32results about How to "Suppress chatter" patented technology

The invention relates to the technical field of part machining, and discloses a multi-station anti-vibration cutter stabilizing mechanism for carbon fiber part machining, which comprises a cutter chuck arranged on machining equipment; the milling cutter is used for machining parts; and the clamping mechanism is arranged on the cutter chuck and used for stably clamping the milling cutter, the clamping mechanism comprises a hollow sleeving ring, and the hollow sleeving ring axially moves after rotating. According to the multi-station anti-vibration cutter stabilizing mechanism for machining the carbon fiber parts, the positioning mechanism is arranged, and an axial hard positioning structure capable of being locked is arranged at the end of a milling cutter, so that end mechanical jacking and position locking are synchronously achieved after radial clamping of the cutter is completed, and the overall axial supporting rigidity of the cutter is remarkably improved; axial micro-motion and chatter caused by axial cutting force change and multi-station frequent reversing in the carbon fiber machining process are effectively restrained, and the quality defects such as layering and chatter marks on the machined surface are avoided.

The invention discloses a three-level T-type inverter grid-connected control method based on a sliding-mode observer, and relates to the technical field of grid-connected control. According to the three-level T-type inverter grid-connected control method based on the sliding-mode observer, a preset time sliding-mode control scheme based on the sliding-mode observer is provided, a continuous Sigmoid function is introduced to replace a nonlinear sign function to construct a sliding-mode observation reaching law, signals can be effectively and smoothly controlled, and the control precision of the three-level T-type inverter grid-connected control method based on the sliding-mode observer is improved. The inherent high-frequency buffeting phenomenon of traditional sliding mode control due to a sign function is remarkably suppressed, and meanwhile, the convergence speed and tracking precision of the system are improved. On the basis of observing power grid voltage serving as external disturbance through a sliding-mode observer, feedforward compensation is performed on the external disturbance, and the feedforward compensation is applied to a sliding-mode control reaching law of preset time so as to suppress buffeting and accelerate the convergence process of output current. And the timeliness and the stability of grid-connected control of the three-level T-type inverter based on the sliding-mode observer are improved.

The invention relates to the field of control, in particular to a multi-sensor data fusion slip form construction closed-loop control method and system, and the method comprises the steps: collecting the pressure and displacement data of each jacking fulcrum of a slip form device in real time; calculating a pressure compensation weight coefficient of the absolute value of the sliding mode variable in the previous period through an exponential attenuation function, weighting a pressure mean value and a reference pressure difference, multiplying the weighted pressure mean value and reference pressure difference by a pressure-displacement conversion coefficient to obtain an equivalent displacement compensation amount, adding the two values to obtain a comprehensive deviation, constructing a sliding mode surface function, and calculating the sliding mode variable; calculating a second norm of the time change rate of the pressure data, and determining the actual boundary layer thickness; the sliding mode control law comprises an equivalent part and a switching control part, when the absolute value of a sliding mode variable is larger than the thickness of a boundary layer, switching control is a fixed gain sign function, otherwise, switching control is a proportional term, and a global jacking speed reference instruction is generated; according to the difference value between the real-time pressure of each fulcrum and the pressure mean value, the speed differential adjusting amount is calculated through proportional-integral adjustment, and the speed differential adjusting amount and the global reference instruction are superposed to obtain the jacking speed control instruction of each fulcrum.

The invention discloses a finite time composite vibration suppression control method and system for same-frequency vibration of a magnetic bearing-rotor system. The finite time composite vibration suppression control method comprises the steps that a synchronous vibration component in rotor displacement is extracted through a same-frequency narrow-band tracking filter; performing phase lead correction by using an all-pass phase shifter, generating a feed-forward compensation force by combining an equivalent gain and electromagnetic linear model based on a feedback link, and offsetting a displacement stiffness force which causes vibration transmission from a physical source; a finite time same-frequency narrow-band extended state observer is constructed, and rapid and accurate finite time estimation is carried out on total disturbance including model mismatch; and designing a finite time nonsingular terminal sliding mode controller, fusing the feedforward compensation force and the disturbance estimation value, and generating a control law with a finite time convergence characteristic. According to the method, through cooperation of feed-forward compensation, finite time observation and finite time control, rapid convergence and high-robustness stabilization of same-frequency vibration and effective suppression of control buffeting under a dynamic working condition are realized.

The application relates to a kind of underactuated unmanned aerial vehicle cascade pose control methods based on torsor, belong to unmanned aerial vehicle control technical field.The method, first, establishes singular-free, constraint-free torsor pose integrated model, avoids dual quaternion normalization calculation burden;Then construct the outer loop position-inner loop attitude cascade structure adapted to the underactuated characteristics of four-rotor, the outer loop uses the Latin hypercube sampling improved gull optimization PD controller to generate the expected attitude instruction of dynamics feasibility, the inner loop adopts the preset performance hyperbolic sliding mode controller to output the unified control force screw containing thrust and torque.The application solves the adaptation problem that existing torsor control relies on full drive assumption, considers modeling uniformity and engineering landing, and can be popularized to various underactuated rigid body systems.

This application belongs to the field of DC bus voltage control, specifically disclosing a super-spiral sliding mode active disturbance rejection control method based on an RBF neural network, including the following steps: establishing a mathematical model of a bidirectional Buck / Boost circuit; designing an active disturbance rejection controller, which includes a tracking differentiator and an extended state observer; using an RBF neural network to dynamically optimize the gain parameters of the extended state observer in real time; constructing a super-spiral integral sliding mode controller to replace the nonlinear state error feedback loop in the active disturbance rejection controller; calculating a current reference signal based on the output signal of the tracking differentiator and the observation signal of the extended state observer through the super-spiral integral sliding mode controller; generating a drive signal based on the current reference signal to control the bidirectional Buck / Boost circuit to maintain the stability of the DC bus voltage. This application can effectively improve the stability and disturbance rejection capability of the DC microgrid bus voltage.

This invention relates to the field of palletizing robot technology, specifically a high-efficiency palletizing robot for pet food processing. It includes a mounting base on which a rotating platform is mounted, a robotic arm rotatably mounted on the rotating platform, a slewing support connected to the robotic arm, a mounting bracket at the lower end of the slewing support, and gripping claws mounted on the mounting bracket; a stabilizing support mechanism disposed inside the slewing support, used to improve stability during material transfer; and a lubrication compensation mechanism disposed inside the slewing support, used to reduce wear and tear on parts. The stabilizing support mechanism can adaptively adjust the support force according to the material weight, suppressing transfer sway and ensuring positioning accuracy; the lubrication compensation mechanism provides on-demand quantitative lubrication and ensures proper sealing protection. Together, these two mechanisms reduce wear on parts and ensure stable and efficient operation of the robot.

The application relates to a flexible mechanical arm control method and system based on a fuzzy PID, and the method comprises the following steps: constructing a flexible mechanical arm dynamics model according to mechanical arm related parameters, a hypothetical modal method and a Lagrange method; decoupling the flexible mechanical arm dynamics model to generate a slow variable subsystem model and a fast variable subsystem model; establishing an extended state observer according to the slow variable subsystem model and an impfal function and generating an observed disturbance value; generating an improved linear sliding mode surface according to a flexible mechanical arm position tracking error and a state power item; deriving the improved linear sliding mode surface to generate a sliding film control law; generating a trajectory tracking control law according to the observed disturbance value and the sliding film control law; generating a vibration suppression control law according to the fast variable subsystem model, a fuzzy PID control algorithm and a mechanical arm end vibration amount; and combining the trajectory tracking control law and the vibration suppression control law to generate a total control law. The method has better anti-disturbance performance and vibration suppression performance.

The invention belongs to the technical field of permanent magnet synchronous motor control, and discloses a sensorless control method and device for a permanent magnet synchronous motor, and the method comprises the steps: building a super-spiral sliding-mode observer, introducing an observation error linear term in the super-spiral sliding-mode observer, and constructing a second-order sliding-mode model; constructing a back electromotive force adaptive optimization module in the super-spiral sliding mode observer by adopting a complex coefficient filter; constructing a phase-locked loop by adopting a fourth-order active-disturbance-rejection algorithm, and estimating a rotor position error in real time by adopting a state expansion observer; a primary linear expansion state observer and a secondary linear expansion state observer are connected in series to form an improved linear active disturbance rejection controller. According to the method, buffeting of the sliding-mode observer can be suppressed, and the counter electromotive force estimation precision is improved; the dynamic response capability of the system under the working conditions of medium-high speed and sudden loading is enhanced, the method is more suitable for complex working conditions of high speed, variable load and the like, and the robustness and the control precision of the system are remarkably improved.

The invention discloses a motor control system based on self-learning gain, which comprises a super-spiral sliding-mode observer of the self-learning gain, by monitoring current observation errors in real time and dynamically adjusting the sliding-mode gain, the sliding-mode gain is rapidly increased when the system is disturbed so as to enhance robustness, and is automatically reduced when the system tends to be stable so as to suppress buffeting; therefore, high-precision and high-robustness rotor position and rotating speed estimation is realized.

This invention discloses a method for adjusting the end effector stiffness of a hybrid robot used in the machining of thin-walled structural parts. The method first collects the proportional gain of each active branch servo drive system as the axial servo stiffness; secondly, it establishes a mapping model based on the robot configuration to solve for the equivalent axial servo stiffness of the end effector in the reference coordinate system; subsequently, it introduces stiffness weighting coefficients and combines them with the mechanical stiffness and electromechanical coupling stiffness performance evaluation index; finally, it uses a one-dimensional discrete search algorithm to traverse and filter redundant rotation angles that satisfy displacement and rotation constraints while keeping the end effector pose unchanged, aiming to maximize the electromechanical coupling stiffness index and generate an optimal sequence of redundant rotation angles. This invention establishes an electromechanical coupling model integrating mechanical and servo systems and adaptively adjusts the end effector stiffness using redundant degrees of freedom, which can effectively suppress cutting deformation and chatter during the machining of thin-walled parts while reducing computational complexity, significantly improving machining quality.

The invention discloses a flutter suppression sequence optimization method and device for non-periodically arranged blades, and relates to the technical field of blade flutter of turbomachinery. Determining the vibration frequency of each blade in the non-periodically arranged blades; obtaining an ant colony optimization algorithm oriented to aperiodically arranged blade flutter suppression sequence planning; wherein the updating mode of the pheromone concentration of the ant colony optimization algorithm in the ant colony algorithm iteration process is determined according to the aerodynamic damping corresponding to the blade with the minimum aerodynamic damping in each optimization sequence in the last iteration; the aerodynamic damping value of each blade is determined according to aerodynamic force influence on the blade caused by vibration of a plurality of adjacent blades in the optimization sequence where the blade is located; the heuristic information of the ant colony optimization algorithm is determined according to the deviation of the vibration frequencies of the blades and the dispersion of the vibration frequencies of all the blades; and optimizing the non-periodic arrangement sequence of the blades by using an ant colony optimization algorithm. According to the method, the flutter suppression effectiveness of the non-periodically arranged blades is improved.

The application provides a mobile robot self-learning robust control method based on a hybrid Kalman filter and belongs to the technical field of robots.The technical scheme comprises the following steps: step 1, a dynamic model of an uncertainty factor;step 2, real-time estimation of state parameters and model parameters of the mobile robot to optimize the original dynamic model;step 3, introduction of an adaptive forgetting factor recursive least square method to dynamically adjust filter parameters;step 4, design of a non-singular fast terminal sliding mode controller based on a saturation function as a system main controller;step 5, establishment of an error correction RBF neural network and introduction of an adaptive error learning strategy;step 6, completion of stability analysis and proof of the control system by means of Lyapunov stability theory and simulation experiment of the optimized model.The application effectively suppresses the chattering of the sliding mode control and significantly improves the control precision and robust performance of the four-wheel robot.

This invention discloses a method, system, electronic device, and medium for attitude control of a hypersonic vehicle. The method includes: constructing the attitude kinematic equations and dynamic equations of the hypersonic vehicle; constructing a sliding mode function based on sliding mode control theory; determining a sliding mode control algorithm based on the kinematic equations, the dynamic equations, and the sliding mode function; adjusting the fixed gain in the sliding mode control algorithm in real time to obtain an adaptive fuzzy sliding mode attitude control algorithm; and controlling the attitude of the hypersonic vehicle based on the adaptive fuzzy sliding mode attitude control algorithm. The hypersonic vehicle attitude control method provided by this invention uses an adaptive fuzzy sliding mode attitude control algorithm for attitude control. This algorithm combines sliding mode control with fuzzy control, solving the problems of low accuracy and weak robustness in existing hypersonic vehicle control algorithms.

The invention discloses a turbomachinery air cylinder inner side meridian molded line design method based on flutter suppression, and relates to the technical field of turbomachinery blade flutter suppression. Obtaining a radial basis function model; the radial basis function model is used for predicting the minimum aerodynamic damping value of the turbomachinery blade; the design parameters of the meridian profile on the inner side of the turbomachinery air cylinder serve as optimization variables, the maximum minimum aerodynamic damping value of a blade corresponding to the design parameters predicted by the radial basis function model serves as an optimization target, iterative optimization is conducted through an intelligent optimization algorithm, and the optimal design parameters are obtained; the design parameters represent radial distances from a plurality of points arranged at equal intervals in the axial direction between the front end position of a meridian molded line inlet section on the inner side of the turbomachinery air cylinder and the front edge position of a blade to a hub; and according to the optimal design parameters, the meridian molded line of the inner side of the turbomachinery air cylinder is determined. According to the method, the design aerodynamic performance of the meridian molded line on the inner side of the turbomachinery air cylinder is improved, and the flutter suppression capacity of the blade is enhanced.

This invention discloses a sliding mode control method and system for tracking the trajectory of a robotic arm. Addressing external disturbances and model uncertainties in the robotic arm system, it proposes an improved non-singular fast terminal sliding mode surface, combined with an adaptive disturbance upper bound estimation strategy, to design a robust controller with finite-time convergence characteristics. Furthermore, it proposes an adaptive boundary layer thickness adjustment method based on the sliding mode surface norm to suppress chattering while ensuring tracking accuracy. Specifically, it includes: establishing a six-degree-of-freedom robotic arm dynamic model; designing a sliding mode surface integrating exponential and fractional power terms; constructing an equivalent control law; designing an adaptive law to estimate the upper bound of the lumped parameter uncertainty; replacing the traditional sign function with an adaptive boundary layer saturation function; and proving the finite-time stability of the closed-loop system using Lyapunov theory. This invention can significantly reduce control input chattering and energy consumption, and is suitable for high-precision motion control scenarios such as industrial manufacturing, medical surgery, and aerospace.

This invention relates to the field of metal sheet processing technology and discloses a steel plate shearing device, including a frame and an upper blade beam. A support platform is fixedly installed on the inner wall of the frame, and a positioning cylinder is provided in the support platform. The upper blade beam is slidably connected in the positioning cylinder, and an installation groove is opened in the upper blade beam, in which an upper blade is installed. A lower blade holder and a drive mechanism are also fixedly installed on the frame, and a lower blade is provided in the lower blade holder. A guard plate is hinged to both sides of the upper blade beam by an elastic element, and a grinding roller is rotatably installed on the end of the guard plate near the lower blade holder. A first air bladder is installed in the positioning cylinder, and an expansion element is provided in the upper blade beam. The first air bladder and the expansion element are connected by an air pipe. The upper blade beam descends and compresses the first air bladder, and the air pressure is transmitted to the second air bladder in the upper blade beam through the air pipe. This drives the wedge block mechanism to force the guard plate to flip outward, so that the grinding roller automatically moves away from the cutting edge at the moment of shearing to avoid interference. During the return stroke, it automatically resets and sticks to the blade surface for micro-grinding, realizing online uninterrupted grinding.

This invention discloses a multi-mode hierarchical control method, device, and storage medium for an electromechanical brake, belonging to the field of braking control technology. The method includes: determining the current braking mode, which includes: no-travel braking mode, clamping force following braking mode, and retraction mode; when in no-travel braking mode, using a zero-force servo control method for braking, and determining whether the friction pad and brake disc have reached the contact proximity point; if so, entering the clamping force following braking mode; when in clamping force following braking mode, using a dual-fuzzy adaptive sliding mode control method based on the EMB dynamics model to track the target clamping force to enable braking; when in retraction mode, identifying the retraction intention and releasing the brake. This invention can seamlessly switch between multiple control modes, accurately identify the critical contact state of braking, improve tracking accuracy and stability, and avoid dragging or jerking during retraction.

The application discloses a PMSM driving system inverter open-circuit fault diagnosis method, belongs to the motor driving system fault diagnosis technical field, including: through the pre-constructed mixed logic dynamic model of the inverter in the PMSM driving system, obtain ideal current value;Through the pre-constructed improved superhelix slip film observer, obtain observed current value;The ideal current value and the observed current value are subtracted to obtain three-phase current residual error;According to the three-phase current residual error, a fault diagnosis classification variable is obtained;The three-phase current residual error is averaged on each cycle to obtain three-phase residual error average;According to the relationship between the three-phase residual error average and the preset threshold, a fault diagnosis detection variable is obtained;The fault position of the switching tube can be obtained through the corresponding values of the fault diagnosis classification variable and the fault diagnosis detection variable in the fault table.The application overcomes the problem that the introduction of sensors leads to an increase in the failure rate, and can realize accurate positioning of various fault types.

The invention discloses an ISOP-DAB converter decoupling modeling and super-spiral sliding mode control method fusing input voltage-sharing information, and the method comprises the steps: defining an input voltage differential error to reduce the buffeting caused by the parameter uncertainty of an input voltage-sharing ring in order to solve the coupling and high-frequency buffeting problems of the input voltage-sharing ring and an output voltage-stabilizing ring of an ISOP-DAB converter; a control compensation amount is introduced to realize complete decoupling between an input voltage balance control loop and an output voltage control loop, a complete decoupling controllable model with double loops capable of being independently controlled is constructed, and super-spiral sliding mode control strategies are designed for the input voltage balance control loop and the output voltage control loop in order to consider the rapidity and the high robustness of the system. And a Lyapunov stability theory is used for analysis to obtain a controller parameter value constraint. According to the method, the input voltage rapid equalization capability and the output voltage stable regulation performance of the ISOP-DAB converter can be remarkably improved, and the system robustness and the buffeting suppression capability are enhanced while the dynamic response speed is improved.

The invention discloses a fuzzy adaptive sliding mode control method and system suitable for a satellite flexible solar wing system, and belongs to the technical field of spacecraft control. Aiming at the nonlinear vibration problem caused by structural flexibility, joint gaps and abrasion of a satellite flexible solar wing and the defects of poor trajectory tracking precision and the like caused by insufficient robustness, obvious buffeting and insufficient adaptive capacity of an existing control method, the method comprises the following steps of: constructing a nonlinear dynamic model for accurately representing complex dynamic characteristics of a system; and designing a fuzzy adaptive sliding mode control method to realize high-precision control of the attitude of the flexible solar wing. The method has the strong robustness of sliding mode control and the dynamic adaptation capability of fuzzy self-adaption, the inherent defects of a traditional control method are effectively overcome, the system operation stability and control precision are improved, and technical support is provided for reliable control of spacecraft flexible components.

The application discloses a flutter suppression sequence optimization method and device of non-periodic arrangement blades, and relates to the technical field of turbine mechanical blade flutter. The vibration frequency of each blade in the non-periodic arrangement blades is determined; an ant colony optimization algorithm for non-periodic arrangement blade flutter suppression sequence planning is acquired; wherein the pheromone concentration of the ant colony optimization algorithm is updated in the iteration process of the ant colony algorithm according to the aerodynamic damping of the blade with the minimum aerodynamic damping in each optimization sequence in the last iteration; the aerodynamic damping value of each blade is determined according to the influence of the vibration of multiple adjacent blades in the optimization sequence of the blade on the aerodynamic force; the heuristic information of the ant colony optimization algorithm is determined according to the deviation of the blade vibration frequency and the vibration frequency discrete degree of all blades; and the non-periodic arrangement sequence of the blades is optimized by using the ant colony optimization algorithm. The method improves the effectiveness of the flutter suppression of the non-periodic arrangement blades.

This invention discloses an improved sliding mode observer for permanent magnet synchronous motor control and a system relating to the field of motor control technology. Addressing the problems of severe chattering and low estimation accuracy in traditional sliding mode observers, the method includes: acquiring the motor voltage and current and transforming them to a stationary coordinate system; using an adaptive sliding mode observer integrating a fuzzy adaptive adjustment unit and a smoothing switching unit for state observation, outputting a smoothed back EMF estimation signal, wherein the fuzzy adjustment unit dynamically adjusts the sliding mode gain based on the current error, and the smoothing switching unit generates a continuous control signal to suppress chattering; inputting the smoothed back EMF signal into a phase-locked loop (PLL) unit to synchronously extract rotor position angle and speed estimates for closed-loop control. The system includes signal detection, an adaptive sliding mode observer, a PLL, and a closed-loop control module. This invention improves the accuracy of speed and position observation and system stability by synergistically suppressing chattering through fuzzy adaptive and smoothing switching, and by avoiding phase delay through a PLL.

The invention discloses an ROV trajectory tracking optimization control method for a complex environment, and relates to the technical field of underwater robot control, and the method comprises the steps: building a north-east coordinate system as a fixed coordinate system, building an underwater robot body coordinate system as a motion coordinate system, defining six-degree-of-freedom motion parameters, and building a complete dynamic model; according to the actual operation condition and the structural characteristics of the underwater robot, the complete dynamic model is simplified into a four-degree-of-freedom control model, and thrust distribution is carried out according to a direct logic distribution method; designing a double-closed-loop sliding mode surface containing an integral term and an improved index reaching law, and using a hyperbolic tangent function as a switching term to complete the improved design of an outer-loop position controller and an inner-loop speed controller; and designing a multi-objective fitness function, and carrying out iterative optimization on parameters of the sliding mode controller based on an improved crow search algorithm to obtain an optimal parameter combination adaptive to thrust limitation and complex trajectories. According to the invention, the tracking precision of the ROV in a complex environment is effectively improved.

The application relates to the technical field of mechatronic systems, and particularly discloses a low-temperature cold start control method based on high-frequency injection, which comprises the following steps: analyzing the motor state, observing and feedforward compensating the disturbance caused by the load torque and the viscous coefficient to the motor state through a sliding mode observer algorithm; obtaining a state equation according to the motor state, constructing an extended sliding mode observer equation, deriving an observer error equation, and observing the load torque; analyzing the obtained load torque, and reflecting the oil viscosity through the motor load torque; injecting high-frequency current under the low-temperature state according to the oil viscosity result, controlling the injection frequency, enhancing the skin effect, controlling the current amplitude, utilizing the copper loss and the high-frequency magnetic field eddy current effect to assist heat generation, gradually reducing the injection voltage amplitude according to the final oil viscosity result, the electromagnetic heat generation viscosity and the load reduction, and switching to normal id=0 control after reaching the normal start condition.

A BTA deep hole drill intelligent measurement and deviation rectification guiding method and system belong to the technical field of deep hole processing and manufacturing, and the method comprises the following steps: obtaining a main shaft load signal for controlling a drill bit to rotate, a feed shaft load signal for controlling the feed of the drill bit and a mechanical vibration signal of a machine tool, and judging whether the drill bit enters a cross hole interference area or not; if the feeding shaft enters the cross hole interference area, the driving mode of the feeding shaft is switched from a constant-speed driving mode to a constant-force driving mode, and the reduced feeding thrust serves as a target to drive the feeding shaft to move forwards adaptively; according to the main shaft load signal, the feed shaft load signal and the mechanical vibration signal, judging whether a drill bit passes through a cross hole interference area; and if so, smoothly recovering the original driving mode and feeding speed of the feeding shaft. A main shaft load signal, a feed shaft load signal and a mechanical vibration signal are obtained in real time to judge the state of a drill bit, a driving mode is switched in a self-adaptive mode, deviation rectification guiding is conducted on the drill bit when the drill bit penetrates through a cross hole, and the stability and precision of the drill bit are improved.

The application discloses a virtual power plant multi-resource collaborative optimization scheduling method based on data collection analysis, and relates to the technical field of virtual power plant resource scheduling. The method comprises the following steps: constructing a multi-dimensional operation data collection system, synchronously accessing real-time operation parameters and historical control data of all links of a source side, a grid side, a load side and a storage side in a virtual power plant, and generating a time-space tensor sequence set; performing a dynamic time delay embedding reconstruction operation on the time-space tensor sequence set, and generating a high-dimensional phase space manifold matrix; constructing a fractal dimension mapping field based on the high-dimensional phase space manifold matrix, performing chaotic Tent mapping iterative search in the fractal dimension mapping field, and generating a scheduling strategy sequence; and analyzing the scheduling strategy sequence by using a sliding mode variable structure controller, and generating multi-resource real-time control instructions for distributed photovoltaic inverters, energy storage converters and controllable load terminals.

The present application relates to permanent magnet synchronous motor control technology field, specifically relates to a kind of polynomial saturation function sliding mode observer PMSM sensorless control method and system, including establishing motor voltage equation and current state equation, construct the sliding mode observer using fast terminal hyper spiral control law, the control law includes proportional term, integral term and the linear term related to sliding surface.Then design polynomial saturation function, it is continuous smooth cubic polynomial in boundary layer, it is sign function outside boundary layer.Polynomial saturation function is substituted into observer control law, replaces sign switching function, estimates back electromotive force using observer, integral term in control law directly outputs back electromotive force estimation value, without low-pass filter.Finally, through heterodyne method according to back electromotive force, rotor position and speed are calculated, sensorless closed-loop control is realized.The present application effectively suppresses chattering, avoids phase delay, improves estimation accuracy, and is suitable for new energy vehicles and industrial robot driving system.

The application discloses a kind of automobile gearbox shell processing equipment and its processing technology, belong to automobile gearbox shell processing field.The device includes machine tool main body, drive system, numerical control system, and clamping mechanism and deformation compensation component;Deformation compensation component includes hinged seat and hinged compensation rod;Hinged seat is hinged with the middle part of hinged compensation rod, so that hinged compensation rod can swing around hinged seat;Firstly, the second lamination of second lamination is movably connected with the first lamination of first lamination end, and first lamination and second lamination are different positions on the surface of automobile gearbox shell respectively;When first lamination is subjected to pressure, hinged compensation rod swings and drives second lamination to move in opposite direction.The application realizes the lever function of hinged compensation rod by the effect of deformation compensation component, and automatically converts the elastic recess at processing point into reverse support force of adjacent point, with the advantages of effectively reducing elastic deformation in real time, improving processing precision.