85results about "Observer control" patented technology

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.

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 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.

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 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 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 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.

A method of determining the instantaneous operating state of an electric machine for its sensorless control with signal injection, comprising: injecting a HF supplementary excitation into the drive voltage of the electric machine, thereby modulating the drive current (y) of the electric machine by a modulating signal (z), measuring the drive current (y) of the electric machine, and estimating a state variable (x) of the electric machine using the measured drive current (y), wherein the estimation step includes: generating a modulation basis (s) from the excitation, multiplying (P1) the measured drive current (y) by a demodulation basis (r), which is correlated with the modulation basis (s), to obtain a first intermediate signal (ry), multiplying (P2) the transpose (sT) of the modulation basis (s) by the demodulation basis (r) to obtain a second intermediate signal (rsT), applying (F1) a set of finite-length filters to the first intermediate signal (ry), and applying (F2) the same set of finite-length filters and their moments to the second intermediate signal (rsT), to obtain a linear equation system (L), solving the linear equation system (L) to obtain the modulating signal (z), and estimating the state variable (x) based on the modulating signal (z)

The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor control method and system for reducing heating loss, and the method comprises the steps: collecting the current data of each phase of a stator in a permanent magnet synchronous motor and the vibration data of a bearing pedestal in real time; obtaining a change coefficient, a three-phase unbalance degree and a current change characteristic value of each phase in each time period; according to the fluctuation degree and the pulse characteristic of the vibration data in each time period, obtaining an abnormal vibration characteristic value in each time period; synthesizing the current change characteristic value and the abnormal vibration characteristic value to obtain a comprehensive change value of the permanent magnet synchronous motor in each time period; obtaining a difference coefficient in each time period; the rotating speed of the permanent magnet synchronous motor is regulated and controlled, the heating loss of the permanent magnet synchronous motor is reduced, and the prediction step length parameter of model prediction control is adjusted through the difference coefficient. The invention aims to reduce the heating loss of the permanent magnet synchronous motor in time.

The application provides a high-disturbance-resistance layered torque control strategy for a double-stator switched reluctance motor, which comprises a high-disturbance-resistance control system of a speed outer ring and a layered torque control system of an inner ring. The model information assisted active disturbance rejection controller is adopted in the outer ring, the total disturbance is decomposed by using the known model information, the unknown disturbance is observed and compensated in combination with the actual speed feedback, the bandwidth requirement of the observer is reduced, the high-disturbance-resistance control is realized, and the total reference torque is output; the first layer of the inner ring layered torque control is inter-stator torque distribution, the load torque and the speed are taken as inputs, the optimal torque distribution ratio is optimized offline by using a genetic algorithm and is predicted online by using a support vector regression, the reference torque of the inner and outer stators is generated, the second layer is phase-to-phase torque distribution, and an improved torque distribution function is adopted, the reference torque of each phase is dynamically generated in combination with the rotor position and the actual torque of the previous phase. The outer ring can improve the disturbance resistance performance of the system, and the inner ring can suppress torque ripple and improve the operation efficiency.

It is described a method of operating an, in particular multiple winding set, electrical synchronous machine (2), in particular during synchronization of a position observer, comprising a rotor (3) and a stator (4) having a first winding set (5) and in particular at least one second winding set (6), the method comprising: using a first position observer (12_1) configured to observe the first winding set (5) in order to observe a first value (13_1) of the rotor position, in particular based on an external initial value of the rotor position; synchronizing the machine (2) based on the first observed value (13 1) or an external initial value of the rotor position.

The invention relates to an anti-load disturbance control system for main transmission of a rolling mill, which comprises a double-closed-loop control system and a load observer, and is characterized in that the double-closed-loop control system comprises a speed regulator, a torque current converter, a current regulator, a converter and a motor which are connected in sequence. The load observer calculates and outputs the comprehensive observation torque under load disturbance by collecting the actual rotating speed and the actual torque of the motor, the comprehensive observation torque serves as the additional given value of the dynamic torque and is superposed on the torque output by the speed regulator to jointly generate the torque, so that the electromagnetic torque of the motor is rapidly increased, the dynamic speed drop is reduced, and the recovery time is shortened. According to the anti-load disturbance control system for the main transmission of the rolling mill, the dynamic prompt drop of the motor can be effectively inhibited, the anti-load disturbance performance of the system is improved, and the product quality is ensured.

The invention discloses a switched reluctance motor model prediction control method based on fuzzy weight regulation, which introduces a fuzzy logic weight regulation mechanism on the basis of traditional model prediction control, and constructs a discrete time prediction model by collecting the rotating speed, phase current, voltage and load torque information of a motor in real time, so as to predict a switched reluctance motor model. And combined prediction of the current and the torque is realized. And establishing a multi-target cost function according to a prediction result, taking a torque error and a current error as optimization targets, and adjusting a weight coefficient in the cost function on line by using a fuzzy controller according to a real-time operation state, thereby dynamically balancing the torque tracking performance and the system stability. A load estimation module based on a sliding-mode observer is designed, an accurate torque estimation value is obtained through filtering processing, and the torque estimation value is fed back to a fuzzy controller to achieve self-adaptive optimization. According to the method, quick response and stable output can be kept under various operation conditions, the torque ripple is remarkably reduced, and the dynamic and steady-state performance of the system is improved.

The application belongs to the technical field of permanent magnet synchronous motor control, and specifically discloses a limited time switching active-disturbance-rejection speed control method for a permanent magnet synchronous motor, which comprises the following steps: obtaining a reference speed and an actual speed of the permanent magnet synchronous motor, calculating the absolute value of the error between the reference speed and the actual speed, comparing the absolute value with preset first and second threshold values, and determining the stage of the permanent magnet synchronous motor; constructing a limited time cascade extended state observer including a first limited time ESO and a second linear ESO to observe the state and the lumped disturbance of the permanent magnet synchronous motor; and based on the stage of the permanent magnet synchronous motor, selecting the observation value of the first limited time ESO, the observation value of the second linear ESO, or a compound state generated by the observation value of a one-two level observer generated based on a Bezier curve to generate a speed loop control law for the permanent magnet synchronous motor. The application solves the problem of weak transient disturbance resistance in the prior art, and the problem of current performance decline caused by the failure to distinguish between transient control and steady-state control.

The invention relates to a low-rotating-speed motor control method based on disturbance compensation, and the method comprises the following steps: 1, designing a position loop controller, and achieving the closed-loop control of a position loop; 2, performing compensation design on the position loop controller designed in the step 1; 3, weighting the output value of the position loop controller subjected to the compensation design in the step 2 and the system disturbance observation value to obtain a compensated position loop control quantity; and step 4, realizing position control on the rotating shaft of the low-rotating-speed motor based on the compensated position loop control quantity obtained in the step 3. The method does not depend on building of a precise motor model, the robustness of the system is enhanced, and low-speed and high-precision motor control of the motor is achieved.

This invention relates to the field of flying saw servo control, specifically to a servo synchronous tracking control method and system for cold-cutting flying saws. First, a synchronous acquisition link is used to perform time-series alignment and detrending processing on current and speed signals. Second, based on an inverse dynamics model, the original torque containing full-frequency information is calculated. Then, fast and slow dual-channel filters are constructed to extract high-frequency impact and steady-state load characteristics, respectively. Finally, transient energy analysis is used to calculate dynamic confidence weights, and the dual-channel signals are adaptively weighted and fused, with a current loop feedforward injected. This scheme achieves rapid compensation for millisecond-level cutting impacts while shielding mechanical noise. This invention employs fast and slow dual-channel filtering based on an inverse dynamics model, combined with transient energy difference calculation of dynamic confidence weights, to achieve adaptive fusion compensation of disturbance signals.

Disclosed in the present application are a rotor observation method and apparatus for a permanent magnet synchronous motor, and a motor and a storage medium. The rotor observation method comprises: when the rotational speed of a motor is less than a first preset rotational speed, using a low-speed observer to observe a rotor of the motor, and on the basis of an output result of the low-speed observer, performing closed-loop regulation on the rotational speed of the motor (S110); when the rotational speed of the motor increases to be greater than the first preset rotational speed and less than a second preset rotational speed, simultaneously using the low-speed observer and a high-speed observer to observe the rotor of the motor, and on the basis of the output result of the low-speed observer, performing closed-loop regulation on the rotational speed of the motor, wherein the second preset rotational speed is greater than the first preset rotational speed (S120); and when the rotational speed of the motor increases to be greater than the second preset rotational speed, obtaining a synthesis result on the basis of the output result of the low-speed observer and an output result of the high-speed observer, and on the basis of the synthesis result, performing closed-loop regulation on the rotational speed of the motor (S130).

The invention discloses a twinborn control-oriented self-adaptive model prediction control method for a magnetic drive rotor. The method comprises the following steps of: 1, establishing a prediction model of a parameterized discrete state space of the magnetic drive rotor; 2, starting a magnetic drive rotor system, and enabling the magnetic drive rotor system to stably operate by adopting a traditional controller; 3, actual measurement data of rotor displacement and coil current of the magnetic drive rotor system are collected; 4, continuously identifying the key parameter set of the prediction model based on measured data to obtain a real-time parameter estimation value; 5, updating the real-time parameter estimation value to the current prediction model, and estimating the full state of the magnetic drive rotor; step 6, calculating an optimal control sequence and controlling a magnetic driving rotor according to the optimal control sequence; and step 7, continuously and repeatedly executing the step 3 to the step 7. According to the invention, the control precision, the adaptive capability and the robust stability of the magnetic drive rotor system in the whole life cycle are obviously improved.

The invention discloses a multi-axis servo system adaptive vibration suppression system and method and a computer readable storage medium, and the system comprises an intelligent sensing and decision-making layer which comprises an application interface node, a trajectory planning node and a vibration observation node; the application interface node is used for receiving an external motion instruction and converting the external motion instruction into a system internal instruction, the trajectory planning node is used for generating a smooth motion trajectory instruction, and the vibration observation node is used for identifying vibration characteristics in real time and calculating an optimal compensation parameter; the servo driving layer comprises a plurality of servo drivers and servo motors driven by the servo drivers; and the EtherCAT communication layer comprises an EtherCAT master station node and is used for carrying out real-time and synchronous data transmission between the intelligent sensing and decision-making layer and the servo driving layer, and the EtherCAT master station node is used for carrying out real-time and synchronous data transmission between the intelligent sensing and decision-making layer and the servo driving layer. And the vibration suppression effect is obviously improved.

The application discloses a kind of high-order full-drive motor control methods of prediction compensation, belong to the technical field of motor control, comprising: the dynamic model of motor is discretized, and high-order full-drive discrete model is obtained;Predictive high-order full-drive observer is constructed;Synthesis includes stable and tracking component compound control law;Determine high-order full-drive discrete model gain and predictive high-order full-drive observer gain;Compound control law is applied to motor system, and the stable tracking of reference trajectory is realized.The application can maintain the internal consistency between motor system and physical law;While real-time estimation and compensation are carried out to unmeasurable state;And the collaborative design of controller and observer is realized by parameterization design method, so as to guarantee the stability and high-precision trajectory tracking performance of system under discrete time condition, which can effectively improve the control precision, response speed and robustness of motor system under high dynamic working condition.

The invention relates to a motor torque control method and system and computer equipment, and the method comprises the steps: firstly presetting a given speed value, superposing a given disturbance value, and inputting the superposed value into a motor mechanical equation model, thereby obtaining the position information of an encoder; inputting the position information of the encoder and the given speed value to a speed estimator to obtain a speed estimated value, and inputting the position information of the encoder and the given speed value to a disturbance estimator to obtain a reverse disturbance torque estimated value; subtracting the speed estimated value from a given speed value, inputting the value into a speed control ring to obtain a first torque, and superposing the first torque and the reverse disturbance torque estimated value to obtain a second torque; and judging whether the second torque can counteract the given disturbance value or not, if yes, completing the control of the motor torque, and if not, repeating the operation steps until the control of the motor torque is completed. According to the invention, the anti-disturbance capability of the motor system is improved, and the torque of the motor is stably controlled within a certain range.

The invention relates to the technical field of intelligent compensation control, in particular to a linear motor driving system control method based on robust baseline control and adaptive compensation. The method comprises the following steps: establishing a linear motor state space model; a dynamic output feedback baseline controller is obtained by iteratively solving a Riccati equation set based on a disturbance suppression level index, a closed-loop matrix is extracted, and a baseline control signal is output; calculating a steady-state gain and filtering the reference input to generate a steady-state feed-forward control signal; estimating the total uncertainty on line through a state predictor, constructing a projection operator to decompose the total uncertainty into a matched component and an unmatched component, performing output equivalent mapping on the unmatched component, and performing band-limiting processing through a low-pass filter to synthesize a self-adaptive compensation signal; and after the three paths of signals are superposed, the linear motor is driven through amplitude saturation and change rate limitation. According to the method, the robustness and the online compensation capability are fused, and the tracking precision and the anti-interference robustness of the linear motor are remarkably improved.