Motor control system and method capable of resisting interference at specified time

Abstract

The embodiment of the invention discloses a specified time anti-interference motor control system and method, and the method comprises the steps: building a mathematical model of a permanent magnet synchronous motor through motor mechanism analysis and parameter measurement setting, designing a practical specified time disturbance observer, and estimating the lumped interference of a system in real time; and a specified time self-adaptive anti-interference composite controller is constructed based on a backstepping method and a dynamic inverse method, so that accurate control of the rotating speed of the motor is realized. According to the system, virtual control quantity is designed through a backstepping method, and a controller adopts an instruction filter and an interference adaptive compensation mechanism to realize effective compensation of system uncertainty, modeling errors and external disturbance. The method can effectively cope with uncertainty caused by system parameter perturbation, unmodeled dynamics and external load dramatic change, gives consideration to dynamic and static performance, has the advantages of closed-loop bounded stability, adaptive disturbance compensation and strong interference resistance, and is suitable for rotating speed control of a motor system under complex working conditions.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a motor control system and method for resisting interference at a specified time. Background Technology

[0002] Traditional motor control technology, especially linear control methods represented by proportional-integral-derivative (PID) controllers, has been widely used due to its advantages of simple structure, ease of implementation, and good robustness. However, the theoretical basis of PID control is based on a linear system model, and once its control parameters are tuned, it is difficult to adapt to changes in the system. In actual operation, internal parameters of the motor system, such as winding resistance, change with temperature, and moment of inertia may fluctuate due to load changes. At the same time, the system inevitably has unmodeled dynamics, such as nonlinear friction and cogging torque pulsation, as well as external load disturbances, such as uncertainties like a robot grasping heavy objects or sudden changes in machine tool cutting torque. When faced with these internal parameter perturbations and severe external disturbances, the performance of traditional PID controllers will deteriorate sharply, resulting in problems such as overshoot, oscillation, increased steady-state error, and even system instability, which is far from meeting the dynamic and static performance requirements of modern high-performance applications.

[0003] Therefore, adaptive control theory has been introduced into the field of motor control. However, the convergence speed of traditional adaptive control algorithms is usually asymptotic, meaning that theoretically it takes an infinite amount of time to fully converge to the optimal state. For applications requiring fast response and high dynamic performance, this asymptotic convergence characteristic becomes a significant drawback. Furthermore, when the system encounters drastic and rapidly changing external load disturbances, the adjustment speed of traditional adaptive mechanisms often cannot keep up with the rate of change of the disturbance, leading to large instantaneous errors in the system.

[0004] To address the problem of external disturbances, Disturbance Observer (DOB) technology has emerged. Its core idea is to treat all uncertainties faced by the system, such as unmodeled dynamics, parameter perturbations, and external loads, as a single "lumped disturbance." This disturbance is then estimated in real-time by establishing an observer, and a feedforward compensation term is introduced into the controller to proactively counteract its adverse effects. However, traditional linear or nonlinear disturbance observers also suffer from convergence speed issues, often exhibiting asymptotic or finite-time convergence. While finite-time convergence ensures stability within a finite time, its upper bound depends on the system's initial state. This means that under different initial conditions, the system's settling time varies, lacking determinism, which is unacceptable in many precision control systems requiring highly coordinated and synchronized operation. Summary of the Invention

[0005] This invention provides a motor control system and method for anti-interference at a specified time, which solves the technical problems of existing technologies in motor control, such as the inability to quickly and accurately compensate for lumped disturbances and the convergence time depending on the initial state of the system, which poses a threat to the predictability and reliability of the system.

[0006] In a first aspect, embodiments of the present invention provide a motor control system with specified time anti-interference for realizing speed control of a permanent magnet synchronous motor. The system includes an instruction generator, a specified time adaptive anti-interference composite controller, and a practical specified time disturbance observer.

[0007] The output of the instruction generator is connected to the input of the specified time adaptive anti-interference composite controller;

[0008] The input terminal of the specified time adaptive anti-interference composite controller is connected to the output terminal of the practical specified time disturbance observer and the state feedback terminal of the downstream permanent magnet synchronous motor, respectively; the output terminal of the specified time adaptive anti-interference composite controller is connected to the input terminal of the permanent magnet synchronous motor and the input terminal of the practical specified time disturbance observer, respectively.

[0009] The input terminal of the practical time-specified disturbance observer is also connected to the state feedback terminal and the system output terminal of the permanent magnet synchronous motor;

[0010] The instruction generator is used to generate dynamic instructions that meet the target requirements based on the control objectives set by the system.

[0011] The practical specified time disturbance observer is used to estimate the lumped disturbance in real time within a specified time based on the output control quantity of the specified time adaptive anti-interference composite controller and the state feedback information of the permanent magnet synchronous motor, and outputs the lumped disturbance estimate to the specified time adaptive anti-interference composite controller.

[0012] The specified time adaptive anti-interference composite controller is used to design virtual control quantities based on the backstepping method using the dynamic command, the lumped disturbance estimate, and the state feedback information. It adjusts the control quantities in real time using the dynamic inverse method and combines them with the anti-interference method to generate adaptive control commands through real-time estimation of lumped disturbances and output them to the permanent magnet synchronous motor and the practical specified time disturbance observer, thereby realizing real-time control of the speed of the permanent magnet synchronous motor.

[0013] In a second aspect, embodiments of the present invention also provide a motor control method for anti-interference at a specified time, wherein the motor control system for anti-interference at a specified time described in the first aspect executes the motor control method for anti-interference at a specified time.

[0014] The method includes:

[0015] A perturbation-inducing affine mathematical model of a permanent magnet synchronous motor is constructed using a time-adaptive anti-interference composite controller.

[0016] Based on the mathematical model of the permanent magnet synchronous motor, the instruction generator generates dynamic instructions that meet the target requirements according to the control objectives set by the system.

[0017] The practical specified-time disturbance observer observes and estimates the lumped disturbance in real time within a specified time period, and obtains the estimated values ​​of the lumped disturbance in the speed loop and current loop, respectively.

[0018] The specified time adaptive anti-interference composite controller uses the dynamic command, the estimated value of the lumped interference, and the state feedback information of the permanent magnet synchronous motor to design a virtual control quantity based on the backstepping method, adjust the control quantity in real time using the dynamic inverse method, and combine it with the anti-interference method to generate adaptive control commands to control the permanent magnet synchronous motor through real-time estimation of the lumped interference.

[0019] This invention discloses a time-based anti-interference motor control system and method. A mathematical model of a permanent magnet synchronous motor is established through motor mechanism analysis and parameter measurement and tuning. A practical time-based disturbance observer is designed to estimate the lumped disturbance of the system in real time. A time-based adaptive anti-interference composite controller is constructed based on backstepping and dynamic inverse methods to achieve precise control of the motor speed. The system designs virtual control quantities using backstepping, and the controller employs a command filter and an adaptive disturbance compensation mechanism to effectively compensate for system uncertainties, modeling errors, and external disturbances. This method can effectively cope with uncertainties caused by system parameter perturbations, unmodeled dynamics, and drastic changes in external loads, taking into account both dynamic and static performance. It has the advantages of closed-loop bounded stability, adaptive disturbance compensation, and strong anti-interference, and is suitable for speed control of motor systems under complex operating conditions. Attached Figure Description

[0020] Figure 1 This is a structural diagram of a motor control system with specified time anti-interference provided in an embodiment of the present invention;

[0021] Figure 2 This is a flowchart of a motor control method for anti-interference at a specified time, provided by an embodiment of the present invention;

[0022] Figure 3 This is a control effect diagram of a motor control method for anti-interference at a specified time provided in an embodiment of the present invention. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish different objects, not to limit a specific order. The various embodiments of this invention described below can be performed individually or in combination with each other; the embodiments of this invention do not impose specific limitations in this regard.

[0025] Figure 1 This is a structural diagram of a time-based anti-interference motor control system provided in an embodiment of the present invention. This time-based anti-interference motor control system is used to achieve speed control of a permanent magnet synchronous motor.

[0026] like Figure 1 As shown, the specified time anti-interference motor control system includes a command generator 10, a specified time adaptive anti-interference composite controller 20, and a practical specified time disturbance observer 30.

[0027] The output of instruction generator 10 is connected to the input of specified time adaptive anti-interference composite controller 20; the input of specified time adaptive anti-interference composite controller 20 is connected to the output of practical specified time disturbance observer 30 and the state feedback terminal of downstream permanent magnet synchronous motor 40, respectively; the output of specified time adaptive anti-interference composite controller 20 is connected to the input of permanent magnet synchronous motor 40 and the input of practical specified time disturbance observer 30, respectively; the input of practical specified time disturbance observer is also connected to the state feedback terminal of permanent magnet synchronous motor (…). Figure 1 The port that outputs status feedback information x) and the system output port ( Figure 1 (Connect the port that outputs y).

[0028] Instruction generator 10 is used to generate dynamic instructions ω that meet the target requirements based on the control objectives set by the system. ref .

[0029] The practical specified-time disturbance observer 30 is used to estimate the lumped disturbance in real time within a specified time period based on the output control quantity u of the specified-time adaptive anti-interference composite controller 20 and the state feedback information x of the permanent magnet synchronous motor, and then converts the lumped disturbance estimate into an output value. and Output to the specified time adaptive anti-interference composite controller 20.

[0030] The time-adaptive anti-interference composite controller 20 is used to utilize dynamic instruction ω refLumped disturbance estimate and In addition to the state feedback information x, a virtual control quantity is designed based on the backstepping method. The control quantity is adjusted in real time using the dynamic inverse method. Combined with the anti-interference method, an adaptive control command is generated and output to the permanent magnet synchronous motor 40 and the practical specified time disturbance observer 30 through real-time estimation of the lumped disturbance, so as to realize the real-time control of the speed of the permanent magnet synchronous motor 40.

[0031] Specifically, such as Figure 1 As shown, x represents the state vector of the permanent magnet synchronous motor 40 (PMSM), and ω is the rotational speed of the permanent magnet synchronous motor 40, i q U is the q-axis current of the permanent magnet synchronous motor 40, and u is the output of the time-adaptive anti-interference composite controller 20, whose physical meaning is the q-axis voltage u. q d ω It is the lumped interference of the speed loop, d i It is lumped interference from the current loop. d ω The estimated value, d i The estimated value is y, which is the output of the permanent magnet synchronous motor 40. In this embodiment of the invention, y is the rotational speed ω.

[0032] Optionally, to meet the control design requirements of the permanent magnet synchronous motor 40, a mathematical model is established using the input and output data of the permanent magnet synchronous motor through motor mechanism analysis and parameter measurement and tuning, resulting in an affine mathematical model of the permanent magnet synchronous motor with disturbances:

[0033] ;

[0034] Where ω is the rotational speed of the permanent magnet synchronous motor. i is the derivative of the rotational speed. q This represents the q-axis current of the permanent magnet synchronous motor. Let u be the derivative of the q-axis current, and u be the output of the time-adaptive anti-interference composite controller. q This refers to the q-axis voltage, d ω For the lumped disturbance of the speed loop, d i This is the lumped interference of the current loop. , , , , These are the motor model parameters for the permanent magnet synchronous motor.

[0035] Optionally, the instruction generator 10 is used to generate an instruction based on a known, given reference instruction r.d The transient process function G(s) generates a dynamic command ω that meets the control requirements. ref The mathematical expression for dynamic instructions is: ω ref= G(s)·r d (s), where s is the Laplace operator.

[0036] Optionally, a time-specified disturbance observer 30 is used to observe and estimate the lumped disturbance in real time within a specified period, thereby obtaining an estimate of the lumped disturbance. and ;

[0037] The practical time-specified disturbance observer for the rotational speed loop is:

[0038] ;

[0039] Where ω is the rotational speed of the permanent magnet synchronous motor, i q Let d be the q-axis current of the permanent magnet synchronous motor. ω This is the lumped interference of the speed loop. and Let ω and d represent respectively. ω Estimated value for The first derivative, The estimation error of ω, The constants k1, k2, k3 ≥ 0 For appropriate positive constants, μ and v are both scaling transformation functions, where, The first derivative of μ, Let v be the first derivative;

[0040] The scaling function for μ as a function of time is: ;

[0041] The scaling function for v as a function of time is: ;

[0042] Among them, T p >0, 0 < K ≤ 1, T p Both K and K are design parameters; , Represents the coordinates of the critical point of μ(t) with respect to the x-axis; This represents the critical point coordinates of μ(t) with respect to the y-axis; C is a constant used to ensure that the value of v is less than a set value.

[0043] The practical time-specified disturbance observer for the current loop is:

[0044] ;

[0045] Where, di This is the lumped interference of the current loop. and Representing i respectively q and d i The estimated value, for The first derivative, For i q The estimation error, Constants k1, k2, k3 ≥ 0 For appropriate positive numbers.

[0046] Optionally, the control law design for the time-adaptive anti-interference composite controller 20 includes:

[0047] First, a virtual controller is designed using the backstepping method and based on the error feedback of the permanent magnet synchronous motor and the derivative of the dynamic command signal with respect to the q-axis current. Its expression is:

[0048] ;

[0049] in, The output of the virtual controller is λ, which is an adaptive parameter (λ≥0). The virtual controller achieves adaptive disturbance compensation by adjusting λ. For d ω Estimated value For reference speed ω ref The derivatives of μ and v are scaling transformation functions, where... The first derivative of μ, Let e1 be the first derivative of v, then e1 = ω - ω ref When the reference speed ω ref When it is a step instruction, c1 is a parameter of the virtual controller;

[0050] Second, design a non-smooth command filter to smooth the output of the control quantity: ;

[0051] Where τ is the time constant, τ>0, The output of the instruction filter, for The first derivative is used to ensure the stability and smoothness of the filtered output by adjusting the parameter c1.

[0052] Third, based on the dynamic inverse method and the feedforward method, and combined with the observation output of a practical time-specified disturbance observer, a time-specified adaptive anti-disturbance control law is designed to achieve closed-loop speed control in a permanent magnet synchronous motor:

[0053] ;

[0054] Where c is the upper bound of the safe q-axis current. l(t) is the penalty coefficient that varies with time. , where l is a positive constant.

[0055] Specifically, when the q-axis current of the permanent magnet synchronous motor 40 approaches c, It will tend towards infinity. Considering u... q It has upper and lower limits; that is, when the bus voltage is constant, the q-axis current will be limited to prevent further increase, ensuring that it operates within the safe range that the hardware circuit can withstand. Furthermore... This control law holds true at all times. It effectively combines error feedback and disturbance compensation, enhancing the system's adaptability to external disturbances and improving its robustness to unmodeled dynamics and external disturbances. It can achieve precise control of the permanent magnet synchronous motor at 40 rpm.

[0056] In the embodiments of the present invention, the time-limited anti-interference motor control system has the following significant technical effects:

[0057] (1) Closed-loop bounded stability: Compared with traditional model-free control methods such as PID, this application can theoretically demonstrate the bounded stability of the system. By using a specified-time disturbance observer 30, this application can quickly and accurately estimate the lumped disturbances in the motor system caused by model uncertainty, modeling error, and external disturbances. By introducing the disturbance observation and compensation mechanism within a specified time into the control law, the uniform bounded stability of the system is guaranteed in theory based on Lyapunov theory, thereby improving the robustness and reliability of the control system.

[0058] (2) Adaptive Disturbance Compensation: The adaptive disturbance compensation method proposed in this application can effectively utilize the beneficial effects of disturbances by adjusting the adaptive factor λ. During dynamic changes, the system can quickly adjust and adapt to disturbances, thereby reducing steady-state errors and improving the stability and accuracy of control. This design exhibits good dynamic and static performance under different operating conditions, especially when facing complex and nonlinear disturbances, ensuring efficient and accurate control performance.

[0059] (3) Strong anti-interference capability: This application enhances the anti-interference capability of the system. In actual operation, the motor system is often affected by uncertainties, modeling errors and external disturbances, especially the speed instability that may be caused by rapid changes in load or power. This application designs a time-extended state disturbance observer, which can observe and estimate the lumped disturbance in real time within a specified time. Moreover, the convergence limit of the system can be found through simulation or experiment. By quickly estimating the lumped disturbance, the system can adaptively adjust the control strategy to achieve efficient elimination of disturbance, thereby significantly improving the stability and robustness of the motor system under disturbance environment.

[0060] Figure 2 This is a flowchart of a time-based anti-interference motor control method provided by an embodiment of the present invention. The time-based anti-interference motor control system in any of the above embodiments executes the time-based anti-interference motor control method.

[0061] like Figure 2 As shown, the specific steps of the time-suppressed motor control method include the following:

[0062] S101, a time-adaptive anti-interference composite controller is used to construct an affine mathematical model of a permanent magnet synchronous motor with disturbances.

[0063] Specifically, for the control design requirements of permanent magnet synchronous motors, a mathematical model is established using the input and output data of the permanent magnet synchronous motor through motor mechanism analysis and parameter measurement and tuning, resulting in an affine mathematical model of the permanent magnet synchronous motor with disturbances: Where ω is the rotational speed of the permanent magnet synchronous motor. i is the derivative of the rotational speed. q This represents the q-axis current of the permanent magnet synchronous motor. Let u be the derivative of the q-axis current, and u be the output of the time-adaptive anti-interference composite controller. q This refers to the q-axis voltage, d ω For the lumped disturbance of the speed loop, d i This is the lumped interference of the current loop. , , , , These are the motor model parameters for the permanent magnet synchronous motor.

[0064] S102, the instruction generator generates dynamic instructions that meet the index requirements based on the mathematical model of the permanent magnet synchronous motor and the control objectives set by the system.

[0065] Specifically, the instruction generator is based on a known, given reference instruction r. d The transient process function G(s) generates a dynamic command ω that meets the control requirements. ref The mathematical expression for dynamic instructions is: ω ref= G(s)·r d (s), where s is the Laplace operator.

[0066] S103, the utility time-specified disturbance observer observes and estimates the lumped disturbance in real time within a specified time period, and obtains the estimated values ​​of the lumped disturbance in the speed loop and the current loop respectively.

[0067] Specifically, the practical time-specified disturbance observer for the speed loop is designed as follows:

[0068] ;

[0069] Where ω is the rotational speed of the permanent magnet synchronous motor, i q Let d be the q-axis current of the permanent magnet synchronous motor. ω This is the lumped interference of the speed loop. and Let ω and d represent respectively. ω Estimated value for The first derivative, The estimation error of ω, The constants k1, k2, k3 ≥ 0 For appropriate positive constants, μ and v are both scaling transformation functions, where, The first derivative of μ, Let v be the first derivative;

[0070] Wherein, the scaling transformation function of μ as a function of time is: ;

[0071] The scaling function for v as a function of time is: ;

[0072] Among them, T p >0, 0 < K ≤ 1, T p Both K and K are design parameters; , Represents the coordinates of the critical point of μ(t) with respect to the x-axis; This represents the critical point coordinates of μ(t) with respect to the y-axis; C is a constant used to ensure that the value of v is less than a set value.

[0073] The practical specified-time perturbation observer for the current loop is designed as follows:

[0074] ;

[0075] Where, d i This is the lumped interference of the current loop. and Representing i respectively q and d i The estimated value, for The first derivative, For i q The estimation error, Constants k1, k2, k3 ≥ 0 For appropriate positive numbers.

[0076] S104, the specified time adaptive anti-interference composite controller uses dynamic commands, the estimated value of lumped disturbances, and the state feedback information of the permanent magnet synchronous motor to design virtual control quantities based on the backstepping method. It uses the dynamic inverse method to adjust the control quantities in real time, and combines anti-interference methods to generate adaptive control commands to control the permanent magnet synchronous motor through real-time estimation of lumped disturbances.

[0077] Specifically, the time-adaptive anti-interference composite controller first employs the backstepping method and designs a virtual controller based on the error feedback of the permanent magnet synchronous motor and the derivative of the dynamic command signal with respect to the q-axis current. Its expression is:

[0078] ;

[0079] in, The output of the virtual controller is λ, which is an adaptive parameter (λ≥0). The virtual controller achieves adaptive disturbance compensation by adjusting λ. For d ω Estimated value For reference speed ω ref The derivatives of μ and v are scaling transformation functions, where... The first derivative of μ, Let e1 be the first derivative of v, then e1 = ω - ω ref When the reference speed ω ref When it is a step instruction, c1 is a parameter of the virtual controller.

[0080] Secondly, a non-smooth command filter is designed to smooth the output of the control quantity: ;

[0081] Where τ is the time constant, τ>0, The output of the instruction filter, for The first derivative is used to ensure the stability and smoothness of the filtered output by adjusting the parameter c1.

[0082] Finally, based on the dynamic inverse method and the feedforward method, and combined with the observation output of a practical specified-time disturbance observer, a specified-time adaptive anti-disturbance control law is designed to realize the speed closed-loop control in the permanent magnet synchronous motor:

[0083] ;

[0084] Where c is the upper bound of the safe q-axis current. l(t) is the penalty coefficient that varies with time. l is a positive constant. When the q-axis current of the permanent magnet synchronous motor approaches c, It will tend towards infinity. Considering u...q It has upper and lower limits; that is, when the bus voltage is constant, the q-axis current will be limited to prevent further increase, ensuring that it operates within the safe range that the hardware circuit can withstand. Furthermore... This control law holds true at all times. It effectively combines error feedback and disturbance compensation, enhancing the system's adaptability to external disturbances and significantly improving its robustness to unmodeled dynamics and external disturbances. This enables precise speed control of the permanent magnet synchronous motor.

[0085] Based on the above technical solutions, such as Figure 2 As shown, after controlling the permanent magnet synchronous motor with control commands in step S104, the method further includes:

[0086] S105, determine whether the control system has received a control termination command; if yes, execute S106 control termination; if no, re-execute the step of generating dynamic commands by the command generator in S102, and continue with S103 control and disturbance estimation to perform closed-loop control of the permanent magnet synchronous motor speed.

[0087] Specifically, the closed-loop control of the motor system is judged to determine whether the control system has received a control termination command. If yes, the control ends; otherwise, the process jumps to step 102 and repeats the cycle to continue control and disturbance estimation, so as to ensure that the speed of the permanent magnet synchronous motor maintains stable control performance under complex operating conditions.

[0088] Through the above steps, the motor control method for anti-interference at a specified time provided in this embodiment of the invention can effectively achieve precise control of the speed of permanent magnet synchronous motor, improve its robustness and dynamic response speed under various complex working conditions, and ensure that the system has high-precision speed control capability and anti-interference capability.

[0089] Figure 3 This is a control effect diagram of a motor control method for anti-interference at a specified time provided in an embodiment of the present invention. Figure 3 The data reflects the performance of the actual motor speed response (solid line) and the preset reference speed (dashed line) under step input conditions. It also intuitively demonstrates the excellent performance of the time-based anti-interference motor control method provided by the embodiments of the present invention when handling step inputs, including fast response, low overshoot, high precision, and strong anti-interference capability. The data is compared with the PID method and the HyESOBC method (non-cascaded control strategy), showing a significant performance improvement, which illustrates the superiority of the method proposed in the embodiments of the present invention.

[0090] The specified time anti-interference motor control method provided in this invention embodiment has significant technical effects such as fast disturbance estimation, adaptive disturbance compensation, specified time convergence, closed-loop bounded stability, and good control performance. It also has the following innovations: (1) A specified time anti-interference motor control method is proposed. The extended state observer technology is used to design a practical specified time disturbance observer. An adaptive compensation mechanism is designed in the control law to improve the convergence speed of the closed-loop system and take into account the static characteristics, including static error and control ripple; (2) A non-cascaded motor speed control scheme is designed. By introducing a penalty coefficient that varies with time, the output voltage is guaranteed to be within the safe range, so as to realize the safe and reliable operation of the permanent magnet synchronous motor.

[0091] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

[0092] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A specified time anti-jamming motor control system, characterized by, The application discloses a system for realizing speed control of a permanent magnet synchronous motor, and relates to the technical field of motor control. An output end of the instruction generator is connected with an input end of the specified-time adaptive anti-interference composite controller. An input end of the specified-time adaptive anti-interference composite controller is connected with an output end of the practical specified-time disturbance observer, a state feedback end of a downstream permanent magnet synchronous motor respectively; and an output end of the specified-time adaptive anti-interference composite controller is connected with an input end of the permanent magnet synchronous motor and an input end of the practical specified-time disturbance observer respectively. An input end of the practical specified-time disturbance observer is also connected with a state feedback end and a system output end of the permanent magnet synchronous motor. The instruction generator is used for generating a dynamic instruction meeting index requirements based on a control target set by a system. The practical specified-time disturbance observer is used for estimating lumped disturbance in a specified time based on an output control quantity of the specified-time adaptive anti-interference composite controller, state feedback information of the permanent magnet synchronous motor, and outputting a lumped disturbance estimation value to the specified-time adaptive anti-interference composite controller. The specified-time adaptive anti-interference composite controller is used for designing a virtual control quantity based on a backstepping method by using the dynamic instruction, the lumped disturbance estimation value and the state feedback information, adjusting a control quantity in real time by using a dynamic inverse method, and generating an adaptive control instruction by combining an anti-interference method and the real-time estimation of the lumped disturbance, and outputting the adaptive control instruction to the permanent magnet synchronous motor and the practical specified-time disturbance observer, so as to realize real-time control of the speed of the permanent magnet synchronous motor.

2. The specified time glitch immune motor control system of claim 1, wherein, For the need of control design of the permanent magnet synchronous motor, a mathematical model is established by motor mechanism analysis and parameter measurement setting based on input and output data of the permanent magnet synchronous motor, and an affine form mathematical model of the permanent magnet synchronous motor with disturbance is obtained. ； wherein ω is the rotating speed of the permanent magnet synchronous motor, is the differential of the rotating speed, i q is the q-axis current of the permanent magnet synchronous motor, is the differential of the q-axis current, u is the output of the specified time adaptive anti-interference compound controller, u q refers to the q-axis voltage, d ω is the collective disturbance of the rotating speed loop, d i is the collective disturbance of the current loop, , , , , are motor model parameters of the permanent magnet synchronous motor respectively.

3. The specified time anti-jamming motor control system of claim 1, wherein, The instruction generator is used to generate an instruction based on a known, given reference instruction r. d The transient process function G(s) generates a dynamic command ω that meets the control requirements. ref The mathematical expression for the dynamic instruction is: ω ref= G(s)·r d (s), where s is the Laplace operator.

4. The specified time glitch immune motor control system of claim 2, wherein, The utility designated time disturbance observer is used to realize observation and real-time estimation of the lumped disturbance within a designated time, and an estimated value of the lumped disturbance is obtained and ; The practical specified-time disturbance observer of the speed loop is as follows: ； where ω is the rotational speed of the permanent magnet synchronous motor, i q is the q-axis current of the permanent magnet synchronous motor, d ω is the collective disturbance of the rotational speed loop, and denote the estimated values of ω and d ω , respectively, is the first derivative of , is the estimation error of ω, , constants k1, k2, k3≥0, is a suitable normal number, μ and v are both scale transformation functions, where is the first derivative of μ, is the first derivative of v; The scale transform function as a function of time is: ; The scale transform function as a function of time is: ; wherein T p > 0, 0 < K < 1, T p and K are design parameters; , denotes the coordinate of the critical point of μ(t) with respect to the x-axis, denotes the coordinate of the critical point of μ(t) with respect to the y-axis; C is a constant for ensuring that the value of v is less than a set value; The practical specified-time disturbance observer of the current loop is as follows: ； where d i is the lumped disturbance of the current loop, and denote the estimates of i q and d i respectively, is the first derivative of , is the estimation error of i q , are constants ki, k2, k3 > 0, is a suitable positive constant.

5. The specified time glitch immune motor control system of claim 2, wherein, The control law design of the specified-time adaptive anti-interference composite controller comprises the following steps: First, a virtual controller is designed for q-axis current by using a backstepping method and based on error feedback and a differential of a dynamic instruction signal of the permanent magnet synchronous motor, and the expression is as follows: ； wherein is the output of the virtual controller, λ is an adaptive parameter, λ≥0, the virtual controller implements adaptive disturbance compensation by adjusting λ, is d ω is an estimate, is the derivative of the reference speed ω ref , μ and v are scaling functions, wherein is the first derivative of μ, is the first derivative of v, e1=ω-ω ref , when the reference speed ω ref is a step command, , c1 is a parameter of the virtual controller; Second, a non-smooth command filter is designed to smooth the output of the control variable: ; wherein τ is a time constant, τ > 0, is the output of the instruction filter, is the first derivative of , the stability and smoothness of the filtered output are ensured by adjusting the parameter c1. Third, a specified-time adaptive anti-interference control law is designed based on a dynamic inverse method and a feedforward method and in combination with the observation output of the practical specified-time disturbance observer, so as to realize speed closed-loop control in the permanent magnet synchronous motor. ； where c is the upper bound of the safe q-axis current, l(t) is a penalty coefficient that varies with time, l is a normal number.

6. A method of specifying time anti-interference for motor control, characterized in that, The specified-time anti-interference motor control system according to any one of claims 1-5 executes the specified-time anti-interference motor control method. The method comprises the following steps: The specified-time adaptive anti-interference composite controller constructs an affine form mathematical model of the permanent magnet synchronous motor with disturbance. The instruction generator generates a dynamic instruction meeting index requirements based on a control target set by a system on the basis of the mathematical model of the permanent magnet synchronous motor. The utility designated time disturbance observer observes and estimates the lumped disturbance in a designated time, and obtains the estimated values of the lumped disturbance of the speed loop and the current loop, respectively; The designated time adaptive anti-disturbance composite controller uses the dynamic instruction, the estimated value of the lumped disturbance and the state feedback information of the permanent magnet synchronous motor, designs a virtual control variable based on the backstepping method, adjusts the control variable in real time by using the dynamic inverse method, and generates an adaptive control instruction for controlling the permanent magnet synchronous motor by combining the anti-disturbance method and the real-time estimation of the lumped disturbance.

7. The specified time anti-jamming motor control method of claim 6, wherein, After the permanent magnet synchronous motor is controlled by using the control instruction, the method further comprises: judging whether the control system receives an end control instruction; if yes, the control ends; if no, the step of generating the dynamic instruction according to the execution instruction generator is continued, and the control and disturbance estimation are continued until the speed of the permanent magnet synchronous motor reaches the control target.

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