Motor drive system performance control method and system

Abstract

The present invention discloses a motor drive system performance control method and system, comprising: obtaining the position information of the motor drive system; calculating the error between the position information and the reference position to obtain the tracking error; converting the tracking error through the error conversion function to obtain the converted error; determining the virtual control amount according to the tracking error and the converted error; determining the speed estimation value and the lumped interference estimation value according to the tracking error and the super-helical expansion state observer; determining the performance control amount according to the virtual control amount, the speed estimation value, the lumped interference estimation value and the preset performance controller; and controlling the motor drive system according to the performance control amount. High-precision control of the motor drive system is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor drive control, and in particular to a motor drive system performance control method and system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In modern antique building designs, it is becoming increasingly common to use aluminum materials instead of traditional wood. Aluminum has many advantages, the most prominent of which is its weather resistance and durability. Compared with wood, aluminum is less susceptible to moisture, insect infestation or climate change, which greatly extends the service life of the building. In addition, aluminum materials can be treated with various surface treatment techniques such as anodizing, spraying or laminating to mimic the look and texture of traditional wood, maintaining the traditional beauty of the building while also enhancing its corrosion resistance and wear resistance.

[0004] The spray coloring machine can be used to apply color or pattern on the surface of aluminum materials. The servo motor is used in the spray coloring machine to realize the movement of the spray module and the coloring module to complete multiple spraying and coloring requirements. The control performance of the motor in the spray coloring machine directly affects the spray coloring effect. Poor accuracy will lead to uneven coloring or spraying errors and coloring errors.

[0005] The current control method for servo motor drive systems is mainly PID control. On the one hand, the PID controller has a simple structure and is easy to adjust. On the other hand, it cannot effectively overcome the parameter uncertainty in the servo motor system caused by the mismatch between the actual value of the motor parameter and the nominal value, as well as the torque disturbance caused by friction and load mutation. Therefore, it is difficult to meet the speed and accuracy requirements of the spray coloring machine. In order to solve the problem of reduced performance of the PID control method when encountering multi-source interference, researchers have begun to develop control technologies that are more resistant to interference and highly robust, and gradually proposed some valuable new control schemes. However, there are still several key issues that need to be explored and resolved in depth:

[0006] 1) In practical applications, servo motor drive systems are affected by various disturbances such as system parameter uncertainty, friction, and load torque. The sliding mode control strategy commonly used to deal with disturbances is effective in theory and has strong robustness, but in practical applications, high-gain switching function terms are required to suppress disturbances, which may cause chattering in the control system, not only affecting the control accuracy, but also easily exciting the high-frequency unmodeled dynamics of the system, causing system instability.

[0007] 2) Existing algorithms such as PID and sliding mode cannot pre-quantitatively design the tracking error of the system, and it is difficult to simultaneously ensure the steady-state performance and transient performance of the system. It is necessary to repeatedly adjust the controller parameters to improve the system performance.

[0008] 3) The existing technology often requires parameters that are difficult to measure directly, such as motor speed, when designing controllers. Speed ​​is usually obtained by numerical differential method of position data or by using speed sensors. The numerical differential method may amplify the noise in the data during the calculation process, resulting in inaccurate speed estimation. The use of speed sensors will increase the cost and complexity of the system, which is not conducive to industrial applications. Summary of the invention

[0009] In order to solve the above problems, the present invention proposes a motor drive system performance control method and system, which can estimate and compensate for the uncertain dynamics and external disturbances of the servo motor drive system, and realize high-precision tracking control of the servo motor drive system.

[0010] To achieve the above object, the present invention adopts the following technical solution:

[0011] In a first aspect, a motor drive system performance control method is proposed, comprising:

[0012] Obtaining position information of the motor drive system;

[0013] Calculate the error between the position information and the reference position to obtain the tracking error;

[0014] The tracking error is converted by the error conversion function to obtain the converted error;

[0015] Determine the virtual control amount according to the tracking error and the post-conversion error;

[0016] Determining a velocity estimate and an estimate of a lumped interference based on a tracking error and a super-helical expansion state observer;

[0017] Determining a performance control amount according to a virtual control amount, a speed estimate, an estimate of a lumped disturbance, and a preset performance controller;

[0018] The motor drive system is controlled according to the performance control quantity.

[0019] In the second aspect, a motor drive system performance control system is proposed, comprising:

[0020] A data acquisition module, used to acquire position information of the motor drive system;

[0021] The performance control amount determination module is used to calculate the error between the position information and the reference position to obtain the tracking error; convert the tracking error through the error conversion function to obtain the converted error; determine the virtual control amount according to the tracking error and the converted error; determine the speed estimate and the estimated value of the lumped interference according to the tracking error and the super-helical expansion state observer; determine the performance control amount according to the virtual control amount, the speed estimate, the estimated value of the lumped interference and the preset performance controller;

[0022] The control module is used to control the motor drive system according to the performance control quantity.

[0023] In a third aspect, an electronic device is proposed, comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the steps described in a method for controlling performance of a motor drive system are completed.

[0024] In a fourth aspect, a computer-readable storage medium is proposed for storing computer instructions, which, when executed by a processor, complete the steps described in a method for controlling performance of a motor drive system.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The super-helical expansion state observer constructed by the present invention can accurately estimate the internal and external interferences existing in the servo motor drive system and perform real-time compensation, thereby better realizing the precise control of the position of the motor drive system and enhancing its applicability in practice.

[0027] 2. Aiming at the problem that the overshoot of system tracking error, convergence speed and steady-state error cannot be quantitatively designed in advance, the present invention introduces a preset performance function, and converts the restricted system into an unrestricted system by converting the tracking error into a converted error. Combined with the super-helical expansion state observer, a preset performance control strategy based on the converted error is designed, which can keep the trajectory tracking error within the boundary pre-set by the performance function and converge to the preset steady-state control accuracy within the specified time, effectively improving the overall performance of the spray coloring machine.

[0028] 3. The present invention only uses the position information of the motor as a feedback signal, avoiding the need to configure a speed sensor in practical applications. This strategy not only helps to reduce the cost of system construction, but also improves the stability and reliability of the system.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0031] Figure 1 A flowchart of the method disclosed in the embodiment;

[0032] Figure 2 The instantaneous tracking error simulation comparison result diagram of the motor drive system is disclosed in the embodiment;

[0033] Figure 3 The embodiment discloses a comparison result diagram of the steady-state tracking error simulation of the motor drive system;

[0034] Figure 4 The embodiment discloses a comparison result diagram of the transient phase input simulation of the motor drive system controller;

[0035] Figure 5 The input simulation comparison result diagram of the steady-state phase of the motor drive system controller disclosed in the embodiment is

[0036] Figure 6 The simulation comparison results of the disturbance estimation error of the motor drive system in the transient stage are disclosed in the embodiment

[0037] Figure 7 The present invention discloses a comparison result diagram of the disturbance estimation error simulation of the motor drive system in the steady-state stage. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] Example 1

[0042] In order to solve the problem that the servo motor drive system in the aluminum-for-wood antique building spray coloring machine has low anti-interference ability and control accuracy due to system parameter uncertainty and multi-source interference such as friction and unknown load torque disturbance, and the overall performance of the spray coloring machine is low, in this embodiment, a motor drive system performance control method is disclosed, such as Figure 1 As shown, including:

[0043] S1: Obtain the position information of the motor drive system.

[0044] The acquired position information of the motor drive system is the angular position information of the motor in the motor drive system.

[0045] S2: Calculate the error between the position information and the reference position to obtain the tracking error; convert the tracking error through the error conversion function to obtain the converted error; determine the virtual control amount based on the tracking error and the converted error; determine the speed estimate and the estimated value of the lumped interference based on the tracking error and the superhelical expansion state observer; determine the performance control amount based on the virtual control amount, the speed estimate, the estimated value of the lumped interference and the preset performance controller.

[0046] The construction process of the superhelical expansion state observer is as follows:

[0047] S21: Construct a dynamic model of the motor drive system.

[0048] The controlled servo motor drive system is analyzed, and according to the mechanism modeling method, based on the structure and physical laws of the motor, the dynamic model of the motor drive system with damping, friction and load torque disturbance is established as follows:

[0049]

[0050] Among them, q represents the position information of the system, that is, the angular position of the motor, represents the angular velocity of the system, represents the angular acceleration of the system, J represents the motor inertia, B is the viscous damping coefficient, is the friction force, w represents the load torque disturbance, and τ is the performance control variable.

[0051] S22: Convert the dynamic model into a state space equation with the system angular velocity, angular acceleration and lumped disturbance as state variables.

[0052] The nominal value of the motor inertia J is known 0 , the kinetic model (1) can be rewritten as:

[0053]

[0054] Among them, b 0=1 / J 0 , J is the true value of the motor moment of inertia. f is the lumped disturbance consisting of the disturbance caused by system parameter uncertainty, friction, and unknown load torque disturbance.

[0055] Rewrite equation (2) into a state space equation with system angular velocity, angular acceleration and lumped disturbance as state variables. The state space equation is:

[0056]

[0057] Among them, x 1 =q, Among them, the aggregate interference f is the extended state x 3 , that is, x 3 =f. is the rate of change of the aggregate interference, where h is assumed to be unknown but bounded.

[0058] S23: Construct a superhelical expansion state observer for the state variables in the state space equations.

[0059] Consider f as a state and estimate it in the form of a state observer. A superhelical expansion state observer is constructed for the state variables in the state space equation (3). The initial design of the superhelical expansion state observer is as follows:

[0060]

[0061] Among them, z i (i=1,2,3) is the state variable x i An estimate of β i is the observer gain. The classical linear ADAC is designed based on a linearized system model and may not be able to fully adapt to the nonlinear system dynamic characteristics, reducing the response speed of the system. The superhelical extended state observer proposed in this embodiment has the property of fast convergence, higher robustness and faster response speed. However, the sign function sign(e) used in formula (4) is non-smooth, which may cause high-frequency oscillation and discontinuity in the control input in some cases, and may destroy the stability of the system. In view of this, the present invention introduces a linear term in the superhelical extended state observer and uses a hyperbolic tangent function to replace the sign function. Among them, the hyperbolic tangent function is:

[0062]

[0063] The superhelical expansion state observer after introducing linear terms and using the hyperbolic tangent function to replace the sign function is:

[0064]

[0065] Where ξ is the slope of tanh(ξe) at the origin. The larger the ξ value, the closer the tanh(ξe) waveform is to sign(e).

[0066] To reduce parameters, the gain can be set to β 1 =3ω o , ω o is the control parameter of the superhelical expansion state observer. When the initial value of the superhelical expansion state observer is different from the initial state of the system, even a small gain may cause a peak phenomenon. To avoid the peak effect, the control parameter of the superhelical expansion state observer is set to be monotonically increasing when it is less than or equal to the set time, and to be a constant value when it is greater than the set time. o as follows:

[0067]

[0068] In this way, o At the set time t L The internal value increases linearly from zero to the set constant value.

[0069] This embodiment determines a constraint range of the tracking error; according to the constraint range of the tracking error, the constrained tracking error is converted into an unconstrained converted error, and an error conversion function is constructed.

[0070] The process of determining the constraint range of the tracking error is as follows: determining a preset performance function; and determining the constraint range of the tracking error according to the preset performance function. Specifically:

[0071] Assume that the reference position q d Bounded and second-order differentiable, the tracking error e is defined as:

[0072] e=qq d (8)

[0073] In the formula, q is the acquired location information, q d is the reference position.

[0074] In order to constrain the range of tracking error in transient and steady states, a strictly positive definite decreasing smooth preset performance function is first selected. The preset performance function is:

[0075] μ(t)=(μ 0 -μ ∞ )exp(-lt)+μ ∞ (9)

[0076] Where μ(t) is the reference value of tracking error at time t, l>0, μ 0 >μ ∞are all undetermined parameters, μ 0 is the initial value of μ(t), μ ∞ is the steady-state value of μ(t), l is the convergence rate, and exp is an exponential function with the natural constant e as the base.

[0077] According to the preset performance function, the constraint range of tracking error is determined as:

[0078]

[0079] In the formula, ρ 1 and ρ 2 are all preset parameters, ρ 1 >0,ρ 2 >0. Obviously, there is -ρ 1 μ 0 <e(0)<ρ 2 μ 0 Established.

[0080] From equations (9) and (10), we can see that the position tracking error e is constrained to be -ρ 1 μ(t) and ρ 2 μ(t) is the boundary region. ρ 2 μ 0 Defines the upper bound of the maximum overshoot, -ρ 1 μ 0 defines the lower bound of the maximum undershoot, l determines the convergence speed of the preset performance function, and ρ 2 μ ∞ and-ρ 1 μ ∞ represents the upper and lower bounds of the expected steady-state tracking error. Therefore, the parameter ρ can be adjusted 1 , ρ 2 , l, μ 0 and μ ∞ To pre-design the desired system transient and steady-state performance.

[0081] This embodiment utilizes an error conversion function to convert a constrained tracking error into an equivalent unconstrained converted error, thereby converting an original system with constrained tracking errors into an equivalent new system with unconstrained errors.

[0082] Define the transformed error as ε, ε∈R, and define a smooth strictly increasing function ψ(ε) that satisfies the following two properties:

[0083] (1)

[0084] (2) and

[0085] According to the properties of ψ(ε), equation (10) can be converted to:

[0086] e(t)=μ(t)ψ(ε) (11)

[0087] Where ψ(ε) is:

[0088]

[0089] Since ψ(ε) is strictly monotonically increasing, from (9) we know that μ(t)>μ ∞ >0, so the inverse of ψ(ε) exists as:

[0090]

[0091] Formula (13) is the error conversion function, where λ(t)=e(t) / μ(t).

[0092] From e = qq d ,have to Taking the derivative of (13) we get:

[0093]

[0094] Where γ=-(ρ 1 +ρ 2 ) / [2μ(λ+ρ 1 )(λ-ρ 2 )].

[0095] Define the virtual control amount α as:

[0096]

[0097] In the formula, k 1 >0.

[0098] Combined with the superhelical expansion state observer (6), the preset performance controller is obtained as:

[0099]

[0100] In the formula, τ is the performance control quantity, α is the virtual control quantity, is the first-order derivative of α, b 0 =1 / J 0 , J 0 is the nominal value of the motor inertia, z 2 is the estimated value of the motor angular velocity, z 3 is the estimated value of the aggregate interference, ε is the error after conversion, γ=-(ρ 1 +ρ 2 ) / [2μ(λ+ρ 1 )(λ-ρ 2 )],ρ 1 and ρ 2are all preset parameters, λ=e / μ, e is the tracking error, μ is the tracking error reference value, k 2 is the control variable of the preset performance controller.

[0101] In this embodiment, the acquired position information is substituted into formula (8) to calculate the tracking error;

[0102] Substitute the tracking error into equation (13) to calculate the converted error;

[0103] Substitute the tracking error and the converted error into equation (15) to calculate the virtual control amount;

[0104] Substituting the tracking error into equation (6), the estimated value of velocity and the estimated value of aggregate interference are calculated;

[0105] Substitute the speed estimate, the estimated value of the lumped disturbance, the virtual control variable and the converted error into equation (16) to calculate the performance control variable of the servo motor drive system.

[0106] S3: Control the motor drive system according to the performance control quantity.

[0107] The performance control quantity obtained by S2 calculation is used to control the motor drive system, thereby improving the system's anti-interference ability and control accuracy, thereby improving the overall performance of the spray coloring machine.

[0108] The motor drive system performance control method disclosed in this embodiment is compared with an Active Disturbance Rejection Control (ADRC) algorithm and a PID algorithm to verify the control effect of the method disclosed in this embodiment on the motor drive system.

[0109] The motor drive system performance control method disclosed in this embodiment is expressed by PPC (Prescribed Performance Control), wherein the super-helical expansion state observer is formula (6), the virtual control quantity calculation formula is formula (15), and the final preset performance controller is formula (16).

[0110] The extended state observer (ESO) and controller in the Active Disturbance Rejection Control (ADRC) algorithm are designed as follows:

[0111]

[0112]

[0113] In the formula, z i (i=1,2,3) is the state variable xi The estimated value of k p ,k d is the control parameter, β 1 =3ω o , ω o is the observer bandwidth. To avoid peak effects, ω o The design of is also shown in formula (7).

[0114] The controller design of PID algorithm is as follows:

[0115]

[0116] In the formula, k p ,k d ,k i is the control parameter.

[0117] The parameters of each controller are shown in Table 1:

[0118] Table 1 Controller parameters

[0119]

[0120] Figure 2 The figure is a comparison of the transient tracking error simulation results of the servo motor drive system. The dotted curve represents the preset performance boundary. Figure 2 It can be seen that the method proposed in this embodiment has a smaller overshoot and a faster convergence speed, and can constrain the tracking error within a pre-designed region. Figure 3 The simulation comparison results of the steady-state tracking error of the servo motor drive system show that the method proposed in this embodiment has high tracking accuracy and strong anti-interference ability. At t = 2.5s, w suddenly changes from 0 to 4N·m to simulate the sudden load torque. At this time, the tracking errors under the ADRC and PID algorithms fluctuate significantly, but the method disclosed in this embodiment is almost unaffected, showing strong robustness. Figure 4 and Figure 5 They are the input torques of the servo motor drive system in the transient stage and the steady-state stage, respectively. When the initial tracking error of the simulation is large, the torques of the ADRC and PID algorithms reach the motor torque output limit and produce large fluctuations. The output torque of the method proposed in this embodiment always works within the safe working range with small fluctuations. Figure 6 and Figure 7 The simulation comparison results of disturbance estimation error in transient and steady-state stages of servo motor drive system control are shown respectively. When the motor friction effect is obvious and the load is suddenly added, the observer error is large. However, the super-helical expanded state observer designed in this embodiment has a faster convergence speed and higher disturbance estimation accuracy than the classical expanded state observer, which significantly reduces the impact of internal and external interference.

[0121] In summary, it can be seen from the example simulation results that the motor drive system performance control method proposed in this embodiment can effectively eliminate the influence of system uncertainties and load interference on the performance of the servo motor drive system of the spray coloring all-in-one machine in the control of the servo motor drive system of the spray coloring all-in-one machine, enhance the robustness of the system, and keep the trajectory tracking error within the boundaries pre-set by the preset performance function, and converge to the preset steady-state control accuracy within the specified time, thereby ensuring the good working effect of the spray coloring all-in-one machine.

[0122] A motor drive system performance control method disclosed in this embodiment can pre-specify the transient and steady-state performance of the tracking error. The proposed super-helical expansion state observer can estimate and compensate for system modeling errors, friction and other uncertain dynamics and external disturbances, and finally complete the design of a high-precision tracking control algorithm.

[0123] Example 2

[0124] In this embodiment, a motor drive system performance control system is disclosed, including:

[0125] A data acquisition module, used to acquire position information of the motor drive system;

[0126] The performance control amount determination module is used to calculate the error between the position information and the reference position to obtain the tracking error; convert the tracking error through the error conversion function to obtain the converted error; determine the virtual control amount according to the tracking error and the converted error; determine the speed estimate and the estimated value of the lumped interference according to the tracking error and the super-helical expansion state observer; determine the performance control amount according to the virtual control amount, the speed estimate, the estimated value of the lumped interference and the preset performance controller;

[0127] The control module is used to control the motor drive system according to the performance control quantity.

[0128] Example 3

[0129] In this embodiment, an electronic device is disclosed, including a memory and a processor, and computer instructions stored in the memory and running on the processor. When the computer instructions are executed by the processor, the steps described in the motor drive system performance control method disclosed in Example 1 are completed.

[0130] Example 4

[0131] In this embodiment, a computer-readable storage medium is disclosed for storing computer instructions. When the computer instructions are executed by a processor, the steps described in the motor drive system performance control method disclosed in Example 1 are completed.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A motor drive system performance control method, characterized in that: include: Obtaining position information of the motor drive system; Calculate the error between the position information and the reference position to obtain the tracking error; Determine the constraint range of tracking error according to the preset performance function; The tracking error is converted by the error conversion function to obtain the converted error; Determine the virtual control amount according to the tracking error and the post-conversion error; Determining a velocity estimate and an estimate of a lumped interference based on a tracking error and a super-helical expansion state observer; A linear term is introduced into the superhelical expansion state observer, and a hyperbolic tangent function is used to replace the sign function; wherein the hyperbolic tangent function is: The superhelical expansion state observer after using the hyperbolic tangent function to replace the sign function is: In the formula, z i (i=1,2,3) is the state variable x i The estimated value of β i is the observer gain, b 0 = 1 / J0, J0 is the nominal value of the motor inertia, τ is the performance control quantity, ξ is the slope of tanh(ξe) at the origin; the larger the ξ value, the closer the tanh(ξe) waveform is to sign(e); The control parameter of the superhelical expansion state observer is set to be monotonically increasing when it is less than or equal to the set time, and to be a constant value when it is greater than the set time. o as follows: ω o At the set time t L The internal value increases linearly from zero to the set constant value. ; Determining a performance control amount according to a virtual control amount, a speed estimate, an estimate of a lumped disturbance, and a preset performance controller; The motor drive system is controlled according to the performance control quantity.

2. A motor drive system performance control method as claimed in claim 1, characterized in that: Determine the constraints on tracking error; According to the constraint range of the tracking error, the constrained tracking error is converted into an unconstrained converted error, and an error conversion function is constructed.

3. A motor drive system performance control method as claimed in claim 1, characterized in that: The construction process of the superhelical expansion state observer is: Construct a dynamic model of the motor drive system; Convert the dynamic model into a state space equation with system angular velocity, angular acceleration and lumped disturbance as state variables; A superhelical expansion state observer is constructed for the state variables in the state-space equations.

4. A motor drive system performance control method as claimed in claim 1, characterized in that: The default performance controllers are: In the formula, is the virtual control quantity, for The first derivative of is the estimated value of the motor angular velocity, is the estimated value of the aggregate interference, is the error after conversion, , and These are all preset parameters. , is the tracking error, is the tracking error reference value, It is the control parameter of preset performance controller.

5. A motor drive system performance control system, characterized in that: include: A data acquisition module, used to acquire position information of the motor drive system; The performance control amount determination module is used to calculate the error between the position information and the reference position to obtain the tracking error; Determine the constraint range of tracking error according to the preset performance function; The tracking error is converted by the error conversion function to obtain the converted error; the virtual control amount is determined according to the tracking error and the converted error; the speed estimation value and the estimated value of the lumped interference are determined according to the tracking error and the super-helical extended state observer; a linear term is introduced into the super-helical extended state observer, and a hyperbolic tangent function is used to replace the sign function; wherein the hyperbolic tangent function is: The superhelical expansion state observer after using the hyperbolic tangent function to replace the sign function is: In the formula, z i (i=1,2,3) is the state variable x i The estimated value of β i is the observer gain, b 0 = 1 / J0, J0 is the nominal value of the motor inertia, τ is the performance control quantity, ξ is the slope of tanh(ξe) at the origin; the larger the ξ value, the closer the tanh(ξe) waveform is to sign(e); The control parameter of the superhelical expansion state observer is set to be monotonically increasing when it is less than or equal to the set time, and to be a constant value when it is greater than the set time. o as follows: ω o At the set time t L The internal value increases linearly from zero to the set constant value. ; Determining a performance control amount according to a virtual control amount, a speed estimate, an estimate of a lumped disturbance, and a preset performance controller; The control module is used to control the motor drive system according to the performance control quantity.

6. An electronic device, characterized in that: The method comprises a memory and a processor and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the steps of a motor drive system performance control method as described in any one of claims 1 to 4 are completed.

7. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, complete the steps of a motor drive system performance control method as described in any one of claims 1 to 4.

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