Dynamic centrifuge control method and system based on series sliding mode control algorithm

Abstract

The application relates to the technical field of centrifuge control, and discloses a dynamic centrifuge control method and system based on a series connection type sliding mode control algorithm, which is used for improving the precision when the centrifuge is controlled. The method comprises the following steps: generating an input signal through an original input signal and a feedback signal of a wavelet low-pass filter; a speed loop sliding mode controller generates a voltage signal of a motor driver through the input signal and the feedback signal of the wavelet low-pass filter; the wavelet low-pass filter filters and processes a position signal and a speed signal output by an optical encoder to obtain a filtered position signal and a filtered speed signal; the optical encoder measures the position signal and the speed signal of the motor and processes the position signal and the speed signal to obtain a target signal; the target signal is transmitted to a position loop sliding mode controller and the speed loop sliding mode controller; and the motor driver receives the voltage signal output by the speed loop sliding mode controller and controls the motor through the voltage signal output by the speed loop sliding mode controller.

Description

Technical Field

[0001] This invention relates to the field of centrifuge control technology, and in particular to a dynamic centrifuge control method and system based on a series sliding mode control algorithm. Background Technology

[0002] High-precision dynamic centrifuges are a new type of inertial navigation testing equipment, primarily designed to address the long-standing problem that traditional inertial navigation testing equipment cannot provide the complex and varied dynamic testing environment (such as variable acceleration environments) required for the inertial navigation system under test, thus hindering the accurate measurement of the system's dynamic characteristics. High-precision dynamic centrifuges not only provide the functions of traditional inertial navigation testing equipment, such as high-precision position signals, high-precision velocity signals, and sine wave signals, but also provide variable velocity and variable acceleration signals. Therefore, high-precision dynamic centrifuges represent the future direction of inertial testing technology.

[0003] However, high-precision dynamic centrifuges require high-precision control with a large control bandwidth, which presents a problem that traditional control algorithms cannot achieve. Traditional control algorithms mainly combine improved PID algorithms, feedforward control algorithms, and compensation algorithms, but their dynamic characteristics and robustness often fail to meet the requirements, and they often produce excessively high distortion rates for medium-frequency sinusoidal signals and variable-speed dynamic signals. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a dynamic centrifuge control method and system based on a series sliding mode control algorithm, which solves the technical problem of low accuracy when controlling centrifuges.

[0005] This invention provides a dynamic centrifuge control method based on a series sliding mode control algorithm, comprising: generating an input signal for a speed loop sliding mode controller using an original input signal and a feedback signal from a wavelet low-pass filter, and transmitting the input signal of the speed loop sliding mode controller to the speed loop sliding mode controller; generating a voltage signal for a motor driver using the input signal of the speed loop sliding mode controller and the feedback signal from the wavelet low-pass filter, and transmitting the voltage signal of the motor driver to the motor driver; filtering the position signal and speed signal output by an optical encoder to obtain a filtered position signal and a filtered speed signal, and transmitting the filtered position signal to a position loop sliding mode controller and the filtered speed signal to the speed loop sliding mode controller; measuring the position signal and speed signal of the motor, preprocessing the position signal and speed signal of the motor to obtain a target signal, and transmitting the target signal to the position loop sliding mode controller and the speed loop sliding mode controller; receiving the voltage signal output by the speed loop sliding mode controller, and controlling the motor using the voltage signal output by the speed loop sliding mode controller.

[0006] In this invention, the step of generating the input signal of the velocity loop sliding mode controller from the original input signal and the feedback signal of the wavelet low-pass filter, and transmitting the input signal of the velocity loop sliding mode controller to the velocity loop sliding mode controller, includes: generating the input signal of the velocity loop sliding mode controller from the original input signal and the feedback signal of the wavelet low-pass filter through a state-space equation based on a global sliding surface combining a linear sliding surface and a nonlinear function and an exponential reaching law; and transmitting the input signal of the velocity loop sliding mode controller to the velocity loop sliding mode controller.

[0007] In this invention, the step of generating a voltage signal for a motor driver using the input signal of the speed ring sliding mode controller and the feedback signal of the wavelet low-pass filter, and transmitting the voltage signal of the motor driver to the motor driver, includes: performing voltage signal analysis on the input signal of the speed ring sliding mode controller and the feedback signal of the wavelet low-pass filter using state-space equations based on a global sliding mode surface combining a linear sliding mode surface and a nonlinear function and an exponential reaching law, to generate the voltage signal of the motor driver; and transmitting the voltage signal of the motor driver to the motor driver.

[0008] In this invention, the steps of measuring the position and speed signals of the motor, preprocessing the position and speed signals of the motor to obtain a target signal, and transmitting the target signal to the position slip mode controller and the speed slip mode controller include: decomposing and reconstructing the position and speed signals of the motor measured by the photoelectric encoder through the wavelet low-pass filter to obtain the target signal; and transmitting the target signal to the position slip mode controller and the speed slip mode controller.

[0009] In this invention, the position signal and speed signal of the motor measured by the photoelectric encoder are decomposed and reconstructed based on the db8 wavelet using the wavelet low-pass filter to obtain the target signal, and the target signal is transmitted to the position slip mode controller and the speed slip mode controller. The present invention also provides a dynamic centrifuge control system based on a series sliding mode control algorithm, comprising: a position loop sliding mode controller, a speed loop sliding mode controller, a wavelet low-pass filter, a motor driver, a motor, and a photoelectric encoder; The position sliding mode controller is electrically connected to the velocity sliding mode controller and the wavelet low-pass filter respectively. The position sliding mode controller is used to: generate the input signal of the velocity sliding mode controller through the original input signal and the feedback signal of the wavelet low-pass filter, and transmit the input signal of the velocity sliding mode controller to the velocity sliding mode controller. The speed slip mode controller is electrically connected to the position slip mode controller, the wavelet low-pass filter, and the motor driver, respectively. The speed slip mode controller is used to: generate a voltage signal for the motor driver through the input signal of the speed slip mode controller and the feedback signal of the wavelet low-pass filter, and transmit the voltage signal of the motor driver to the motor driver. The wavelet low-pass filter is electrically connected to the position sliding mode controller, the speed sliding mode controller, and the photoelectric encoder, respectively. The wavelet low-pass filter is used to: filter the position signal and speed signal output by the photoelectric encoder to obtain the filtered position signal and the filtered speed signal, and transmit the filtered position signal to the position sliding mode controller and the filtered speed signal to the speed sliding mode controller.

[0010] The photoelectric encoder is electrically connected to the wavelet low-pass filter and the motor respectively. The photoelectric encoder is used to: measure the position signal and speed signal of the motor, preprocess the position signal and speed signal of the motor to obtain the target signal, and transmit the target signal to the position slip mode controller and the speed slip mode controller.

[0011] The motor driver is electrically connected to both the speed ring slip mode controller and the motor. The motor driver is used to: receive the voltage signal output by the speed ring slip mode controller and control the motor through the voltage signal output by the speed ring slip mode controller.

[0012] In this invention, the position sliding mode controller is specifically used to: generate the input signal of the velocity sliding mode controller based on the global sliding mode surface combining linear sliding mode surface and nonlinear function and exponential reaching law through state space equations on the original input signal and the feedback signal of the wavelet low-pass filter, and transmit the input signal of the velocity sliding mode controller to the velocity sliding mode controller.

[0013] In this invention, the speed ring sliding mode controller is specifically used to: perform voltage signal analysis on the input signal of the speed ring sliding mode controller and the feedback signal of the wavelet low-pass filter through state space equations based on a global sliding surface combining a linear sliding surface and a nonlinear function and an exponential reaching law, generate the voltage signal of the motor driver, and transmit the voltage signal of the motor driver to the motor driver.

[0014] In this invention, the motor is electrically connected to the motor driver and the photoelectric encoder, respectively.

[0015] In this invention, the wavelet low-pass filter decomposes and reconstructs the position signal and speed signal of the motor measured by the photoelectric encoder to obtain the target signal, and transmits the target signal to the position slip mode controller and the speed slip mode controller.

[0016] In this invention, the input signal of a speed slip mode controller is generated by the original input signal and the feedback signal of a wavelet low-pass filter, and the input signal of the speed slip mode controller is transmitted to the speed slip mode controller; the voltage signal of a motor driver is generated by the input signal of the speed slip mode controller and the feedback signal of the wavelet low-pass filter, and the voltage signal of the motor driver is transmitted to the motor driver; the position signal and speed signal output by the photoelectric encoder are filtered to obtain a filtered position signal and a filtered speed signal, and the filtered position signal and the filtered speed signal are transmitted to the position slip mode controller; the position signal and speed signal of the motor are measured, and the position signal and speed signal of the motor are preprocessed to obtain a target signal, and the target signal is transmitted to the position slip mode controller. The system includes a controller and a speed loop sliding mode controller. It receives the voltage signal output from the speed loop sliding mode controller and controls the motor using this signal. This overcomes system uncertainties and exhibits strong robustness against interference and unmodeled dynamics, particularly demonstrating excellent control performance for nonlinear systems. The series sliding mode control algorithm not only improves the system's dynamic and static characteristics, meeting practical requirements, but also simplifies the design of sliding mode controllers for high-order systems. By employing a wavelet low-pass filter, the signal is decomposed and reconstructed, completely removing mid-to-high frequency interference and noise, effectively suppressing interference and noise in the motor system, and improving the system's position accuracy and speed stability. It boasts advantages such as high dynamic characteristics, good static characteristics, strong robustness, and easy parameter adjustment. Furthermore, it offers a large control bandwidth, high precision, and excellent practicality, further enhancing the accuracy of centrifuge control. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a dynamic centrifuge control method based on a series sliding mode control algorithm in an embodiment of the present invention.

[0019] Figure 2 The output curves are those of the dynamic centrifuge control system based on the series sliding mode control algorithm and the traditional PID control system in the embodiments of the present invention.

[0020] Figure 3 The error curves are shown for the dynamic centrifuge control system based on the series sliding mode control algorithm and the traditional PID control system in the embodiments of the present invention.

[0021] Figure 4 This is a schematic diagram of a dynamic centrifuge control system based on a series sliding mode control algorithm in an embodiment of the present invention.

[0022] Figure label: 201. Position slip mode controller; 202. Velocity slip mode controller; 203. Wavelet low-pass filter; 204. Motor driver; 205. Motor; 206. Photoelectric encoder. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0026] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 , Figure 1 This is a schematic diagram of a dynamic centrifuge control method based on a series sliding mode control algorithm in an embodiment of the present invention. The method includes: S101. Generate the input signal of the speed ring sliding mode controller through the original input signal and the feedback signal of the wavelet low-pass filter, and transmit the input signal of the speed ring sliding mode controller to the speed ring sliding mode controller. S102. The voltage signal of the motor driver is generated by the input signal of the speed ring sliding mode controller and the feedback signal of the wavelet low-pass filter, and the voltage signal of the motor driver is transmitted to the motor driver. S103. Filter the position signal and speed signal output by the photoelectric encoder to obtain the filtered position signal and the filtered speed signal, and transmit the filtered position signal to the position slip mode controller and the filtered speed signal to the speed slip mode controller. S104. Measure the position and speed signals of the motor, preprocess the position and speed signals of the motor to obtain the target signal, and transmit the target signal to the position slip mode controller and the speed slip mode controller. S105: Receives the voltage signal output by the speed ring slip mode controller and controls the motor through the voltage signal output by the speed ring slip mode controller.

[0027] In one specific embodiment, the process of performing step S101 includes the following steps: (1) Based on the global sliding surface and exponential reaching law that combine linear sliding surface and nonlinear function, the input signal of the velocity loop sliding mode controller is generated by the state space equation on the feedback signal of the original input signal and the wavelet low-pass filter. (2) Transmit the input signal of the speed ring sliding mode controller to the speed ring sliding mode controller.

[0028] In one specific embodiment, the process of performing step S102 includes the following steps: (1) Based on the global sliding surface and exponential reaching law that combine linear sliding surface and nonlinear function, voltage signal analysis is performed on the input signal of speed loop sliding mode controller and the feedback signal of wavelet low-pass filter through state space equation to generate voltage signal of motor driver; (2) Transmit the voltage signal of the motor driver to the motor driver.

[0029] It should be noted that the state-space equations for the motor 105 with the motor driver 104 are as follows: (1) in, This refers to the angular position of the centrifuge output, in units of . , The angular velocity output by the centrifuge, in units of ω. ; The angular acceleration output by the centrifuge, in units of . ; For the first state space variables, ; The derivative of the first state-space variable; The system input command, in units of ; The back electromotive force coefficient, in units of ; This is the torque coefficient, in units of... ; is the open-loop amplification factor of the driver, and is a dimensionless quantity; Armature inductance, unit: ; Armature resistance, unit: ; The moment of inertia of the centrifuge, in units of 1000 kilometres per second. .

[0030] Specifically, in this embodiment of the invention, the angular velocity and angular acceleration of the motor are selected as the state variables of the speed loop slip mode controller, that is: (2) in, The error in angular velocity, in units of ; The error is the angular acceleration, in units of . ; Reference angular velocity, unit: ; This is the actual angular velocity, in units of... ; This is the actual angular acceleration, in units of . .

[0031] Furthermore, select the global sliding surface: (3) in, The first sliding surface is a dimensionless quantity. To construct the basic parameters of the sliding surface, it is necessary to set them according to the actual situation. Let be the first approach velocity parameter, and be a dimensionless quantity. The value is the time value. The parameter is a real number.

[0032] Furthermore, we select the first exponential reaching law: (4) in, The second approach velocity parameter is a dimensionless quantity. For the exponential approach term, For terms that are uniformly approaching, This is the first sliding surface. The third approximation velocity parameter is a dimensionless quantity. For the first sliding surface The derivative of the term;

[0033] Differentiating the global sliding surface, we have: (5) in, For the first sliding surface The derivative of the term, For the error of angular velocity The derivative of the term, Error of angular acceleration The derivative of .

[0034] Furthermore, substituting the state-space equation of the motor 105 with the motor driver 104 into formula (5), we obtain: (6)

[0035] Combining formula (6) with formula (4), we get: (7)

[0036] The input signal of the speed ring sliding mode controller 102 can be obtained by solving formula (7): (8)

[0037] It should be noted that the position loop sliding mode controller uses a global sliding surface and an exponential reaching law to obtain the state-space equations of the equivalent system model after configuring the velocity loop sliding mode controller, as shown below: (9) in, , These are variables in the second state space; The derivative of the second state-space variable; The system input command, in units of . (10)

[0038] in, Reference angular position, unit: ; This is the actual angular position, in units of... ; Angular position error, in units of ; Angular velocity error, unit: , This is the actual angular velocity. Diagonal position error The derivative of .

[0039] Further, select the global sliding surface, as shown below: (11) in, The second sliding surface is a dimensionless quantity. The fourth approach velocity parameter is a dimensionless quantity.

[0040] Furthermore, the second exponential reaching law is determined as follows: (12) in, For the second sliding surface The derivative of .

[0041] The output signal of the position slip mode controller 101 can then be obtained as follows: (13) in, For reference angular velocity The derivative of . In one specific embodiment, the process of performing step S104 includes the following steps: (1) The position and speed signals of the motor measured by the photoelectric encoder are decomposed and reconstructed by using a wavelet low-pass filter to obtain the target signal;

[0042] (2) Transmit the target signal to the position slip mode controller and the speed slip mode controller. Furthermore, the wavelet low-pass filter 3 selects the db8 wavelet function to decompose and reconstruct the measured value output by the photoelectric encoder 6, and feeds back the reconstructed low-frequency component as the filtered signal to the position slip mode controller and the speed slip mode controller respectively.

[0043] In one specific embodiment, the position and speed signals of the motor measured by the photoelectric encoder are decomposed and reconstructed using a wavelet low-pass filter based on the db8 wavelet to obtain the target signal, and the target signal is transmitted to the position slip mode controller and the speed slip mode controller.

[0044] It should be noted that when the dynamic centrifuge control system based on the series sliding mode control algorithm of this invention is working, the entire series sliding mode control algorithm includes position closed-loop control and speed closed-loop control, that is, dual-loop control.

[0045] Furthermore, the speed closed-loop control consists of a speed loop sliding mode controller, a driver, a motor, a photoelectric encoder, and a wavelet low-pass filter. Its main function is to drive the motor to work at a given speed by calculating the input voltage of the driver. The specific control process is as follows: the photoelectric encoder generates a corresponding angle signal based on the current position of the motor; the wavelet low-pass filter obtains the speed signal by differentiating the angle signal and then decomposes and reconstructs it to obtain a filtered feedback signal; the output of the position loop sliding mode controller is compared with the feedback of the wavelet low-pass filter, and the difference is calculated to obtain the deviation value. Then, the deviation value is processed by the speed loop sliding mode controller to obtain the control output value. Finally, the control output value is output to the motor driver. Under the action of the control signal, the motor driver generates power and drives the motor to rotate.

[0046] Furthermore, the position closed-loop control consists of a position loop sliding mode controller, a speed loop sliding mode controller, a motor, a photoelectric encoder, and a wavelet low-pass filter. Its main function is to drive the motor to a given position by calculating and adjusting the control quantity of the speed loop sliding mode controller. The specific control process is as follows: the photoelectric encoder generates a corresponding angle signal based on the current position of the motor; the wavelet low-pass filter decomposes and reconstructs the angle signal to obtain a filtered feedback signal; the position setpoint calculated after trajectory planning is compared with the wavelet low-pass filter feedback quantity, and the difference is used to obtain the deviation value; then the deviation value is processed by the speed loop sliding mode controller to obtain the control output quantity; then the position deviation value is used to calculate the setpoint of the speed loop sliding mode controller; the setpoint of the speed loop sliding mode controller is input into the speed loop sliding mode controller to obtain the control quantity of the motor driver 104 to drive the motor to rotate.

[0047] Furthermore, the dynamic centrifuge control system based on the series sliding mode control algorithm and the traditional PID control system are subjected to... , as well as The superimposed velocity sinusoidal signal, such as Figure 2 The figures show the output curves of a dynamic centrifuge control system based on a series sliding mode control algorithm and a traditional PID control system, respectively. It can be seen that both the dynamic centrifuge control system based on the series sliding mode control algorithm and the traditional PID control system can track the input curve well. Figure 3 The figures show the error curves of a dynamic centrifuge control system based on a series sliding mode control algorithm and a traditional PID control system, respectively. Clearly, the dynamic centrifuge control system based on the series sliding mode control algorithm can track the input curve with almost no error, and the peak value of the angular position error is... The angular position error is around 100°; while the traditional PID system has a larger error, with the peak value of the angular position error being around 100°. about.

[0048] In this invention, the input signal of the speed slip mode controller is generated by the original input signal and the feedback signal of the wavelet low-pass filter, and the input signal of the speed slip mode controller is transmitted to the speed slip mode controller; the voltage signal of the motor driver is generated by the input signal of the speed slip mode controller and the feedback signal of the wavelet low-pass filter, and the voltage signal of the motor driver is transmitted to the motor driver; the position signal and speed signal output by the photoelectric encoder are filtered to obtain the filtered position signal and the filtered speed signal, and the filtered position signal and the filtered speed signal are transmitted to the position slip mode controller and the speed slip mode controller; the position signal and speed signal of the motor are measured, and the position signal and speed signal of the motor are preprocessed to obtain the target signal, and the target signal is transmitted to the position slip mode controller and the speed slip mode controller. The controller receives the voltage signal output from the speed loop sliding mode controller and controls the motor through this signal. It overcomes system uncertainties and exhibits strong robustness against disturbances and unmodeled dynamics, particularly demonstrating excellent control performance for nonlinear systems. Employing a series sliding mode control algorithm, it not only improves the system's dynamic and static characteristics, meeting practical requirements, but also simplifies the design of sliding mode controllers for higher-order systems. By using a wavelet low-pass filter to decompose and reconstruct the signal, it completely removes mid-to-high frequency interference and noise, effectively suppressing interference and noise in the motor system. This improves the system's position accuracy and speed stability. It boasts advantages such as high dynamic characteristics, good static characteristics, strong robustness, and easy parameter tuning. Furthermore, it offers a large control bandwidth, high precision, and excellent practicality, further enhancing the accuracy of centrifuge control.

[0049] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram of a dynamic centrifuge control system based on a series sliding mode control algorithm in an embodiment of the present invention. The dynamic centrifuge control system based on the series sliding mode control algorithm includes: a position loop sliding mode controller 201, a speed loop sliding mode controller 202, a wavelet low-pass filter 203, a motor driver 204, a motor 205, and a photoelectric encoder 206. The position sliding mode controller 201 is electrically connected to the velocity sliding mode controller 202 and the wavelet low-pass filter 203 respectively. The position sliding mode controller 201 is used to generate the input signal of the velocity sliding mode controller through the original input signal and the feedback signal of the wavelet low-pass filter 203, and transmit the input signal of the velocity sliding mode controller to the velocity sliding mode controller 202. The speed slip mode controller 202 is electrically connected to the position slip mode controller 201, the wavelet low-pass filter 203 and the motor driver 204 respectively. The speed slip mode controller 202 is used to generate the voltage signal of the motor driver 204 through the input signal of the speed slip mode controller and the feedback signal of the wavelet low-pass filter 203, and transmit the voltage signal of the motor driver 204 to the motor driver 204. The wavelet low-pass filter 203 is electrically connected to the position sliding mode controller 201, the speed sliding mode controller 202, and the photoelectric encoder 206, respectively. The wavelet low-pass filter 203 is used to: filter the position signal and speed signal output by the photoelectric encoder 206 to obtain the filtered position signal and the filtered speed signal, and transmit the filtered position signal to the position sliding mode controller 201 and the filtered speed signal to the speed sliding mode controller 202.

[0050] The photoelectric encoder 206 is electrically connected to the wavelet low-pass filter 203 and the motor 205 respectively. The photoelectric encoder 206 is used to measure the position signal and speed signal of the motor 205, preprocess the position signal and speed signal of the motor 205 to obtain the target signal, and transmit the target signal to the position slip mode controller 201 and the speed slip mode controller 202. The motor driver 204 is electrically connected to the speed slip mode controller 202 and the motor 205 respectively. The motor driver 204 is used to: receive the voltage signal output by the speed slip mode controller 202, and control the motor 205 through the voltage signal output by the speed slip mode controller 202.

[0051] In one specific embodiment, the position sliding mode controller 201 is specifically used to: generate the input signal of the velocity sliding mode controller based on the global sliding mode surface combining linear sliding mode surface and nonlinear function and the exponential reaching law through the state space equation on the original input signal and the feedback signal of wavelet low-pass filter 203, and transmit the input signal of the velocity sliding mode controller to the velocity sliding mode controller 202.

[0052] In one specific embodiment, the speed ring sliding mode controller 202 is specifically used to: perform voltage signal analysis on the input signal of the speed ring sliding mode controller and the feedback signal of the wavelet low-pass filter 203 through state space equations based on the global sliding surface combining linear sliding surface and nonlinear function and exponential reaching law, generate the voltage signal of the motor driver 204, and transmit the voltage signal of the motor driver 204 to the motor driver 204.

[0053] In one specific embodiment, the motor 205 is electrically connected to the motor driver 204 and the photoelectric encoder 206, respectively.

[0054] In one specific embodiment, the wavelet low-pass filter 203 decomposes and reconstructs the position signal and speed signal of the motor 205 measured by the photoelectric encoder 206 to obtain the target signal, and transmits the target signal to the position slip mode controller 201 and the speed slip mode controller 202. Furthermore, the wavelet low-pass filter 3 selects the db8 wavelet function to decompose and reconstruct the measured value output by the photoelectric encoder 6, and feeds back the reconstructed low-frequency component as the filtered signal to the position sliding mode controller 201 and the speed sliding mode controller 202 respectively.

[0055] In one specific embodiment, the wavelet low-pass filter 203 decomposes and reconstructs the position signal and speed signal of the motor 205 measured by the photoelectric encoder 206 using the db8 wavelet to obtain the target signal, and transmits the target signal to the position slip mode controller 201 and the speed slip mode controller 202.

[0056] Through the coordinated operation of its various components, the position slip mode controller is electrically connected to the speed slip mode controller and the wavelet low-pass filter. The position slip mode controller is used to: generate the input signal of the speed slip mode controller from the original input signal and the feedback signal of the wavelet low-pass filter, and transmit the input signal of the speed slip mode controller to the speed slip mode controller. The speed slip mode controller is electrically connected to the position slip mode controller, the wavelet low-pass filter, and the motor driver. The speed slip mode controller is used to: generate the voltage signal of the motor driver from the input signal of the speed slip mode controller and the feedback signal of the wavelet low-pass filter, and transmit the voltage signal of the motor driver to the motor driver. The wavelet low-pass filter is electrically connected to the position slip mode controller, the speed slip mode controller, and the photoelectric encoder. The wavelet low-pass filter is used to: filter the position signal and the speed signal output by the photoelectric encoder to obtain the filtered position signal and the filtered speed signal, and transmit the filtered position signal to the position slip mode controller and the filtered speed signal to the speed slip mode controller. The photoelectric encoder is electrically connected to the wavelet low-pass filter and the motor. The electric encoder is used to measure the position and speed signals of the motor, preprocess the position and speed signals to obtain the target signal, and transmit the target signal to the position and speed sliding mode controllers. The motor driver is electrically connected to both the speed and speed sliding mode controllers. The motor driver receives the voltage signal output by the speed sliding mode controller and controls the motor through the voltage signal output by the speed sliding mode controller. It can overcome system uncertainties and has strong robustness to interference and unmodeled dynamics. In particular, it has good control effect on nonlinear systems. The series sliding mode control algorithm not only improves the dynamic and static characteristics of the system, making the system meet actual requirements, but also simplifies the design method of sliding mode controllers for high-order systems. By using a wavelet low-pass filter to decompose and reconstruct the signal, the mid-to-high frequency interference and noise of the system are completely removed, effectively suppressing the interference and noise of the motor system, improving the position accuracy and speed stability of the system. It has the advantages of high dynamic characteristics, good static characteristics, strong robustness, and easy parameter adjustment. At the same time, it has a large control bandwidth, high accuracy, and good practicality, which can further improve the accuracy of centrifuge control.

[0057] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A dynamic centrifuge control method based on a series sliding mode control algorithm, characterized in that, include: The input signal of the speed ring sliding mode controller is generated by the original input signal and the feedback signal of the wavelet low-pass filter, and the input signal of the speed ring sliding mode controller is transmitted to the speed ring sliding mode controller. The voltage signal of the motor driver is generated by the input signal of the speed ring sliding mode controller and the feedback signal of the wavelet low-pass filter, and the voltage signal of the motor driver is transmitted to the motor driver. The position signal and speed signal output by the photoelectric encoder are filtered to obtain a filtered position signal and a filtered speed signal. The filtered position signal is then transmitted to the position slip mode controller, and the filtered speed signal is transmitted to the speed slip mode controller. The position and speed signals of the motor are measured, and the position and speed signals of the motor are preprocessed to obtain the target signal, which is then transmitted to the position slip mode controller and the speed slip mode controller. The system receives the voltage signal output by the speed ring slip mode controller and controls the motor using the voltage signal output by the speed ring slip mode controller.

2. The dynamic centrifuge control method based on a series sliding mode control algorithm according to claim 1, characterized in that, The step of generating the input signal for the velocity sliding mode controller through the original input signal and the feedback signal of the wavelet low-pass filter, and transmitting the input signal of the velocity sliding mode controller to the velocity sliding mode controller, includes: Based on a global sliding surface combining linear sliding surfaces and nonlinear functions, and an exponential reaching law, the input signal of the velocity loop sliding mode controller is generated by the state-space equation from the original input signal and the feedback signal of the wavelet low-pass filter. The input signal of the speed ring sliding mode controller is transmitted to the speed ring sliding mode controller.

3. The dynamic centrifuge control method based on a series sliding mode control algorithm according to claim 1, characterized in that, The step of generating a voltage signal for the motor driver using the input signal of the speed slip mode controller and the feedback signal of the wavelet low-pass filter, and transmitting the voltage signal of the motor driver to the motor driver, includes: Based on the global sliding surface combining linear sliding surface and nonlinear function and the exponential reaching law, voltage signal analysis is performed on the input signal of the speed loop sliding mode controller and the feedback signal of the wavelet low-pass filter through state space equations to generate the voltage signal of the motor driver. The voltage signal of the motor driver is transmitted to the motor driver.

4. The dynamic centrifuge control method based on a series sliding mode control algorithm according to claim 1, characterized in that, The steps of measuring the position and speed signals of the motor, preprocessing the position and speed signals to obtain a target signal, and transmitting the target signal to the position slip mode controller and the speed slip mode controller include: The target signal is obtained by decomposing and reconstructing the position signal and speed signal of the motor measured by the photoelectric encoder using the wavelet low-pass filter. The target signal is transmitted to the position slip mode controller and the velocity slip mode controller.

5. The dynamic centrifuge control method based on a series sliding mode control algorithm according to claim 4, characterized in that, The position signal and speed signal of the motor measured by the photoelectric encoder are decomposed and reconstructed using the wavelet low-pass filter based on the db8 wavelet to obtain the target signal, and the target signal is transmitted to the position slip mode controller and the speed slip mode controller.

6. A dynamic centrifuge control system based on a series sliding mode control algorithm, characterized in that, include: Position slip mode controller, speed slip mode controller, wavelet low-pass filter, motor driver, motor and photoelectric encoder; The position sliding mode controller is electrically connected to the velocity sliding mode controller and the wavelet low-pass filter respectively. The position sliding mode controller is used to: generate the input signal of the velocity sliding mode controller through the original input signal and the feedback signal of the wavelet low-pass filter, and transmit the input signal of the velocity sliding mode controller to the velocity sliding mode controller. The speed slip mode controller is electrically connected to the position slip mode controller, the wavelet low-pass filter, and the motor driver, respectively. The speed slip mode controller is used to: generate a voltage signal for the motor driver through the input signal of the speed slip mode controller and the feedback signal of the wavelet low-pass filter, and transmit the voltage signal of the motor driver to the motor driver. The wavelet low-pass filter is electrically connected to the position sliding mode controller, the speed sliding mode controller, and the photoelectric encoder, respectively. The wavelet low-pass filter is used to: filter the position signal and speed signal output by the photoelectric encoder to obtain the filtered position signal and the filtered speed signal, and transmit the filtered position signal to the position sliding mode controller and the filtered speed signal to the speed sliding mode controller. The photoelectric encoder is electrically connected to the wavelet low-pass filter and the motor respectively. The photoelectric encoder is used to: measure the position signal and speed signal of the motor, preprocess the position signal and speed signal of the motor to obtain the target signal, and transmit the target signal to the position slip mode controller and the speed slip mode controller. The motor driver is electrically connected to both the speed ring slip mode controller and the motor. The motor driver is used to: receive the voltage signal output by the speed ring slip mode controller and control the motor through the voltage signal output by the speed ring slip mode controller.

7. The dynamic centrifuge control system based on the series sliding mode control algorithm according to claim 6, characterized in that, The position sliding mode controller is specifically used to: generate the input signal of the velocity sliding mode controller based on the global sliding mode surface combining linear sliding mode surface and nonlinear function and exponential reaching law through state space equations on the original input signal and the feedback signal of the wavelet low-pass filter, and transmit the input signal of the velocity sliding mode controller to the velocity sliding mode controller.

8. The dynamic centrifuge control system based on the series sliding mode control algorithm according to claim 6, characterized in that, The speed ring sliding mode controller is specifically used to: perform voltage signal analysis on the input signal of the speed ring sliding mode controller and the feedback signal of the wavelet low-pass filter through state space equations based on a global sliding surface combining linear sliding surface and nonlinear function and an exponential reaching law, generate the voltage signal of the motor driver, and transmit the voltage signal of the motor driver to the motor driver.

9. The dynamic centrifuge control system based on the series sliding mode control algorithm according to claim 6, characterized in that, The motor is electrically connected to the motor driver and the photoelectric encoder, respectively.

10. The dynamic centrifuge control system based on the series sliding mode control algorithm according to claim 6, characterized in that, The wavelet low-pass filter decomposes and reconstructs the position signal and speed signal of the motor measured by the photoelectric encoder to obtain the target signal, and transmits the target signal to the position slip mode controller and the speed slip mode controller.

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