Motor anti-interference control method, system and device based on fractional-order sliding mode control

Abstract

The invention discloses a motor anti-interference control method, system and device based on fractional order sliding mode control. The method comprises the following steps of estimating the interference magnitude borne by a motor to obtain an interference estimation value; calculating the gain of sliding mode switching according to the interference estimation value; according to the calculated gain value, performing closed-loop control on the angular velocity of the motor by adopting a sliding mode control algorithm based on fractional order; the system comprises an interference estimation module, a gain value calculation module and a sliding mode control module; and the device comprises a memory and a processor. The sliding mode control is performed on the basis of the accurate gain value, so that the robustness of the sliding mode control algorithm can be guaranteed, shaking can be effectively inhibited, and the precision of motor speed control is improved; in addition, the slidingmode control algorithm is executed based on the fractional order calculus field, so that the robustness of the sliding mode control algorithm is further improved, and the method can be widely appliedto the field of motor control.

Description

technical field [0001] The invention relates to the field of motor control, in particular to a motor anti-interference control method, system and device based on fractional-order sliding mode control. Background technique [0002] Permanent magnet synchronous motors have the advantages of small size, fast response, and high power, and are widely used in new energy vehicles, CNC machine tools, and robots. At present, the existing permanent magnet synchronous motor control systems (or drives) on the market are generally PID closed-loop control. However, the control performance of this control algorithm is relatively poor in the case of interference, which cannot meet the application requirements. Because the sliding mode control algorithm has strong robustness against disturbance, it is widely used in the anti-disturbance high-precision control of the servo system. However, the traditional sliding mode control algorithm has the following problems: [0003] The sliding mode ...

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Problems solved by technology

[0003] The sliding mode control algorithm must meet the interference matching conditions, but the interference cannot be measured. In order to ensure the feasibility of the algorithm, it is usually necessary to design the switching gain of the sliding mode control to be relatively large to overcome the large-scale external interference

However, excessive sliding mode switching gain has caused new problems: high-frequency large-scale switching will cause system chatter, which will affect the control accuracy

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