Collaborative Control Method, System, Device and Storage Medium

Abstract

The present invention discloses a cooperative control method, system, device and storage medium, relating to the technical field of motor cooperative control. The method includes: obtaining the current motor operation data of multiple linear switched reluctance motors, where the current motor operation data includes current position information and current speed information; constructing a topological switching stochastic process model of a signal transmission topology and a time-delay jump stochastic process model of network transmission delay; wherein, the topological switching stochastic process model is a stochastic switching process of the signal transmission topology of a reference signal, and the time-delay jump stochastic process model is a stochastic jump process of network transmission delay; obtaining a state feedback control gain based on the topological switching stochastic process model and the time-delay jump stochastic process model; and controlling a three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the state feedback control gain. The present invention solves the technical problem of relatively low cooperative control accuracy of existing multiple linear switched reluctance motors.

Description

Technical Field

[0001] The present invention relates to the technical field of motor cooperative control, and particularly to a cooperative control method, system, device, and storage medium. Background Art

[0002] The linear switched reluctance motor can achieve direct drive and is suitable for high-speed and high-precision position control required by industrial production. In industrial processing, multiple linear switched reluctance motors can be controlled to operate cooperatively through a networked control system to complete industrial processing, thereby accelerating the processing speed.

[0003] However, in a multi-linear switched reluctance motor system, various signal transmission topologies and network transmission delays can result in low accuracy of cooperative control of multiple linear switched reluctance motors. Summary of the Invention

[0004] The main objective of the present invention is to provide a cooperative control method, system, device, and storage medium, aiming to solve the technical problem of low accuracy of cooperative control of existing multi-linear switched reluctance motors.

[0005] To achieve the above objective, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a cooperative control method, which includes:

[0007] Obtain the current motor operation data of multiple linear switched reluctance motors, where the current motor operation data includes current position information and current speed information;

[0008] Construct a topological switching stochastic process model of the signal transmission topology and a time-delay jump stochastic process model of the network transmission delay; wherein, the topological switching stochastic process model is a stochastic switching process of the signal transmission topology of the reference signal, and the time-delay jump stochastic process model is a stochastic jump process of the network transmission delay;

[0009] Based on the topological switching stochastic process model and the time-delay jump stochastic process model, obtain the state feedback control gain;

[0010] Based on the current motor operation data and the state feedback control gain, control the three-phase current driver to drive the linear switched reluctance motor to operate.

[0011] Optionally, before controlling the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the state feedback control gain, the method further includes:

[0012] Based on the first transmission delay of the cooperative control system and the current motor operation data, obtain the time-delay motor operation data;

[0013] Obtain the current motor control parameters based on the time-delay motor operation data and the state feedback control gain;

[0014] Obtain the time-delay control parameters based on the second transmission delay of the collaborative control system and the current motor control parameters;

[0015] Control the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the state feedback control gain, including:

[0016] Control the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the time-delay control parameters.

[0017] Optionally, before controlling the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the time-delay control parameters, the method further includes:

[0018] Obtain the topology state matrix based on the preset signal transmission topology;

[0019] Control the three-phase current driver to drive multiple linear switched reluctance motors to operate based on the current motor operation data and the time-delay control parameters, including:

[0020] Control the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data, the time-delay control parameters, and the topology state matrix.

[0021] Optionally, controlling the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data, the time-delay control parameters, and the topology state matrix includes:

[0022] Use Formula 1 to control the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data, the time-delay control parameters, and the topology state matrix; Formula 1 is:

[0023]

[0024] Wherein, z(k) is the output position information, x(k + 1) is the target motor operation data, x(k) is the current motor operation data at time k, K(r k , d k ) is the state feedback control gain at time k, r k is the topology switching stochastic process model, d k is the time-delay jump stochastic process model, A(i), B(i), C(i), and D(i) are all topology state matrices of signal transmission topology i, x(k - d(k)) is the target time-delay motor operation data corresponding to the time-delay control parameters at time k, d(k) = d sc (k) + d ca (k), d sc(k) is the first transmission delay at time k, d ca (k) is the second transmission delay at time k, x(k0) is the initial motor operation data, and k0 is the initial time.

[0025] Optionally, based on a preset signal transmission topology, obtain a topology state matrix, including:

[0026] Based on the preset signal transmission topology, obtain signal transmission parameters;

[0027] Based on the signal transmission parameters, obtain the topology state matrix.

[0028] Optionally, based on a topology switching stochastic process model and a time-delay jump stochastic process model, obtain a state feedback control gain, including:

[0029] Based on the topology switching stochastic process model and the time-delay jump stochastic process model, construct a compensation control inequality;

[0030] Based on the compensation control inequality, obtain the state feedback control gain.

[0031] Optionally, based on the compensation control inequality, obtain the state feedback control gain, including:

[0032] Linearize the compensation control inequality to obtain a linearized inequality;

[0033] Based on the linearized inequality, obtain the state feedback control gain.

[0034] In a third aspect, the present invention also provides a cooperative control system, the system includes:

[0035] Multiple linear encoders, respectively used to detect the current position information and current speed information of multiple linear switched reluctance motors;

[0036] A cooperative control device, connected to the linear encoder, used to obtain the current motor operation data of multiple linear switched reluctance motors, the current motor operation data includes current position information and current speed information; construct a topology switching stochastic process model of the signal transmission topology and a time-delay jump stochastic process model of the network transmission delay; based on the topology switching stochastic process model and the time-delay jump stochastic process model, obtain a state feedback control gain; based on the current motor operation data and the state feedback control gain, output a motor control signal;

[0037] Multiple three-phase current drivers, connected to the cooperative control device, and also respectively connected to multiple linear switched reluctance motors one by one, used to drive the linear switched reluctance motors to operate according to the control signal.

[0038] In a third aspect, the present invention further provides a collaborative control device, which includes: a memory, a processor, and a collaborative control program stored on the memory and executable on the processor. The collaborative control program is configured to implement the steps of any one of the above-mentioned collaborative control methods.

[0039] In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a collaborative control program is stored. When the collaborative control program is executed by a processor, it implements the steps of any one of the above-mentioned collaborative control methods.

[0040] The present invention provides a collaborative control method, which acquires the current motor operation data of multiple linear switched reluctance motors. The current motor operation data includes current position information and current speed information; constructs a topological switching stochastic process model of the signal transmission topology and a time-delay jump stochastic process model of the network transmission delay; wherein, the topological switching stochastic process model is a stochastic switching process of the signal transmission topology of the reference signal, and the time-delay jump stochastic process model is a stochastic jump process of the network transmission delay; based on the topological switching stochastic process model and the time-delay jump stochastic process model, obtains the state feedback control gain; based on the current motor operation data and the state feedback control gain, controls a three-phase current driver to drive the linear switched reluctance motor to operate.

[0041] Thus, the present invention obtains the state feedback control gain through the topological switching stochastic process model of the signal transmission topology and the time-delay jump stochastic process model of the network transmission delay, and simultaneously considers the influence of the signal transmission topology and the network transmission delay on the state parameters of the linear switched reluctance motor to achieve the control of multiple linear switched reluctance motors, solves the technical problem of low accuracy in the collaborative control of existing multiple linear switched reluctance motors, and improves the accuracy of the collaborative control of multiple linear switched reluctance motors. Description of the Drawings

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0043] Figure 1 It is a schematic structural diagram of the collaborative control device of the present invention;

[0044] Figure 2 It is a collaborative control system provided for an exemplary embodiment;

[0045] Figure 3 It is a schematic flowchart of the first embodiment of the collaborative control method of the present invention;

[0046] Figure 4 A directed graph of three signal transmission topologies for three motors;

[0047] Figure 5 An exemplary discrete-time Semi-Markov process;

[0048] Figure 6 A schematic flowchart of the second embodiment of the collaborative control method of the present invention;

[0049] Figure 7 A simulation result graph without compensation under a sine wave input;

[0050] Figure 8 A simulation result graph with compensation under a sine wave input;

[0051] Figure 9 A simulation result graph without compensation under a square wave input;

[0052] Figure 10 A simulation result graph with compensation under a square wave input.

[0053] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0054] To make the object, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0055] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0056] In the present invention, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a device or system including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such device or system. Without further limitation, the elements defined by the statement "including..." do not exclude the presence of additional identical elements in the device or system including such element.

[0057] With the rapid development of intelligent chips and devices, various direct-drive motor motion control systems with high-precision control and batch processing capabilities have been widely used in modern industrial applications, such as for part processing, medical devices, automotive manufacturing, etc. As a new type of linear motor, the linear switched reluctance motor (LSRM) based on the principle of minimum reluctance has the characteristics of simple structure, high temperature resistance, small vibration, high control precision, and fast response speed. The linear switched reluctance motor can achieve direct drive, so it can greatly eliminate various positioning errors caused by intermediate links, achieve high positioning accuracy, and is suitable for high-speed and high-precision position control required in industrial production. In recent years, researchers have achieved some results in the research of LSRM systems. Through finite element simulation analysis, the structural design and modeling methods of LSRM have been proposed. For the networked multi-LSRMs motion system, some corresponding position estimation and cooperative control methods have been realized. In addition, in some industrial processing, if multiple linear processing units such as the conveying unit and the drilling unit can operate in coordination, the processing speed will be greatly accelerated and the processing time will be shortened.

[0058] However, in the multi-linear switched reluctance motor system, various signal transmission topologies of the reference signal and network delays, etc., will result in relatively low cooperative control accuracy of the multi-linear switched reluctance motor.

[0059] In view of the technical problem of relatively low cooperative control accuracy of the existing multi-linear switched reluctance motors, the present invention provides a cooperative control method, and the general idea is as follows:

[0060] The method includes: obtaining the current motor operation data of multiple linear switched reluctance motors, where the current motor operation data includes current position information and current speed information; constructing a topological switching stochastic process model of the signal transmission topology and a time-delay jump stochastic process model of the network transmission delay; wherein, the topological switching stochastic process model is the stochastic switching process of the signal transmission topology of the reference signal, and the time-delay jump stochastic process model is the stochastic jump process of the network transmission delay; obtaining the state feedback control gain based on the topological switching stochastic process model and the time-delay jump stochastic process model; and controlling the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the state feedback control gain.

[0061] The present invention provides a cooperative control method. By using the topological switching stochastic process model of the signal transmission topology and the time-delay jump stochastic process model of the network transmission delay to obtain the state feedback control gain, and considering the influence of the signal transmission topology and the network transmission delay on the state parameters of the linear switched reluctance motor, the control of multiple linear switched reluctance motors is realized, solving the technical problem of relatively low cooperative control accuracy of the existing multi-linear switched reluctance motors and improving the cooperative control accuracy of the multi-linear switched reluctance motors.

[0062] The following provides a detailed description of the collaborative control method, system, device, and storage medium applied in the technical implementation of the present invention:

[0063] Referring to Figure 1 , Figure 1 which is a schematic structural diagram of the collaborative control device of the present invention;

[0064] As Figure 1 shown, the device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include human-computer interaction devices such as personal computers and laptops. Optionally, the user interface 1003 may also include standard wired interfaces and wireless interfaces. The network interface 1004 may optionally include standard wired interfaces and wireless interfaces (such as Wireless-Fidelity (Wi-Fi) interfaces). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0065] Those skilled in the art can understand that Figure 1 the structure shown in

[0066] does not constitute a limitation on the device, and it may include more or fewer components than shown, or combine some components, or have different component arrangements. Figure 1 As

[0067] shown, the memory 1005, as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a collaborative control program. Figure 1 In the device shown in

[0068] , the network interface 1004 is mainly used for data communication with other network devices; the user interface 1003 is mainly used for data interaction with user devices; the processor 1001 and the memory 1005 in the collaborative control method of the present invention may be provided in the device. The collaborative control method calls the collaborative control program stored in the memory 1005 through the processor 1001 and executes the collaborative control method provided by the embodiments of the present invention. Figure 2 , Figure 2 which is a collaborative control system provided for an exemplary embodiment. This embodiment provides a collaborative control system, and the system includes:

[0069] Multiple linear encoders, respectively used to detect the current position information and current speed information of multiple linear switched reluctance motors;

[0070] A cooperative control device, connected to the linear encoders, used to obtain the current motor operation data of multiple linear switched reluctance motors, where the current motor operation data includes current position information and current speed information; construct a topological switching stochastic process model of the signal transmission topology and a time-delay jump stochastic process model of the network transmission delay; based on the topological switching stochastic process model and the time-delay jump stochastic process model, obtain the state feedback control gain; based on the current motor operation data and the state feedback control gain, output a motor control signal;

[0071] Multiple three-phase current drivers, connected to the cooperative control device and also respectively connected to multiple linear switched reluctance motors one by one, used to drive the linear switched reluctance motors to operate according to the control signal.

[0072] In this embodiment, the number of linear switched reluctance motors is set according to actual processing requirements, and the number of linear encoders and the number of three-phase current drivers are the same as the number of linear switched reluctance motors. The linear encoders are respectively connected to the sensors arranged on the linear switched reluctance motors one by one, and the current position information and current speed information of the linear switched reluctance motors can be obtained through the sensors, and the current position information and current speed information of the linear switched reluctance motors are encoded and processed to output a detection signal. The cooperative control device can obtain the current position information and current speed information according to the detection signal, obtain the current motor operation data, and output a motor control signal in combination with the state feedback control gain. The three-phase current driver is connected to the cooperative control device and also connected to the linear switched reluctance motor one by one, used to generate a drive signal according to the motor control signal and drive the linear switched reluctance motor to work. Among them, the cooperative control device can be a state feedback controller. The system further includes a current drive power supply and a digital power supply. The three-phase current driver is powered by the current drive power supply, and the linear encoder is powered by the digital power supply. The system further includes a human-machine interaction device, connected to the cooperative control device, used to set cooperative control parameters or perform other human-machine interaction operations, for example, preset cooperative control parameters such as signal transmission topology, motor fixed parameters, and unit matrix.

[0073] The cooperative control method and storage medium of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0074] Based on the above hardware structure but not limited to the above hardware structure, refer to Figures 3 to 7 , Figure 3 is a schematic flow chart of the first embodiment of the cooperative control method of the present invention, Figure 4 is a directed graph of three signal transmission topologies of three motors,Figure 5 is an exemplary discrete-time Semi-Markov process, Figure 6 which is a schematic flowchart of the second embodiment of the collaborative control method of the present invention, Figure 7 is a simulation result diagram without compensation under a sine wave input, Figure 8 is a simulation result diagram with compensation under a sine wave input, Figure 9 is a simulation result diagram without compensation under a square wave input, Figure 10 is a simulation result diagram with compensation under a square wave input. This embodiment provides a collaborative control method, and the method includes:

[0075] Step S000: Obtain the current motor operation data of multiple linear switched reluctance motors. The current motor operation data includes current position information and current speed information.

[0076] In this embodiment, the execution subject is the above-mentioned collaborative control device. The number of linear switched reluctance motors is at least three. Preferably, the number of linear switched reluctance motors is three. The current position information is the displacement of the linear switched reluctance motor at the current moment relative to the initial moment, and the current speed information is the linear running speed of the linear switched reluctance motor at the current moment. Both can be obtained through sensors provided on the linear switched reluctance motor. Usually, the current position information and current speed information detected by the sensors can be sent to a linear encoder. After encoding the current position information and current speed information through the linear encoder, they are sent to the collaborative control device.

[0077] For example, when there are three linear switched reluctance motors, the motor state parameters at time k can be x(k):

[0078] x(k) = [s 1,k v 1,k s 2,k v 2,k s 3,k v 3,k T

[0079] s 1.k and v 1.k are the position and speed of the first linear switched reluctance motor at time k, s 2.k and v 2.k are the position and speed of the second linear switched reluctance motor at time k, s 3.k and v 3.k are the position and speed of the third linear switched reluctance motor at time k.

[0080] Step S100: Construct a topological switching stochastic process model of the signal transmission topology and a time-delay jump stochastic process model of the network transmission delay;

[0081] ​Among them, the topological switching stochastic process model is the stochastic switching process of the signal transmission topology of the reference signal, and the time-delay jump stochastic process model is the stochastic jump process of the network transmission delay.

[0082] In this embodiment, the signal transmission topology is the transmission path of the reference signal among multiple linear switched reluctance motors. The number of signal transmission topologies is determined according to the number of linear switched reluctance motors. For example, as Figure 4 shown, when the number of linear switched reluctance motors is three, the signal transmission topologies include signal transmission topology 1, signal transmission topology 2, and signal transmission topology 3. In actual use, for a cooperative control process, a preset signal transmission topology can be preset in advance to determine the transmission path of the reference signal, so that the drive signal output by the three-phase current driver can follow the transmission path of the reference signal to drive multiple linear switched reluctance motors. Among them, the topological switching stochastic process model is used to represent the stochastic switching process of the signal transmission topology. In addition, the network transmission delay of the cooperative control process is not a fixed value, and the stochastic change process of the network transmission delay jump can be represented by the time-delay jump stochastic process model.

[0083] Specifically, the topological switching stochastic process model and the time-delay jump stochastic process model can be constructed by a Semi-Markov chain and a Markov chain. The Semi-Markov chain is a generalization of the Markov chain, and its probability model is more general than that of the Markov chain. The research of the Semi-Markov chain is divided into discrete time and continuous time, and there are differences in the modeling and analysis of stochastic processes in different time domains. The topological switching of the signal transmission topology is mainly a stochastic process in the discrete time domain. Therefore, in this embodiment, the topological switching stochastic process model and the time-delay jump stochastic process model are constructed based on the discrete-time Semi-Markov chain and Markov chain.

[0084] First, in the discrete time domain, the Markov chain is memoryless. Based on the discrete Markov chain with τ-step transitions and finite modes M, if there is where j represents a positive integer from 1 to M, then the stochastic process X n ∈Z [1，M] can be expressed as:

[0085]

[0086] where k0 represents the initial time, k n represents the nth jump time, and τ represents the modal sojourn time between the (n + 1)th jump and the nth jump of the stochastic process X n According to the τ-step transition probability, the memorylessness of the Markov probability model of the discrete-time τ-step transition can be deduced as follows:

[0087]

[0088] The above formula shows that the discrete-time Markov chain must obey the geometric distribution.

[0089] Therefore, if there is a random process X n ∈Z [1,M] , X n Indicates the nth jump index; random process k n ∈Z + , k n Indicates the nth jump time, and k n Monotonically increasing with respect to n; random process T n ∈Z + , T n Indicates the modal dwell time between the n-1th jump and the nth jump, that is, T n =k n -k n-1 Then the random process {X n} is an embedded Markov chain, and the random process X n The transition probability θ from j to j ij for:

[0090] θ ij ={X n+1 =j|X n =i},θ ii =0;

[0091] It can be seen that the diagonal probability of the probability transfer matrix of the embedded Markov chain is 0.

[0092] Definition 1: Random process {X n , k n} is a Markov chain, for j∈Z [1,M] , the discrete-time Semi-Markov chain core is obtained as:

[0093]

[0094] π ij (0)=0

[0095] τ=T n ;

[0096] Definition 2: If the corresponding k∈Z + , X N(k) =r k, N(K) = {n|k n ≤ k}, then r k is a Semi - Markov chain of the Markov chain {X n , k n}.

[0097] Therefore, the transition probability π ij of the discrete - time Semi - Markov chain is as follows:

[0098]

[0099] ω ij = Pr{k n+1 - k n = τ|X n+1 = j, X n = i};

[0100] where ω ij is the probability density function of the modal sojourn time.

[0101] Based on the above - mentioned analysis of the Semi - Markov chain and Markov chain theory, a topological - switching stochastic process model {r k} of the finite modes M1 of the signal - transmission topology and a delay - jump stochastic process model {d k} of the finite modes M2 of the network - transmission delay are constructed:

[0102] π ij (τ)= Pr{X n+1 = j, k n+1 - k n = τ|X n = i}, X N(K) = r k

[0103]

[0104] where M1 is the number of signal - transmission topologies, i is the signal - transmission topology parameter corresponding to the signal - transmission topology n, j is the signal - transmission topology parameter corresponding to the signal - transmission topology n + 1, M2 is the network - transmission delay varying with time k, p is the network - transmission delay at time k, q is the network - transmission delay at time k + 1. Pr{X n = i}≥0, Pr{d0 = p}≥0, N(K) = {n|k n ≤ k}, r k = i, r k+1 = j; Based on the transition probability of the above - mentioned Semi - Markov chain, the transition probability π k of the topological - switching stochastic process model {r ij} satisfies π ijψ(τ) = θ ij ω ij ψ(τ).

[0105] Step S200: Obtain the state feedback control gain based on the topological switching stochastic process model and the time-delay jump stochastic process model.

[0106] In this embodiment, based on the topological switching stochastic process model {r k} and the time-delay jump stochastic process model {d k}, a Lyapunov function is constructed. Based on the Wirtinger's inequality method, the linear matrix inequality obtained is solved using the linear matrix inequality toolbox in MATLAB, and the state feedback controller gain can be obtained. Then, the state feedback control gain is applied to the cooperative control system to compensate for the influence of network transmission delay and signal transmission topological switching.

[0107] Specifically, as an implementation manner, Step S200 includes: constructing a compensation control inequality based on the topological switching stochastic process model and the time-delay jump stochastic process model; obtaining the state feedback control gain based on the compensation control inequality.

[0108] In this embodiment, based on the above topological switching stochastic process model {r k} and the time-delay jump stochastic process model {d k}, the constructed Lyapunov function is:

[0109]

[0110] Wherein,

[0111] V1(k) = d k x k T (k)P i,p (δ k )x k

[0112]

[0113] Performing functional processing on the Lyapunov function, the obtained compensation control inequality is:

[0114]

[0115] When the reference signal u k ≡0, the δ error is mean-square stable. Solving the compensation control inequality, the state feedback gain is obtained.

[0116] Specifically, based on the compensation control inequality, a state feedback control gain is obtained, including: linearizing the compensation control inequality to obtain a linearized inequality; and obtaining the state feedback control gain based on the linearized inequality.

[0117] In this embodiment, the cone complementarity linearization algorithm can be used to linearize the compensation control inequality. For the solution process of the compensation control inequality, it is converted into a minimization problem of the following objective function:

[0118]

[0119] Thus, after converting the compensation control inequality into a linearized inequality, the obtained linear matrix inequality is solved using a linear matrix inequality toolbox to obtain the state feedback controller gain.

[0120] Step S300: Based on the current motor operation data and the state feedback control gain, control the three-phase current driver to drive the linear switched reluctance motor to operate.

[0121] In this embodiment, the dynamic equation of the multi-linear switched reluctance motor can be constructed. According to the current motor operation data and the state feedback control gain, the control parameters of the linear switched reluctance motor are adjusted, and a control signal is output to the three-phase current driver according to the adjusted control parameters, so that the three-phase current driver outputs a drive signal to drive the linear switched reluctance motor to operate according to the control signal.

[0122] Specifically, the dynamic equation can be:

[0123]

[0124] where x(k + 1) is the target motor operation data, x(k) is the motor state parameter at time k, A(i), B(i), C(i), and D(i) are all topological state matrices of signal transmission topology i, u(k) is the time-delay control parameter at time k, x(k0) is the initial motor operation data, k0 is the initial time, and z(k) is the output position information.

[0125] Specifically, in one implementation, the time-delay control parameter and the topological state matrix can be obtained in the following manner. As Figure 6 shown, before step S400, the method further includes:

[0126] Step S400: Based on the first transmission delay of the cooperative control system and the current motor operation data, obtain the time-delay motor operation data.

[0127] In this embodiment, the first transmission delay is the network transmission delay when the linear compiler sends the position information and the speed information to the state feedback controller.

[0128] In specific implementation, based on the first transmission delay of the cooperative control system and the current motor operation data, the time-delay motor operation data is obtained through the following relational formula of the motor state parameters before the input state feedback controller; the formula is:

[0129] x′(k) = x(k - d sc (k))

[0130] x′(k) is the time-delay motor operation data of the input state feedback controller at time k, and d sc (k) is the first transmission delay at time k.

[0131] Step S500: Based on the time-delay motor operation data and the state feedback control gain, the current motor control parameters are obtained.

[0132] In specific implementation, based on the time-delay motor operation data and the state feedback control gain, the current motor control parameters are obtained through the following relational formula of the control parameters and the motor state parameters; the formula is:

[0133] u′(k) = K(r k , d k )x′(k)

[0134] u′(k) is the current motor control parameter output by the state feedback controller at time k, and K(r k , d k ) is the state feedback control gain at time k, r k is the topological switching random process, and d k is the time-delay jump random process.

[0135] Step S600: Based on the second transmission delay of the cooperative control system and the current motor control parameters, the time-delay control parameters are obtained.

[0136] In this embodiment, the second transmission delay is the network transmission delay when the state feedback controller sends a control signal to the three-phase DC driver.

[0137] In specific implementation, based on the second transmission delay of the cooperative control system and the current motor control parameters, the time-delay control parameters are obtained through the following relational formula of the control parameters after the output state feedback controller; the formula is:

[0138] u(k) = u′(k - d ca (k))

[0139] u(k) is the time-delay control parameter output by the state feedback controller at time k, and d ca (k) is the second transmission delay at time k.

[0140] Step 700: Obtain a topology state matrix based on a preset signal transmission topology.

[0141] In this embodiment, the preset signal transmission topology is the preset signal transmission topology confirmed by the user in advance from multiple signal transmission topologies to determine the transmission path of the reference signal. The topology state matrix will change with the change of the preset signal transmission topology and can be used to describe the state of the linear switched reluctance motor under different signal transmission topology conditions.

[0142] It can be understood that when actually controlling multiple linear switched reluctance motors through a cooperative control system, it is necessary to determine a signal transmission topology from multiple signal transmission topologies in advance as the transmission path of the reference signal for the current control process. And based on the preset signal transmission topology and the fixed parameters of the linear switched reluctance motor, obtain the topology state matrix corresponding to the preset signal transmission topology.

[0143] Specifically, step S700 includes: obtaining signal transmission parameters based on the preset signal transmission topology; obtaining a topology state matrix based on the signal transmission parameters.

[0144] In this embodiment, the signal transmission parameters can be the Laplacian matrix corresponding to the preset signal transmission topology.

[0145] In specific implementation, based on the following topology state matrix formula, obtain the topology state matrix based on the signal transmission parameters; the formula is:

[0146]

[0147] A and B are topology state matrices, I is an identity matrix related to the number of signal transmission topologies, H i is the Laplacian matrix corresponding to the preset signal transmission topology, J is the control input dimension, A l and B l are model parameters of the control system of a single linear switched reluctance motor, G l is the position feedback of a single linear switched reluctance motor.

[0148] Step S300 includes:

[0149] Step S310: Based on the current motor operation data, time-delay control parameters, and topology state matrix, control the three-phase current driver to drive the linear switched reluctance motor to operate.

[0150] In this embodiment, after obtaining the current motor operation data, the time-delay control parameter, and the topology state matrix, substitute the current motor operation data, the time-delay control parameter, and the topology state matrix into the above dynamic equation to obtain the target motor operation data and the output position information. Then, output a motor control signal to the three-phase current driver according to the target motor operation data to control the three-phase current driver to drive the linear switched reluctance motor to operate.

[0151] Specifically, step S310 includes: using Formula 1 to control the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data, the time-delay control parameter, and the topology state matrix; Formula 1 is:

[0152]

[0153] where z(k) is the output position information, x(k + 1) is the target motor operation data, x(k) is the current motor operation data at time k, K(r k , d k ) is the state feedback control gain at time k, r k is the topology switching stochastic process model, d k is the time-delay jump stochastic process model, A(i), B(i), C(i), and D(i) are all topology state matrices of signal transmission topology i, x(k - d(k)) is the target time-delay motor operation data corresponding to the time-delay control parameter at time k, d(k) = d sc (k) + d ca (k), d sc (k) is the first transmission delay at time k, d ca (k) is the second transmission delay at time k, x(k0) is the initial motor operation data, and k0 is the initial time.

[0154] In this embodiment, the target motor operation data includes the target position information and the target speed information at the next moment. The output position information is obtained by the collaborative control device according to the current position information, the topology state matrix, and the time-delay motor operation parameters, and can be output through the human-computer interaction device for the user to observe the motor operation state.

[0155] In specific implementation, based on the current motor operation data, the time-delay control parameter, and the topology state matrix, use Formula 1 to obtain the target motor operation data, and output a control signal according to the target motor operation data to control the three-phase current driver to drive the linear switched reluctance motor to operate.

[0156] In the actual control process, such as Figure 2 and Figure 4As shown in the figure, the cooperative control system with different signal transmission topologies mainly includes three main parts: force-current function, current control loop, and cooperative control loop. When the transmission path of the given reference signal is determined, the linear switched reluctance motor follows the reference signal. The current position information and current speed information of the linear switched reluctance motor are measured by a linear encoder through a feedback loop and fed back to the cooperative control device. The cooperative control device calculates the total force command of the three phases of the linear switched reluctance motor based on the current position information of the linear switched reluctance motor. In the force linearization scheme, through the conversion function between force and current, the current command for each phase will be derived and distributed from the total force command. The force command for each phase calculates the current command for each phase respectively. Then, in the current control loop, the three-phase electrical drive responds quickly, adjusts and outputs the actual current to each phase of the linear switched reluctance motor. Finally, the linear switched reluctance motor changes its motion through multiple adjustments in a short time to reduce the position error.

[0157] This embodiment provides a cooperative control method. By using the topology switching stochastic process model of the signal transmission topology and the time-delay jump stochastic process model of the network transmission delay, the state feedback control gain is obtained. At the same time, the influence of the signal transmission topology and the network transmission delay on the state parameters of the linear switched reluctance motor is considered to achieve the control of multiple linear switched reluctance motors, solving the technical problem of low accuracy in the cooperative control of existing multiple linear switched reluctance motors and improving the accuracy of the cooperative control of multiple linear switched reluctance motors. Moreover, by simply obtaining the topology state matrix according to different preset signal transmission topologies, the cooperative control of multiple linear switched reluctance motors with different signal transmission topologies can be realized, improving the versatility of the cooperative control.

[0158] This embodiment also calculates the state feedback control gain by constructing a time-delay jump stochastic process model based on Markov chain and a topology switching stochastic process model based on semi-Markov chain, and establishes a closed-loop cooperative control model, improving the cooperative control accuracy. Moreover, by constructing a Lyapunov functional with dual-mode compensation of the time-delay jump stochastic process model and the topology switching stochastic process model and applying the Wirtinger-based inequality method, a δ-mean square stability condition with low computational complexity and low conservatism is obtained, and a state feedback controller with dual-mode compensation is designed, improving the position tracking accuracy in the cooperative control method.

[0159] Next, the effectiveness of the cooperative control method is analyzed through simulation experiments.

[0160] Cooperative control method based on this embodiment: For the cooperative control system, a cooperative control system model is built in the MATLAB / Simulink environment and the control algorithm is written. The MATLAB / Simulink model can be programmed and downloaded into the digital signal processor of the RT-LAB controller. In the visualization interface of the corresponding RT-LAB software, all control parameters can be operated and modified online. The linear encoder is connected to the digital input port of the RT-LAB to detect the real-time position information and feed it back to the RT-LAB controller. The current drive power supply is used to supply power to the current driver. The three-phase current driver is connected to the analog output port of the RT-LAB to provide output current for the three phases of the linear switched reluctance motor 1 and the linear switched reluctance motor 2. The current control command of the three-phase current driver is calculated by the RT-LAB controller according to the real-time position of the motor. The three-phase current driver can adjust and output the current through the internal controller according to the control command.

[0161] Refer to Figures 7 to 10 , the cooperative control system model is established on the MATLAB / Simulink software platform. The sine reference signal and the square wave reference signal are input, where the amplitude and frequency of the sine reference signal are 10 mm and 0.2 Hz respectively. In addition, the amplitude and frequency of the square wave reference signal are 15 mm and 0.1 Hz respectively. e r1 , e 12 , e 23 and e 13 respectively represent the position error between the linear switched reluctance motor 1 and the reference signal, the position error between the linear switched reluctance motor 1 and the linear switched reluctance motor 2, the position error between the linear switched reluctance motor 2 and the linear switched reluctance motor 3, and the position error between the linear switched reluctance motor 1 and the linear switched reluctance motor 3. [[ID=?]] [[ID=?]]

[0162] As Figure 7 shown, the uncompensated dynamic response under the sine signal. Figure 7 (b) describes Figure 7 (a)'s position information within the interval time [3.5 s, 4 s]. When the sine signal approaches -10 mm, the trajectory does not exceed -10.8 mm. In addition, Figure 7 (c) and Figure 7 (d)'s position errors are within the ranges of [-0.5 mm, 0.5 mm] and [-0.7 mm, 0.9 mm] respectively. As Figure 8 shown, it can be seen that compared with the uncompensated dynamic response, Figure 8 (b) shows Figure 8 (a)'s position information within the interval time [3.5 s, 4 s]. When the sine signal approaches -10 mm, the trajectory does not exceed -10.4 mm. Figure 8The position error in (c) is within the range of [-0.3 mm, 0.5 mm]. Figure 8 The position error in (d) is within the range of [-0.5 mm, 0.7 mm], indicating that the uncompensated system is greatly affected by time delay and topological jump.

[0163] As shown in Table 1 and Table 2 below, Table 1 shows the position errors of (c) Figure 7 and Figure 7 (d) under the sine tracking signal, and Table 2 shows the position errors of (c) Figure 8 and Figure 8 (d) under the sine tracking signal. It can be seen that, compared with the uncompensated data, under acceptable conditions, except that the maximum error of the compensated e r1 is 0.0023 mm higher, the cooperative control method of this embodiment further reduces the maximum positive error Emax, the maximum negative error Emax, and the average error mean of other compensated data.

[0164] Table 1

[0165]

[0166] Continued Table 1

[0167]

[0168] Table 2

[0169]

[0170] As Figure 9 and Figure 10 , in the study with a square wave as the reference signal. Since the multi-linear switched reluctance motor requires a certain stable time and overshoot from the initial position to the -15 mm position, the steady-state time of 2 - 5 s is used as the tracking performance reference index for dynamic response. It can be seen that Figure 9 the overshoot of (a) is higher than Figure 10 the overshoot of (a), and Figure 9 the position response of (b) is between [-15.8 mm, -14.8 mm] at 2 - 5 s, while Figure 10 the position response of (b) is between [-15.35 mm, -14.9 mm]. Comparing the errors, it can be known that Figure 9 the errors of (c) and Figure 9 (d) are controlled within [-0.2 mm, 0.4 mm] and [-0.4 mm, 0.6 mm] respectively at 2 - 5 s, while Figure 10 the errors of (c) and Figure 10 (d) are controlled within [-0.1 mm, 0.2 mm] and [-0.15 mm, 0.25 mm].

[0171] As shown in Table 3 and Table 4 below, Table 3 shows the position errors of Figure 9 Figure 9 (c) and 9(d) under the square wave tracking signal, and Table 4 shows the position errors of Figure 10 Figure 10 (c) and 10(d) under the square wave tracking signal. It can be seen that during the 2 - 5 s of the steady state time of tracking the square wave, the tracking accuracy with compensation is better than that without compensation. Therefore, in the cooperative control method of this embodiment, the tracking performance of the square wave is optimized under the state feedback control with bimodal compensation.

[0172] Table 3

[0173]

[0174] Table 4

[0175]

[0176] In summary, it can be seen that the simulation results and their analysis under different reference signals and different cooperative control methods illustrate that the cooperative control method with the bimodal compensation control strategy proposed in this embodiment is feasible and effective.

[0177] In addition, the embodiment of the present invention also proposes a computer storage medium, on which a cooperative control program is stored. When the cooperative control program is executed by a processor, it realizes the steps of the cooperative control method as described above. Therefore, it will not be elaborated here. In addition, the description of the beneficial effects of using the same method will not be elaborated either. For the technical details not disclosed in the embodiment of the computer-readable storage medium involved in this application, please refer to the description of the method embodiment of this application. By way of example, the program instructions can be deployed to be executed on one computing device, or on multiple computing devices located at one place, or on multiple computing devices distributed at multiple places and interconnected through a communication network.

[0178] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The above program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the above storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0179] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural or equivalent process transformation made using the specifications and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A collaborative control method, characterized in that, The method includes: Obtaining current motor operation data of multiple linear switched reluctance motors, where the current motor operation data includes current position information and current speed information; Constructing a topological switching stochastic process model of a signal transmission topology and a time-delay jump stochastic process model of network transmission delay; wherein, the topological switching stochastic process model is a stochastic switching process of the signal transmission topology of a reference signal, and the time-delay jump stochastic process model is a stochastic jump process of the network transmission delay; Obtaining a state feedback control gain based on the topological switching stochastic process model and the time-delay jump stochastic process model; Based on the current motor operation data and the state feedback control gain, controlling a three-phase current driver to drive the linear switched reluctance motor to operate; The controlling the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the state feedback control gain includes: Based on the current motor operation data and time-delay control parameters, controlling a three-phase current driver to drive the linear switched reluctance motor to operate; Before the controlling the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the time-delay control parameters, the method further includes: Obtaining a topological state matrix based on a preset signal transmission topology; The controlling the three-phase current driver to drive multiple linear switched reluctance motors to operate based on the current motor operation data and the time-delay control parameters includes: Using Equation 1, based on the current motor operation data, the time-delay control parameters, and the topological state matrix, controlling a three-phase current driver to drive the linear switched reluctance motor to operate; Equation 1 is: Among them, z(k) is the output position information, x(k + 1) is the target motor operation data, x(k) is the current motor operation data at time k, K(r k , d k ) is the state feedback control gain at time k, r k is the topological switching stochastic process model, d k is the time-delay jump stochastic process model, A(i), B(i), C(i), and D(i) are all the topological state matrices of signal transmission topology i, x(k - d(k)) is the target time-delay motor operation data corresponding to the time-delay control parameter at time k, d(k) = d sc (k) + d ca (k), d sc (k) is the first transmission delay at time k, d ca (k) is the second transmission delay at time k, x(k0) is the initial motor operation data, and k0 is the initial time.

2. The method according to claim 1, characterized in that, Before the controlling the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data and the state feedback control gain, the method further includes: Obtaining time-delay motor operation data based on a first transmission delay of the cooperative control system and the current motor operation data; Obtaining current motor control parameters based on the time-delay motor operation data and the state feedback control gain; Obtaining time-delay control parameters based on a second transmission delay of the cooperative control system and the current motor control parameters.

3. The method according to claim 1, characterized in that The obtaining a topological state matrix based on a preset signal transmission topology includes: Obtaining signal transmission parameters based on the preset signal transmission topology; Obtaining the topological state matrix based on the signal transmission parameters.

4. The method according to claim 1, characterized in that, The obtaining a state feedback control gain based on the topological switching stochastic process model and the time-delay jump stochastic process model includes: Constructing a compensation control inequality based on the topological switching stochastic process model and the time-delay jump stochastic process model; Obtaining the state feedback control gain based on the compensation control inequality.

5. The method according to claim 4, characterized in that, The obtaining the state feedback control gain based on the compensation control inequality includes: Performing linearization processing on the compensation control inequality to obtain a linearized inequality; Obtaining the state feedback control gain based on the linearized inequality.

6. A collaborative control system, characterized in that, The system includes: Multiple linear encoders, respectively used to detect the current position information and current speed information of multiple linear switched reluctance motors; A cooperative control device, connected to the linear encoder, used to obtain the current motor operation data of multiple linear switched reluctance motors, the current motor operation data including the current position information and the current speed information; construct a topological switching stochastic process model of a signal transmission topology and a time-delay jump stochastic process model of network transmission delay; obtain a state feedback control gain based on the topological switching stochastic process model and the time-delay jump stochastic process model; output a motor control signal based on the current motor operation data and the state feedback control gain; Multiple three-phase current drivers, connected to the cooperative control device and also respectively connected to multiple linear switched reluctance motors one by one, used to drive the linear switched reluctance motors to operate according to the control signal; The cooperative control device is further used to obtain a topological state matrix based on a preset signal transmission topology; use Formula 1 to control the three-phase current driver to drive the linear switched reluctance motor to operate based on the current motor operation data, a time-delay control parameter, and the topological state matrix; Formula 1 is: where z(k) is the output position information, x(k + 1) is the target motor operation data, x(k) is the current motor operation data at time k, K(r k , d k ) is the state feedback control gain at time k, r k is the topological switching stochastic process model, d k is the time-delay jump stochastic process model, A(i), B(i), C(i), and D(i) are all the topological state matrices of signal transmission topology i, x(k - d(k)) is the target time-delay motor operation data corresponding to the time-delay control parameter at time k, d(k) = d sc (k) + d ca (k), d sc (k) is the first transmission delay at time k, d ca (k) is the second transmission delay at time k, x(k0) is the initial motor operation data, and k0 is the initial time.

7. A collaborative control device, characterized in that, The device includes: a memory, a processor, and a cooperative control program stored on the memory and executable on the processor, configured by the cooperative control program to implement the steps of the cooperative control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, A cooperative control program is stored on the storage medium, and when the cooperative control program is executed by the processor, the steps of the cooperative control method according to any one of claims 1 to 5 are implemented.

Images