric motor; calculating, based on the first phase current and the second phase current, an estimated third phase current in the electric motor; determining an estimated motor current using a current observer and based on the first phase current, the second phase current, and the estimated third phase current; determining, based on the estimated motor current, a voltage command; and commanding, based on the voltage command, an inverter to supply an alternating current (AC) power to the electric motor.

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.