High-precision control method and device for servo motor system based on disturbance perception

Abstract

The invention discloses a servo motor system high-precision control method and device based on disturbance perception, and belongs to the technical field of motor control, and the method specifically comprises the steps: building a high-precision PMSM equivalent magnetic circuit model containing eddy current response based on a vector magnetic circuit theory; the method comprises the following steps: taking three-phase symmetric sinusoidal current as stator winding excitation, generating a relation model of a stator current amplitude and dq-axis current, and extracting a nonlinear characteristic of alternating-direct-axis dynamic inductance along with current change; constructing a dynamic leakage item nonlinear extended state observer DL-NIESO based on a filtering mechanism, and providing high-precision disturbance and dynamic compensation for a sliding mode controller; and establishing a self-adaptive reaching law and realizing self-adaptive control of speed error compensation and buffeting suppression according to disturbance and dynamic compensation results of the sliding mode controller. The control method provided by the invention has good response performance, robustness and smoothness, and is suitable for a high-performance servo control system.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to a high-precision control method and device for a servo motor system based on disturbance sensing. Background Technology

[0002] In permanent magnet synchronous motor control systems, system performance is constrained by several key technical aspects. First, the accuracy of motor modeling directly determines the predictive and compensatory capabilities of the control strategy. Traditional modeling methods, typically based on simplified linear models, struggle to accurately reflect the dynamic behavior of the motor under complex conditions such as saturation and eddy current effects, thus impacting the controller's accuracy and robustness. Second, sudden load disturbances are prevalent in practical applications, especially in dynamic load environments such as robotics and high-speed machining. External disturbances often exhibit nonlinear, abrupt, and unpredictable characteristics, making it difficult for traditional control systems to respond promptly and accurately, easily leading to system overshoot, oscillation, or even instability. Furthermore, traditional vector control or PI control strategies, primarily based on fixed parameter designs, cannot effectively adapt to changes in system parameters and strong nonlinear characteristics. Their disturbance rejection capabilities and dynamic tracking accuracy are insufficient to meet the application requirements of high-performance servo systems. Therefore, it is urgent to conduct systematic research on high-precision motor modeling, disturbance perception and compensation mechanisms, and novel high-precision control algorithms to achieve a synergistic improvement in micrometer-level position control accuracy and high dynamic disturbance rejection capabilities, breaking through the key technical bottlenecks of current high-performance robot drive systems. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention proposes a high-precision control method and device for servo motor systems based on disturbance perception. By introducing an adaptive reaching law to construct a sliding mode controller, a coupled response control of state and disturbance is achieved through disturbance perception feedback and a dual-channel gain adjustment mechanism. This method exhibits good response performance, robustness, and smoothness, making it suitable for high-performance servo control systems.

[0004] To achieve the above objectives, the present invention provides the following solution: In a first aspect, the present invention proposes a high-precision control method for a servo motor system based on disturbance sensing, comprising the following steps: Based on vector magnetic circuit theory, a high-precision PMSM equivalent magnetic circuit model with eddy current response is constructed. Based on the three-phase symmetrical sinusoidal current as the stator winding excitation, a model relating the stator current amplitude to the dq-axis current is generated, and the nonlinear characteristics of the quadrature and direct-axis dynamic inductance as a function of current are extracted. A nonlinear extended state observer DL-NIESO based on a filtering mechanism for dynamic leakage terms is constructed to provide high-precision disturbance and dynamic compensation for sliding mode controllers. An adaptive control based on an adaptive reaching law and the disturbance and dynamic compensation results of a sliding mode controller is established to achieve speed error compensation and chattering suppression.

[0005] Furthermore, based on vector magnetic circuit theory, the process of constructing a high-precision PMSM equivalent magnetic circuit model with eddy current response specifically includes: Based on the vector magnetic circuit model, the equivalent magnetic circuit equation of the PMSM in the three-phase stationary coordinate system can be obtained. Through Park transformation, the transformation expression of the magnetic circuit equation along the dq axis is obtained. Based on the armature current and the magnetomotive force generated by the permanent magnet, and the dq axis transformation, a high-precision equivalent magnetic circuit model of the PMSM is obtained: ; ; In the above formula, Represents the d-axis stator voltage. This represents the q-axis stator voltage. This represents the stator winding resistance. This represents the equivalent resistance based on the eddy current response. Indicates the electric angular frequency. Indicates the d-axis inductance. Indicates q-axis inductance. , , Let p represent the intermediate variable and p represent the extreme logarithm. This indicates a permanent magnet flux linkage.

[0006] Furthermore, based on the three-phase symmetrical sinusoidal current as the stator winding excitation, the process of generating a model relating the stator current amplitude to the dq-axis current and extracting the nonlinear characteristics of the quadrature-direct axis dynamic inductance as a function of current specifically includes: A three-phase symmetrical sinusoidal current is used as the excitation for the stator winding: ; Using a coordinate transformation that maintains the "non-power form invariance", the quadrature and direct axis currents can be obtained as follows: ; The relationship between the stator current amplitude and the dq-axis current can be expressed as follows: ; Inductance was calculated using the frozen permeability method. Under given current excitation conditions, the dq-axis flux linkage was calculated through finite element simulation. The quadrature-direct axis dynamic inductance is obtained according to the following formula: ; In the above formula, , , This represents the instantaneous current of the three-phase windings A, B, and C. This represents the current amplitude of one phase of the three-phase stator winding. Indicates the synchronous frequency of the motor. Electrical angles representing the rotor position. Indicates the initial phase.

[0007] Furthermore, the specific process of constructing the DL-NIESO dynamic leakage term nonlinear extended state observer based on the filtering mechanism is as follows: Simplified speed loop model of permanent magnet synchronous motor: ; ; Define extended state variables: ; The third-order NL-ESO is constructed as follows: ; Define the disturbance value as: ; The filtering mechanism uses a first-order low-pass filter, and is expressed as: ; In the formula, Indicates the number of pole pairs of the motor. Indicates permanent magnet flux linkage. Indicates the moment of inertia of the motor. Indicates the viscous damping coefficient. This includes load disturbances, modeling errors, and other unknown interferences. Indicates system input; Indicates the mechanical angular velocity of the motor. It is a continuous nonlinear error feedback function; For state estimation error, Represents the normalized system gain. , , Represents the observer gain coefficient. , The nonlinear exponent of the fal function is represented. For non-linear interval thresholds, This represents the filtered disturbance estimate at the k-th sampling time. This represents the filtered disturbance estimate at the (k-1)th sampling time. The leakage suppression coefficient of the disturbance term. The sampling period is This is the filtering time constant.

[0008] Furthermore, the process of establishing adaptive control based on the adaptive reaching law and according to the disturbance and dynamic compensation results of the sliding mode controller to achieve speed error compensation and chattering suppression specifically includes: After differentiating the sliding surface function based on the sliding mode controller, the adaptive approaching control law is constructed as follows: ; The output equation of the sliding mode controller is: ; In the above formula, Represents the sliding surface variable; Indicates the desired mechanical angular velocity; Indicates the sliding surface coefficient; Indicates error; This represents the control gain coefficient of the state error channel; This represents the control gain coefficient of the disturbance estimate channel; The nonlinear scaling exponent represents the state error. The nonlinear scaling exponent represents the perturbation channel; This indicates a limitation on the magnitude of the reaching law, reducing the chattering saturation function; This represents the boundary width of the saturation function that determines the switching interval; This represents the linear negative feedback gain used for steady-state regulation.

[0009] Secondly, the present invention also proposes a high-precision control device for a servo motor system based on disturbance perception, for executing the control method described in the first aspect, comprising: The first building module is used to construct a high-precision PMSM equivalent magnetic circuit model with eddy current response based on vector magnetic circuit theory. The extraction module is used to generate a model of the relationship between the stator current amplitude and the dq-axis current based on the three-phase symmetrical sinusoidal current as the stator winding excitation, and to extract the nonlinear characteristics of the quadrature and direct-axis dynamic inductance as a function of current. The second building module is used to build the DL-NIESO dynamic leakage term nonlinear extended state observer based on the filtering mechanism, which provides high-precision disturbance and dynamic compensation for the sliding mode controller. The control module is used to establish adaptive control based on the adaptive reaching law and the disturbance and dynamic compensation results of the sliding mode controller to achieve speed error compensation and chattering suppression.

[0010] Thirdly, the present invention also proposes a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method as described in the first aspect.

[0011] Fourthly, the present invention also proposes a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in the first aspect.

[0012] The beneficial effects of this invention are as follows: This invention proposes a high-precision control method and device for servo motor systems based on disturbance perception, and constructs a composite control system that integrates high-precision motor modeling, disturbance observation and adaptive control, systematically solving the core bottleneck problem in high-performance PMSM servo control.

[0013] First, by introducing a modeling mechanism based on vector magnetic circuits and eddy current response, the system accurately characterizes the d / q axis magnetic circuit coupling and dynamic inductance changes during the electromagnetic modeling stage, effectively reducing the impact of model uncertainty on the performance of the control system. Second, the constructed dynamic leakage nonlinear extended state observer (DL-NLESO) can achieve high-precision online estimation of generalized disturbances under abrupt loads or nonlinear frictional disturbances, enhancing the system's dynamic disturbance perception capability. Furthermore, the adaptive reaching law (DAARL) sliding mode controller designed based on disturbance observation results realizes dynamic adjustment of the control gain, significantly suppressing high-frequency chattering while improving the reaching speed, thereby improving the system's response speed and steady-state tracking accuracy. Attached Figure Description

[0014] Figure 1 This is a flowchart of a high-precision control method for a servo motor system based on disturbance perception, as proposed in an embodiment of the present invention.

[0015] Figure 2 The diagram illustrates the principle of a high-precision control method for a servo motor system based on disturbance perception, as provided in an embodiment of the present invention.

[0016] Figure 3 The three-dimensional distribution diagram of d-axis flux linkage under different direct and quadrature axis current conditions in the high-precision control method for servo motor system based on disturbance perception provided in the embodiments of the present invention.

[0017] Figure 4 The three-dimensional distribution diagram of d-axis inductance under different direct and quadrature axis current conditions in the high-precision control method for servo motor system based on disturbance perception provided in the embodiments of the present invention.

[0018] Figure 5 The position waveform diagram is shown in the high-precision control method for servo motor system based on disturbance perception provided in the embodiments of the present invention.

[0019] Figure 6 Position accuracy diagram in the high-precision control method for servo motor system based on disturbance perception provided in the embodiments of the present invention. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0021] like Figure 1-2 As shown in the figure, this embodiment proposes a high-precision control method for a servo motor system based on disturbance perception, which specifically includes the following: S101. Based on vector magnetic circuit theory, a high-precision PMSM equivalent magnetic circuit model with eddy current response is constructed.

[0022] In this embodiment, the process of constructing a high-precision PMSM equivalent magnetic circuit model with eddy current response based on vector magnetic circuit theory specifically includes: Based on the vector magnetic circuit model, the equivalent magnetic circuit equation of PMSM in the three-phase stationary coordinate system is as follows: ; In the formula, , , These represent the magnetomotive forces in phases A, B, and C, respectively. These represent the magnetic flux of phases A, B, and C, respectively. This represents the reluctance matrix, which takes into account the salient pole characteristics of the permanent magnet synchronous motor. Indicates the electrical angle of the rotor. This represents the permeability introduced by the eddy current reaction. Using the Park transformation, the dq-axis magnetic circuit equation is transformed into the following: ; ; The armature current and the MMF generated by the permanent magnet can be expressed as: ; in , and These are the complex vectors of the stator MMF, armature MMF, and permanent magnet MMF, respectively. The q-axis component is equal to 0 because Align with the d-axis and convert to the dq-axis to obtain: ; ; A high-precision PMSM equivalent magnetic circuit model is obtained based on armature current and magnetomotive force generated by permanent magnets, as well as dq-axis transformation: ; ; In the above formula, Represents the d-axis stator voltage. This represents the q-axis stator voltage. This represents the stator winding resistance. This represents the equivalent resistance based on the eddy current response. Indicates the electric angular frequency. Indicates the d-axis inductance. Indicates q-axis inductance. , , Let p represent the intermediate variable and p represent the extreme logarithm. Indicates permanent magnet flux linkage. The effective number of turns per phase winding of the motor , This represents the d-axis and q-axis magnetic reluctance.

[0023] S102. Based on the three-phase symmetrical sinusoidal current as the stator winding excitation, a model relating the stator current amplitude to the dq-axis current is generated, and the nonlinear characteristics of the quadrature and direct-axis dynamic inductance as a function of current are extracted.

[0024] In this embodiment, based on the motor's design parameters, a high-precision model of a surface-mounted permanent magnet synchronous motor was constructed using finite element software. To further study the motor's dynamic inductance characteristics, a three-phase symmetrical sinusoidal current was used as the stator winding excitation. ; Using a coordinate transformation that maintains the "non-power form invariance", the quadrature and direct axis currents can be obtained as follows: ; The relationship between the stator current amplitude and the dq-axis current can be expressed as follows: ; like Figure 3-4 As shown, the inductance is calculated using the frozen permeability method. Under a given current excitation condition, the dq-axis flux linkage is calculated through finite element simulation. The quadrature-direct axis dynamic inductance is obtained according to the following formula: ; In the above formula, , , This represents the instantaneous current of the three-phase windings A, B, and C. This represents the current amplitude of one phase of the three-phase stator winding. Indicates the synchronous frequency of the motor. Electrical angles representing the rotor position. Indicates the initial phase.

[0025] S103. Construct a nonlinear extended state observer DL-NIESO based on a filtering mechanism for dynamic leakage terms, providing high-precision disturbance and dynamic compensation for sliding mode controllers.

[0026] In this embodiment, to improve the position control accuracy and system stability of a high-performance permanent magnet synchronous motor (PMSM) under sudden load conditions, a dynamic-leakage nonlinear extended state observer (DL-NLESO) is designed. This observer introduces a dynamic leakage mechanism for the disturbance channel based on the traditional NL-ESO framework and integrates a first-order filter, effectively enhancing the robust estimation capability for unknown disturbances and providing the controller with more accurate dynamic compensation information.

[0027] Simplified speed loop model of permanent magnet synchronous motor: ; ; Define extended state variables: ; The third-order NL-ESO is constructed as follows: ; Define the disturbance value as: ; The filtering mechanism uses a first-order low-pass filter, and is expressed as: ; In the formula, Indicates the number of pole pairs of the motor. Indicates permanent magnet flux linkage. Indicates the moment of inertia of the motor. Indicates the viscous damping coefficient. This includes load disturbances, modeling errors, and other unknown interferences. Indicates system input; Indicates the mechanical angular velocity of the motor. It is a continuous nonlinear error feedback function; For state estimation error, Represents the normalized system gain. , , Represents the observer gain coefficient. , The nonlinear exponent of the fal function is represented. For non-linear interval thresholds, This represents the filtered disturbance estimate at the k-th sampling time. This represents the filtered disturbance estimate at the (k-1)th sampling time. The leakage suppression coefficient of the disturbance term. The sampling period is This is the filtering time constant.

[0028] Compared with the traditional NL-ESO, the DL-NLESO in this paper has the following advantages: 1) Dynamic leakage structure: by introducing leakage terms 1) Effectively avoids the integral drift problem of the observer when the disturbance is constant, and improves steady-state stability; 2) Disturbance smoothing channel design: Combined with a first-order filter to suppress high-frequency estimation noise, making the estimated value more suitable for controller calls; 3) Strong parameter adjustability: 4) Provide the controller with high-precision dynamic disturbance estimation input to enhance the controller's robustness and response sensitivity.

[0029] S104. Establish adaptive control based on the adaptive reaching law and according to the disturbance and dynamic compensation results of the sliding mode controller to achieve speed error compensation and chattering suppression.

[0030] like Figure 5-6 As shown, the sign function type and exponential reaching law in traditional sliding mode controllers often face two core challenges in engineering practice: first, the convergence speed of the reaching process depends on fixed gain adjustment, making it difficult to balance responsiveness and steady-state accuracy in dynamic disturbance environments; second, the reaching term is prone to causing high-frequency chattering in the system, thus affecting the position tracking performance of the motor. To address these issues, this paper proposes a disturbance-aware adaptive reaching law (DAARL) based on a disturbance sensing mechanism to construct a sliding mode control framework with disturbance response capability and dynamic robust adjustment characteristics.

[0031] In this embodiment, the sliding surface function is defined as: ; In the formula, Represents the sliding surface variable; Indicates the desired mechanical angular velocity; Indicates the sliding surface coefficient; This is the error.

[0032] Differentiate the sliding surface function: ; The approach control law is constructed as follows: ; Sliding mode controller output equation: ; In the above formula, Represents the sliding surface variable; Indicates the desired mechanical angular velocity; Indicates the sliding surface coefficient; This is expressed as error; This represents the control gain coefficient of the state error channel; This represents the control gain coefficient of the disturbance estimate channel; The nonlinear scaling exponent represents the state error. The nonlinear scaling exponent represents the perturbation channel; This indicates a limitation on the magnitude of the reaching law, reducing the chattering saturation function; This represents the boundary width of the saturation function that determines the switching interval (a positive number). This represents the linear negative feedback gain used for steady-state regulation.

[0033] The approach law of the disturbance sensing mechanism constructed in this embodiment has the following performance advantages: 1) Nonlinear state error gain mechanism: by introducing 1) Significantly improves the convergence rate and accelerates the dynamic response of the system when it is far from the sliding surface; 2) Disturbance-sensing adaptive adjustment mechanism: through To achieve adaptive adjustment of control gain to disturbance intensity, thereby enhancing the robustness of the controller under load changes or external disturbances; 3) Saturated function-driven smooth control mechanism: adopting Replacing the traditional sign function can effectively suppress control chattering and improve the continuity and smoothness of the control signal; 4) Linear feedback steady-state error adjustment mechanism: Enhance the steady-state accuracy near the sliding surface.

[0034] Secondly, the present invention also proposes a high-precision control device for a servo motor system based on disturbance sensing, comprising: The first building module is used to construct a high-precision PMSM equivalent magnetic circuit model with eddy current response based on vector magnetic circuit theory. The extraction module is used to generate a model of the relationship between the stator current amplitude and the dq-axis current based on the three-phase symmetrical sinusoidal current as the stator winding excitation, and to extract the nonlinear characteristics of the quadrature and direct-axis dynamic inductance as a function of current. The second building module is used to build the DL-NIESO dynamic leakage term nonlinear extended state observer based on the filtering mechanism, which provides high-precision disturbance and dynamic compensation for the sliding mode controller. The control module is used to establish adaptive control based on the adaptive reaching law and the disturbance and dynamic compensation results of the sliding mode controller to achieve speed error compensation and chattering suppression.

[0035] In one embodiment, a readable storage medium stores a computer program that, when executed by a processor, implements the steps of the above-described method.

[0036] In one embodiment, a computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0037] The aforementioned readable storage medium and computer equipment, based on vector magnetic circuit theory, construct a high-precision PMSM equivalent magnetic circuit model with eddy current response; based on three-phase symmetrical sinusoidal current as stator winding excitation, generate a model relating stator current amplitude to dq-axis current, and extract the nonlinear characteristics of the quadrature and direct-axis dynamic inductance as a function of current; construct a dynamic leakage term nonlinear extended state observer DL-NIESO based on a filtering mechanism to provide high-precision disturbance and dynamic compensation for the sliding mode controller; establish adaptive control based on an adaptive reaching law and according to the disturbance and dynamic compensation results of the sliding mode controller to achieve speed error compensation and chattering suppression. This achieves coupled response control of state and disturbance, possessing good response performance, robustness, and smoothness, and is suitable for high-performance servo control systems.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A high-precision control method for a servo motor system based on disturbance sensing, characterized in that, Includes the following steps: Based on vector magnetic circuit theory, a high-precision PMSM equivalent magnetic circuit model with eddy current response is constructed. Based on the three-phase symmetrical sinusoidal current as the stator winding excitation, a model relating the stator current amplitude to the dq-axis current is generated, and the nonlinear characteristics of the quadrature and direct-axis dynamic inductance as a function of current are extracted. A nonlinear extended state observer DL-NIESO based on a filtering mechanism for dynamic leakage terms is constructed to provide high-precision disturbance and dynamic compensation for sliding mode controllers. An adaptive control based on an adaptive reaching law and the disturbance and dynamic compensation results of a sliding mode controller is established to achieve speed error compensation and chattering suppression.

2. The high-precision control method for a servo motor system based on disturbance perception according to claim 1, characterized in that, The process of constructing a high-precision PMSM equivalent magnetic circuit model with eddy current response based on vector magnetic circuit theory specifically includes: Based on the vector magnetic circuit model, the equivalent magnetic circuit equation of the PMSM in the three-phase stationary coordinate system can be obtained. Through Park transformation, the transformation expression of the magnetic circuit equation along the dq axis is obtained. Based on the armature current and the magnetomotive force generated by the permanent magnet, and the dq axis transformation, a high-precision equivalent magnetic circuit model of the PMSM is obtained: ； ； In the above formula, Represents the d-axis stator voltage. This represents the q-axis stator voltage. This represents the stator winding resistance. This represents the equivalent resistance based on the eddy current response. Indicates the electric angular frequency. Indicates the d-axis inductance. Indicates q-axis inductance. , , Let p represent the intermediate variable and p represent the extreme logarithm. This indicates a permanent magnet flux linkage.

3. The high-precision control method for a servo motor system based on disturbance perception according to claim 1, characterized in that, The process of generating a model relating stator current amplitude to dq-axis current based on three-phase symmetrical sinusoidal current as stator winding excitation, and extracting the nonlinear characteristics of the quadrature-direct axis dynamic inductance as a function of current, specifically includes: A three-phase symmetrical sinusoidal current is used as the excitation for the stator winding: ； Using a coordinate transformation that maintains the "non-power form invariance", the quadrature and direct axis currents can be obtained as follows: ； The relationship between the stator current amplitude and the dq-axis current can be expressed as follows: ； Inductance was calculated using the frozen permeability method. Under given current excitation conditions, the dq-axis flux linkage was calculated through finite element simulation. The quadrature-direct axis dynamic inductance is obtained according to the following formula: ； In the above formula, , , This represents the instantaneous current of the three-phase windings A, B, and C. This represents the current amplitude of one phase of the three-phase stator winding. Indicates the synchronous frequency of the motor. Electrical angles representing the rotor position. Indicates the initial phase.

4. The high-precision control method for a servo motor system based on disturbance perception according to claim 1, characterized in that, The specific process of constructing the DL-NIESO dynamic leakage term nonlinear extended state observer based on the filtering mechanism is as follows: Simplified speed loop model of permanent magnet synchronous motor: ； ； Define extended state variables: ； The third-order NL-ESO is constructed as follows: ； Define the disturbance value as: ； The filtering mechanism uses a first-order low-pass filter, and is expressed as: ； In the formula, Indicates the number of pole pairs of the motor. Indicates permanent magnet flux linkage. Indicates the moment of inertia of the motor. Indicates the viscous damping coefficient. This includes load disturbances, modeling errors, and other unknown interferences. Indicates system input; Indicates the mechanical angular velocity of the motor. It is a continuous nonlinear error feedback function; For state estimation error, Represents the normalized system gain. , , Represents the observer gain coefficient. , The nonlinear exponent of the fal function is represented. For non-linear interval thresholds, This represents the filtered disturbance estimate at the k-th sampling time. This represents the filtered disturbance estimate at the (k-1)th sampling time. The leakage suppression coefficient of the disturbance term. The sampling period is This is the filtering time constant.

5. The high-precision control method for a servo motor system based on disturbance perception according to claim 4, characterized in that, The process of establishing adaptive control based on adaptive reaching law and according to the disturbance and dynamic compensation results of sliding mode controller to achieve speed error compensation and chattering suppression specifically includes: After differentiating the sliding surface function based on the sliding mode controller, the adaptive approaching control law is constructed as follows: ； The output equation of the sliding mode controller is: ； In the above formula, Represents the sliding surface variable; Indicates the desired mechanical angular velocity; Indicates the sliding surface coefficient; Indicates error; This represents the control gain coefficient of the state error channel; This represents the control gain coefficient of the disturbance estimate channel; The nonlinear scaling exponent represents the state error. The nonlinear scaling exponent represents the perturbation channel; This indicates a limitation on the magnitude of the reaching law, reducing the chattering saturation function; This represents the boundary width of the saturation function that determines the switching interval; This represents the linear negative feedback gain used for steady-state regulation.

6. A high-precision control device for a servo motor system based on disturbance perception, used to execute the control method as described in any one of claims 1-5, characterized in that, include: The first building module is used to construct a high-precision PMSM equivalent magnetic circuit model with eddy current response based on vector magnetic circuit theory. The extraction module is used to generate a model of the relationship between the stator current amplitude and the dq-axis current based on the three-phase symmetrical sinusoidal current as the stator winding excitation, and to extract the nonlinear characteristics of the quadrature and direct-axis dynamic inductance as a function of current. The second building module is used to build the DL-NIESO dynamic leakage term nonlinear extended state observer based on the filtering mechanism, which provides high-precision disturbance and dynamic compensation for the sliding mode controller. The control module is used to establish adaptive control based on the adaptive reaching law and the disturbance and dynamic compensation results of the sliding mode controller to achieve speed error compensation and chattering suppression.

7. A readable storage medium storing a computer program, characterized in that, When the stored computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-5.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-5.

Images