247results about How to "High steady state accuracy" patented technology

The invention provides a nonlinear MIMO (multiple input multiple output) system-based decoupling control method and a nonlinear multiple input multiple output system-based decoupling control device. The device comprises an input module, a neural network module, a neural network inverse module, a control module and a delay module, wherein an output signal of the neural network inverse module is input to the control module and the neural network module; when the control module and the neural network module have the same input signal, output signals of the control module and the neural network module are input into an output module; the output module generates a disturbing signal according to the output signals of the control module and the neural network module; and after being delayed, the disturbing signal is input into the neural network inverse module, and after being processed by the control module, the disturbing signal is input into the output module. By the method and the device, the speed and the stability of decoupling control on a nonlinear MIMO system are improved.

The invention relates to the technical field of control on production equipment, and particularly relates to an intelligent control system for a vertical mill based on a fuzzy PID (proportion integration differentiation) algorithm. The intelligent control system comprises the vertical mill, a dust remover and a feeding device, wherein the feeding device comprises an unloader, a bucket elevator and a storage bin; and the intelligent control system is characterized in that an air inlet in the bottom of the vertical mill is connected with a fan via a pipeline, a cold-air device and a hot-air stove are arranged on the pipeline between the air inlet and the fan, a cold-air adjusting valve and a hot-air adjusting valve are respectively arranged on the cold-air device and the hot-air stove, a vertical mill material layer PID controller is arranged on the feeding device, and an in-mill pressure difference fuzzy PID controller is arranged on the cold-air adjusting valve. According to the intelligent control system disclosed by the invention, mathematical models of the change of the vertical mill material layer thickness and an in-mill pressure difference along with parameters of a feeding amount, a mill inlet hot-air temperature and the like can be established only by inputting and outputting data without analyzing the complex grinding process of the vertical mill; and the intelligent control system is simple in process, high in adaptability, fast in the dynamic response time of a controller algorithm, high in robustness, high in control accuracy, and good in market prospect.

The invention relates to a PI (Proportional Integral) parameter mixed setting method, which is a model-based mixed setting method combining off-line setting and fuzzy PI on-line setting for ensuring that a closed loop vector control system works in an optimal state. The PI parameter mixed setting method comprises the following steps of: firstly deducing a mathematic model of a system according toa vector control principle, calculating rotational inertia by a method of constant torque start and machine free stop, and calculating PI parameters and inner ring compensation dosage according to the mathematic model; proposing a new PI control rule table by a fuzzy PI controller; and finally verifying the exactness of the PI parameters by a comparison test. According to the PI parameter mixed setting method disclosed by the invention, the dynamic property and the steady state precision of the system are improved and are better than those of a system utilizing a single setting method, and the validity of the method is verified.

The invention discloses a linear servo motor control method for numerically-controlled machine tool driving. According to the method, a sine wave linear motor is controlled through a feedback signal detection module, a position control ring, a speed control ring and a current control ring, and the feedback signal detection module comprises a position detection module, a speed detection module and a current detection module, wherein the position control ring adopts a composite control method combining PI (proportional-integral) feedback control and neural network given compensation control, the speed control ring adopts a fuzzy controller with a disturbance observer, and the current control ring adopts a space vector PWM (pulse-width modulation) technology with a PI regulator. The linear servo motor control method has the advantages that the neural network compensation PI control technology, the fuzzy control and the alternating current motor vector control are combined, and the anti-jamming capability, the dynamic response capability and the system stable state precision of a linear servo motor are improved.

The invention discloses a composite control method for a grid-connected inverter based on repetitive control and a disturbance observer. The method comprises the following steps: (1) acquiring network voltage, grid-connected current and capacitance current; (2) acquiring network voltage phase angle through PLL phase locking of the network voltage, converting the grid-connected current and the capacitance current to alpha belta coordinates through transformation of coordinates; (3) adjusting the network voltage phase angle, as well as the grid-connected current and the direct current reference signal thereof both under the alpha belta coordinates through repetitive control; (4) subtracting the output value of the disturbance observer and the capacitance current under the alpha belta coordinates from the output value of the repetitive control; (5) converting the output value after final subtraction to abc coordinates through transformation of coordinates, and generating PWM (Pulse Width Modulation) impulses to control the output of a three-phase full-bridge inverter, so that the grid-connected power generation of the distributed power generation system is achieved. According to the composite control method, the dynamic property of the overall grid-connected control system is good, the steady accuracy is high and the robustness is strong; the composite control method is an accurate and efficient inverter control method, and has a bright development future.

The invention provides a maximum power point tracking method based on efficient adaptive perturbation and observation. By the aid of the maximum power point tracking method, the problem that the step size used in a traditional perturbation and observation method in the photovoltaic-battery maximum power point tracking technology is difficult to balance, completely adaptive perturbation can be realized, and tracking speed, stability precision and universality of a system are high. The maximum power point tracking method with a basic principle includes that computing continuous output power values of a photovoltaic array according to filtered voltage and current signals; generating error signals according to changes among power signals; generating adaptive perturbation voltage values via a PI (proportional plus integral) controller; and finally generating a reference value of voltage of the photovoltaic array according to the basic principle of perturbation and observation. An error signal of an actual value and the reference value of the voltage of the photovoltaic signal is computed, and a duty cycle signal d required by a DC / DC converter is generated by another PI controller, so that on and off time of each power switch tube of a phase-shift full-bridge converter is controlled, power outputted by the photovoltaic array is adjusted, and the maximum power output point of the photovoltaic array can be tracked.

The invention relates to a self-adjusting control method that uses step fuzzy and adopts gathers main axis power. It could adjust the feed ratio and main axis rotating speed ratio on line. On the serving links of on CNC-PLC and setting milling usage of NC program to realize rotating speed of main axis and adjusting online, the target of constraining main axis power of intelligent step control for milling process would be realized. It could effectively improve processing efficient and processing quality.

The invention discloses a construction method for an automatic disturbance rejection controller of a three-motor synchronous control system, which comprises the following steps that: three controlled induction machines, three transducers and a common load are used as a whole to form a three-motor synchronous control system; and a speed control circuit and two tension control circuits of the three-motor synchronous control system are provided with an optimized first-order automatic disturbance rejection controller respectively, wherein the optimized first-order automatic disturbance rejection controller is a device for determining a new controlled quantity according to a system setting, system controlled output and a previous controlled quantity; the optimized first-order automatic disturbance rejection controller and the three-motor synchronous control system form a closes loop; and the optimized first-order automatic disturbance rejection controller consists of an extended state observer, a proportional controller and has a disturbance estimated value for making up an error feedback controlled quantity. The method has the advantages of simple algorithm, easily adjusted parameters, better decoupling control between the speed and the two tensile forces independent of an accurate mathematical model of an alternating current machine, higher response speed, higher static accuracy, higher capacity of resisting disturbance and higher robustness.

The invention discloses an electrohydraulic control system for rotation motion of a pipe splicing machine. The electrohydraulic control system comprises a motor, a constant displacement pump, three overflow valves, an oil return pipe, two three-position four-way proportional reversing valves, a hydraulic lock, a hydraulic motor, a force moment and rotating speed sensor and two pressure sensors. Since the electrohydraulic control system disclosed by the invention adopts the two three-position four-way proportional reversing valves to carry out independent control on the flow of an oil inlet of the hydraulic motor and the backpressure of an oil return port of the hydraulic motor; by controlling the backpressure of the oil return port of the hydraulic motor during an accelerated motion process, a constant motion process and a decelerated motion process of the rotation motion of the pipe splicing machine, the acceleration during the accelerated motion process of the rotation motion of the pipe splicing machine can be increased, the energy consumption during the constant motion process of the rotation motion of the pipe splicing machine and the speed fluctuation under the action of external load variation interference can be reduced, and the stability and the locating accuracy during the decelerated motion process of the rotation motion of the pipe splicing machine can be increased, so that the dynamic characteristic and the stability accuracy of the electrohydraulic control system for the rotation motion of the pipe splicing machine can be increased.

The invention discloses an MPPT calculation strategy and a control method and a photovoltaic array power generation system. The MPPT control method achieves the maximum power output of a photovoltaic array through a variable step size perturbation and observation method, both the static performance and dynamic performance of the system are achieved, and the system has adaptability.

The invention provides a control system of a humanoid biped robot. The robot comprises two leg parts and 12 degrees of freedom, each degree of freedom is corresponding to one joint motor. The control system comprises a main controller installed on the body of the robot, and joint controllers, motor driving circuits, motor encoders, joint angle sensor and feedback conditioning circuits which are respectively corresponding to the joint motors, and plantar pressure sensors and plantar gyroscopes installed on soles of two feet of the robot. The control system is characterized in that the main controller receives information feedback of the plantar pressure sensors and gyroscopes, plans a path and transmits motion instructions to each joint controller; and the joint controllers control joint motors to execute the motion instructions, receive information fed back by the motor encoders and the joint angle sensors and utilize a fuzzy self-adaptation PID control method to precisely control the motors according to the feedback information, so that the robot is enabled to walk precisely according to the ground condition.

The invention discloses a mixed control method for a direct current (DC)-direct current (DC) convertor. The method comprises the following steps: building a mixed automaton model of the DC-DC convertor; limiting the ripple magnitude of inductor current in the DC-DC convertor so as to select a switching frequency f in the mixed control method; calculating boundary condition of a mixed control algorithm according to the expected values of input voltage, load resistance and output voltage of a main circuit of the DC-DC convertor, and judging which mode the DC-DC convertor works in, namely, an inductor current continuous mode or an inductor current discontinuous mode; outputting by a digital signal processor (DSP) the control signal indicating whether a switching tube of the main circuit is conducted or not according to the comparative result of state variable and the boundary condition, so as to drive the main circuit to work. The mixed control method simplifies a control problem to a boundary selection problem, so that the algorithm is simple, and further, the DC-DC convertor can simultaneously work in a continuous conduction mode (CCM) and a direct current mode (DCM) with a constant frequency, therefore, the DC-DC convertor has the characteristics of high dynamic response speed and high steady accuracy.

The invention discloses a sensorless control method of a permanent magnet synchronous motor, and belongs to the field of motor control. In the method, a pulsating high frequency voltage signal is injected, and the position and rotating speed of a motor rotor are estimated from high frequency current response. The method comprises the following steps of: generating a high frequency voltage signal vh and injecting the high frequency voltage signal in an estimated (the formula is described in the specification) shaft system, generating a signal modulation array Am; sampling the current of a stator winding by a current sensor, performing coordinate transformation, and extracting high frequency components (the formula is described in the specification) and (the formula is described in the specification); multiplying (the formula is described in the specification) with the signal modulation array Am to obtain a target value Pv1, and obtaining a magnetic pole position estimated value (the formula is described in the specification) and a rotating speed estimated value (the formula is described in the specification); multiplying (the formula is described in the specification) with the signal modulation array Am to obtain a target value Pv2, judging the polarity of a magnetic pole, compensating (the formula is described in the specification), and outputting a rotor position estimated value (the formula is described in the specification). By virtue of the method, the position identification during zero speed and low speed can be realized, no filter is used in the identification process, the system stability and the identification precision are improved, and the dynamic performance is improved; a saturated working point is selected according to the motor power, and the reliability of polarity judgment is improved; the algorithm complexity is low, and digital realization is easy.

The invention provides a double-close-loop nonlinear compound control method for a three-phase four-wire parallel APF (active power filter). A voltage outer loop adopts a sliding-mode PI composite nonlinear control algorithm, and a current inner loop adopts a repeated PI nonlinear control algorithm. The method comprises the steps as follows: firstly, a low-order system model of a dq coordinate system is established by synchronous rotation coordinate transformation, a PI feedforward decoupling controller is designed according to a dq DC model, a PI repetitive controller is designed based on internal model control, and a control output function of the PI repetitive controller of the current inner loop is established; in order to obtain a current reference value of the current inner loop accurately and quickly, a novel sliding-mode PI nonlinear control algorithm for DC side voltage is proposed, a sliding-mode surface switching function is designed according to an exponential reaching law form, and a control function of a sliding-mode PI controller of the voltage outer loop is established. With adoption of the outer loop sliding-mode PI compound control algorithm, the steady-state performance and the response speed of the DC side voltage can be improved, and voltage fluctuation is effectively reduced; with adoption of the repetitive PI nonlinear control algorithm, zero static error tracking of a current signal can be realized, and the tracking control accuracy of a harmonic compensation current instruction is improved.

The invention relates to a slope compensation method for a voltage-type hysteresis loop control switching converter and a device thereof. The method disclosed by the invention comprises the following steps: on the basis of the voltage-type hysteresis loop control, introducing an inductive current signal serving as a slope compensation of the voltage-type hysteresis loop control; subtracting the slope compensation from an upper limit reference voltage to obtain an upper-limit voltage; adding a lower-limit reference voltage with the slope compensation to obtain a lower-limit voltage; and according to the comparison condition of an output voltage and the upper and lower limit voltages, controlling the on / off of a main circuit switching device by a controller. The on / off time can be changed according to the comparison condition so as to implement the slope compensation control of the voltage-type hysteresis loop control switching converter. Due to the adoption of the slope compensation method, the dependence of the voltage-type hysteresis loop control switching converter on the characteristic of an output capacitor is reduced, the influence of a phase of a phase lag inductive current of the output voltage on the voltage-type hysteresis loop control is eliminated and the output voltage is effectively controlled in upper and lower limit voltage loops, so that the steady accuracy of the voltage-type hysteresis loop control is improved.

The invention provides a non-singular terminal sliding-mode control method for a Buck converter with constant switch frequency and relates to a sliding-mode control method for the Buck converter. The problems that when a linear sliding-mode control method is adopted, the response speed of the Buck converter is low, the voltage output quality is low, and the response speed and the precision of output voltage of the Buck converter are directly influenced are solved. According to the method, based on an average state model of the Buck converter, by changing a duty ratio of a switch device, trigger pulses are generated for controlling on or off of the switch device, and then constant switch frequency voltage output of the Buck converter is achieved; a non-singular terminal sliding-mode controller of the Buck converter is designed, the advantages of strong robustness, overall finite time constriction, high stability precision and the like of the controller are utilized for overcoming the disturbance influence of load resistance, direct-current input voltage and the like, and therefore the quality of the output voltage is improved.

The present invention discloses a permanent magnet synchronous motor fuzzy neural network control system for an electric car, relates to an electrical transmission and control technology field, and provides a speed controller based on the fuzzy mathematics and neural network theory and a novel sliding-mode observer based on a tracking differentiator. The system comprises a fuzzy neural network control unit, a sensorless unit, a flux linkage and current calculation unit, a dual- current-loop vector control unit and a control object unit, can realize parameter autotuning of the permanent magnet synchronous motor and high-precision speed regulation in the condition without a mechanical speed sensor, can be applied on an electric car taking the permanent magnet synchronous motor as a power device, and is simple in structure and reliable in operation. Compared to a traditional PID speed controller and a sliding-mode observer, the permanent magnet synchronous motor fuzzy neural network control system for an electric car is higher in tracking precision, stronger in robustness and smaller in counter electromotive force buffeting; and when parameter perturbation of the controller or load disturbance, the permanent magnet synchronous motor fuzzy neural network control system for the electric car also can perform online regulation of parameters of the controller and accurately estimate the position and the speed of a motor rotor.

The invention discloses a multi-motor synchronous control system of a belt conveyor, comprising an upper computer, a synchronous controller, an RS-485 bus system, transducers and motors. The synchronous controller comprises a power supply module, a control module, a USB (Universal Serial Bus) interface module and RS-485 communication interfaces, wherein the USB interface of the synchronous controller is connected with the upper computer, the RS-485 communication interfaces are connected with the RS-485 communication interfaces of the transducers through the bus system, the transducers are connected with the motors, and the synchronous controller acquires the operation parameters of various motors in the system through buses, adjusts the parameters of the transducers and controls the output rotating speeds of the motors by analyzing the parameters of the motors and generating control signals so that the rotating speeds of the running motors are uniformed, and the upper computer can read or write the relative parameters of the synchronous controller to carry out the online debugging and implement the full-process monitoring to the system and lighten the operation intensity for debugging and operation. The bus system ensures that the structure is simplified and the mounting cost and the maintenance cost are reduced.

The invention discloses an interference observation based quick reflector disturbance restraining method. The method comprises a PID (Proportion Integration Differentiation) controller, a feedforward controller, a disturbance observer and a signal identifying and separating device, wherein the feedforward controller is formed by a proportional component and a second order component and is used for converting a disturbance signal influencing a quick reflector system into a compensating signal, inputting to a system forward channel and offsetting the disturbance signal influencing the controlled quick reflector; the disturbance observer is composed of a low-pass filter and a nominal model of the controlled quick reflector and is used for estimating the disturbance signal entering into the quick reflector system; the low-pass filter also has a function of eliminating the high-frequency measuring noise and restraining the outer interference. On the basis of the classic PID controlled quick reflector, the method utilizes the advantage of feedforward control and disturbance observation to fully restrain the disturbance in the system (no matter if the disturbance signal can be detected), so that the stable precision of the quick reflector system can be promoted.

The invention relates to a method for controlling a capacitance-split-type three-phase four-wire static synchronous compensator. The method includes the steps that a fundamental wave active current component in a load current is detected, and voltage stabilizing control on a direct current side and voltage equalizing control on the direct current side are achieved on a voltage outer loop; the load current ILabc subtracts the fundamental wave positive sequence active current component ILfabc to obtain a tracking instruction of a current inner-loop double-loop controller, and the tracking instruction of the current inner-loop double-loop controller subtracts a current generated by the static synchronous compensator to obtain a deviation current; the deviation current is input into the current inner-loop double-loop controller, a system dynamic response speed is improved through an inner loop PI controller in the current inner-loop double-loop controller; the current tracking accuracy is improved through an outer loop repetitive controller in the current inner-loop double-loop controller. The current inner-loop double-loop controller achieves current control in the mode that the inner loop PI controller is embedded in the outer loop repetitive controller.

The invention discloses a current reference value automatic adjustment switchover control method of a power electronic converter. The current reference value automatic adjustment switchover control method of the power electronic converter comprises the steps that 1 a switchover system model of the power electronic converter is built according to the work state of the converter; 2 a Lyapunov function of a switchover subsystem i is defined, a related matrix is calculated, and a Lyapunov function value of the subsystem i is obtained; 3 a switchover control rule is selected, and the subsystem with the maximum Lyapunov function is selected as the current subsystem; a current reference value is adjusted according to an output error, when a parameter is uncertain or input voltage and a load change, the current reference value is adjusted according to the rule, and the control method is achieved. The current reference value automatic adjustment switchover control method of the power electronic converter is simple in control process, is good in effect, guarantees overall control stability of the converter, has robustness on changes of the input voltage, the load and the like, and improves the response speed of output voltage.

The invention discloses a parallel APF DC side voltage control method based on a sliding mode PI compound control algorithm. The method comprises the following steps: firstly establishing a low-order system model of a dq coordinate system by using synchronous rotating coordinate transformation; determining the sliding mode switching function of the DC side voltage according to the selection principle of sliding mode surfaces; and finally designing the control parameter output function of a PI controller according to the switching function of the sliding mode surfaces. By adopting the control method disclosed by the invention, the steady state performance and response speed of the DC side voltage can be improved, and the voltage fluctuation can also be effectively reduced; and a parallel APF control system based on the sliding mode PI compound control algorithm has good robust performance and dynamic performance. According to the parallel APF DC side voltage control method based on the sliding mode PI compound control algorithm disclosed by the invention, the parameter of the PI controller is determined through the sliding mode controller, the steady state accuracy and response speed during load sudden change and reference voltage jump can be increased, the power loss at the DC side can be reduced, and thus the compensation ability of the parallel APF (active power filter) can be ensured.

The invention provides a power-driven steering engine device based on reversing of a position ring and a control method. A signal conditioning circuit performs voltage conversion, filtering and amplitude limiting processing on a control surface drift angle given signal and sends the control surface drift angle given signal into a controller DSP through AD conversion. The DSP outputs a digital controlling signal which undergoes digital isolation and then is sent to a drive circuit to be converted into a power controlling signal. By controlling a main power circuit, a brushless DC motor is controlled to work. The brushless DC motor drives a control surface to deflect through a transmission gear set in order to follow the control surface drift angle given signal. Generating line currents of the brushless DC motor are sampled by a current sensor and fed back to the DSP. An angle sensor connected with the transmission gear set feeds back a current drift angle of the control surface in real time and sends the current drift angle to the DSP. The power-driven steering engine device based on reversing of the position ring and the control method can effectively accelerate frequency responses of the brushless DC motor and improve anti-interference performance of the system.

The invention discloses a tracking control method for the maximum power of a photovoltaic power generation system. According to the method, a self-adaption variable step resistance incremental method is based, the dynamic performance and the steady-state performance of a photovoltaic system are integrated into account, and a photovoltaic cell output P-U characteristic curve is demarcated through a step transfer function introduced. According to photovoltaic cell parameters supplied by a photovoltaic cell manufacturer, two different fixed step sizes in fixed step zones on the left and right sides of a maximum power point are selected when the system is operated in a fixed step mode, the different fixed step sizes meet certain proportional relation, and a speed factor of the system in variable step size mode is selected. In the condition of intensive change of the external environment, compared with a fixed step resistance incremental method, the self-adaption variable step resistance incremental method can improve the response speed and the steady-state accuracy of the system; when simulating slow change condition of the external environment in natural conditions, the self-adaption variable step resistance incremental method has good dynamic performance and steady-state performance, so that the method effectively improves the tracking speed and the stability accuracy at the maximum power point.

The invention discloses a digital pure water hydraulic proportional overflow valve. The pure water hydraulic proportional overflow valve in China at present has the defects of narrow pressure-regulating range, great hysteresis loop, great steady state pressure-regulating deviation and the like. The overflow valve is characterized in that: firstly hydrostatic bearing grooves are respectively arranged between a guide valve core and a guide valve sleeve and between a main valve core and a main valve sleeve, thereby solving the problem that the viscosity of the pure water is lower so as to generate the thinner lubricating water film and insufficient lubrication; secondly, the characteristics that the viscosity of the pure water is lower, the gap between the guide valve core and the guide valve sleeve is easy to leak, thereby designing guide valve gap liquid resistance; and the formed guide valve pi bridge liquid resistance network is used for improving the steady state precision of the overflow valve, thereby changing the disadvantage of the pure water hydraulic proportional overflow valve into an available condition. The digital pure water hydraulic proportional overflow valve provided by the invention has the advantage of being capable of achieving the automation of pressure-regulating function of a pure water hydraulic system.

The invention discloses an improved FBD harmonic current detection method based on an adaptive principle. The improved FBD harmonic current detection method comprises the following steps: output information of a traditional FBD harmonic current detecting algorithm is fed back to an input terminal to form a closed-loop detection system; an adaptive algorithm inner core is used for replacing a low pass filter in a traditional FBD algorithm and is improved; an obtained harmonic signal is imported into the input terminal through a phase shift positive feedback element. According to the improved FBD harmonic current detection method based on the adaptive principle, the advantage that a traditional FDB harmonic current detection method is wide in application range is reserved, closed-loop control is formed by the FBD algorithm, and therefore the anti-jamming capability of the system is enhanced; meanwhile, the phase shift positive feedback element is imported to the current input terminal of the system, and therefore a high response speed of the harmonic current detection method to a current sudden change of the system is reserved; the improved FBD harmonic current detection method based on the adaptive principle is suitable for an SAPF system with a DSP as a core control chip.

The invention provides a dual-super-satellite platform load cabin compound control method. The method includes the following steps that firstly, the attitude of a load cabin is controlled; secondly, the attitude of a platform cabin is controlled; thirdly, the relative positions of the platform cabin and the load cabin are adjusted; and fourthly, according to attitude information of the load cabin,the attitude control system bandwidth of the load cabin is adjusted, and the attitude of the load cabin is restrained. The method has the beneficial effects that through dual-super-platform master and slave cooperative control, load cabin interference compensation control and a variable bandwidth control method, the steady state time of the load cabin is prolonged, and the steady state accuracy of the load cabin is improved.

The invention discloses a hybrid control method of a buck-boost convertor. The method comprises the following steps: building a hybrid automata model of the buck-boost convertor; calculating a boundary condition of the hybrid control method, and judging a specific working mode of the buck-boost convertor; and according to a comparison result of a state variable and the boundary condition, outputting a control signal of a switch pipe of a main circuit by a digital signal processor (DSP) and driving the main circuit to operate. By means of the method, a control problem is simplified into a boundary selection problem, an algorithm is simple, the buck-boost convertor is enabled to simultaneously work for a continuous current mode (CCM) and a discontinuous conduction mode (DCM), two kinds of different energy transmission modes are not considered under the CCM, a uniform boundary condition is adopted, steady-state switching frequency cannot change along with jumping of a load, a ripple current of inductance is constant under the CCM, and the hybrid control method has the advantages of being high in dynamic response speed, high in steady-state accuracy, and the like.

The invention relates to a high-speed permanent-magnetic non-brush direct-current motor phase-lock stable controlling system, wherein it is formed by phase-lock speed controller, digit low-pass filter, power amplifier, permanent-magnetic non-brush direct-current motor, and Hall-effect rotor position sensor. When the feedback signal of motor speed and the reference frequency signal are synchronous, the stable accuracy can reach 0.02-0.1%. And the invention uses low-accuracy sensor to obtain rotation speed feedback.

The present invention discloses a fuzzy fractional order PID (Proportional Integral Differential) switched reluctance motor torque control method and system. A fuzzy fractional order PID controller is arranged at an outer ring, fractional differential and fractional integration are introduced in a two-dimensional fuzzy controller; and the fractional integration is employed to solve the defect that first-order pure differential is easy to be interfered by high frequency and improve the stable state precision of the system. A PID torque controller arranged at an inner ring comprises an increment PID controller, an inner ring torque hysteresis controller and a RBF (Radio Basis Function) neural network; the parameters of the increment PID controller are obtained through modeling of the RBF neural network; the modeling of the RBF neural network is and learned and completed through the difference of the output of the RBF neural network and the torque of an SRM (Switched Reluctance Motor); and the output of the increment PID controller is taken as the input signals of the inner ring toque hysteresis controller. The fuzzy fractional order PID controller arranged at the outer ring and the PID torque controller arranged at the inner ring are mutually cooperated to directly control the torque of the SRM so as to effectively reduce the torque pulsation, and the dynamic performance is good, the adaptability is high, and the realization is easy.