Tension anti-interference quality control method based on event triggering mechanism

Abstract

The application discloses a tension anti-interference control method based on an event triggering mechanism, which comprises the following steps: S1, a surface-mounted permanent magnet synchronous servo motor model is established, and a mathematical model is described to obtain state variables in a speed loop, a current loop, speed and position output of the motor; S2, the obtained data is analyzed to design a sliding mode controller and a fractional order PID controller; S3, a disturbance observer is designed to estimate and compensate the disturbance in the system through the state variables of the double loop, and the robustness of the system is improved; S4, an event triggering mechanism based on nonlinear sliding mode control is designed to reduce the calculation amount of the sliding mode control, reduce the operation demand of the overall system, and complete the control target. The application not only improves the accuracy and response speed of motor control, but also improves the energy efficiency ratio and application range of the system by reducing the calculation amount and optimizing the control algorithm; in the application occasion of high-precision tension control, the stability of the production process and the quality of the product can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the tension control of tire manufacturing forming link, in particular to a tension anti-interference control method based on event triggering mechanism, belonging to the control technical field of winding tension. BACKGROUND

[0002] The winding tension control of tire manufacturing forming link is one of the key technologies to ensure the quality of tires. In this link, the stability and accuracy of winding tension directly affect the performance of tires, such as high-speed performance, uniformity and dynamic balance, etc. In the existing technology, winding tension control usually adopts PID control theory, which detects the crown belt tension in the winding process and adjusts the speed and torque of the driving motor in real time to realize accurate control in different winding modes. However, the existing PID control technology still has some problems, such as low control accuracy, low utilization rate of communication network resources, and insufficient anti-interference ability when facing external interference, etc. At present, researchers have adopted advanced control technology with sliding mode control as the core.

[0003] At present, the existing sliding mode control technology has the following problems:

[0004] Sliding mode control is a nonlinear control method that designs a sliding surface to make the system state slide on the surface to achieve fast, accurate and robust control of the system. However, sliding mode control may encounter problems such as chattering, initial state sensitivity and computational complexity. Chattering is a rapid and small amplitude oscillation caused by the uncertainty of system parameters and external disturbances. Initial state sensitivity means that if the initial state deviates far from the sliding surface, the control system may need a long time to converge to the sliding surface. The problem of computational complexity involves that sliding mode control needs a lot of calculations, especially for high-dimensional systems, the amount of calculation will be more massive.

[0005] As can be seen from the above, the method of nonlinear sliding mode can be used to reduce chattering, the event triggering mechanism can be used to reduce computational complexity, and the disturbance observer can be designed to further reduce the influence of disturbance. Through these improvements, the performance and practicality of sliding mode control can be further improved, so as to realize more accurate and stable winding tension control in the tire manufacturing forming link. SUMMARY

[0006] The application aims to provide a tension anti-interference control method based on an event triggering mechanism, aiming at the complex control characteristics of the tension control process in the tire production forming link, including external disturbance, insufficient control accuracy, high calculation complexity and other problems. In order to solve the problems of inaccurate tension control and complex calculation in the production process, a tension anti-interference quality control technology based on an event triggering mechanism method is used to optimize the control accuracy and stability of the motor. The improved sliding mode control method combined with the event triggering mechanism and the sliding mode control law solves the problem of large calculation demand in the traditional sliding mode control method.

[0007] To achieve the above object, the technical scheme adopted by the application is as follows:

[0008] In one aspect, the application provides a tension anti-interference control method based on an event triggering mechanism, comprising the following steps:

[0009] S1: a surface-mounted permanent magnet synchronous servo motor model is established, and the constructed mathematical model is described, so as to obtain the state quantity of the motor speed and position output, speed loop and current loop;

[0010] S2: the data obtained in step S1 is analyzed, and a sliding mode controller and a fractional order PID controller are designed;

[0011] S3: a disturbance observer is designed, the disturbance in the system is estimated and compensated through the state quantity of the double loop, and the system robustness is improved;

[0012] S4: an event triggering mechanism based on nonlinear sliding mode control is designed, the calculation amount of the sliding mode control is reduced, the operation demand of the overall system is reduced, and the control target is completed.

[0013] Further, in the step S1, the process of establishing the surface-mounted permanent magnet synchronous servo motor model is as follows:

[0014] S101, the electromagnetic characteristics and mechanical characteristics of the servo motor are described, including the magnetic circuit, the circuit of the motor and the interaction between them;

[0015] S102, the parameters of the motor are determined;

[0016] S103, the dynamic equation of the motor is established, including the voltage equation, the flux linkage equation and the torque equation;

[0017] The voltage equation is:

[0018]

[0019] The flux linkage equation is:

[0020]

[0021] The electromagnetic torque equation is:

[0022]

[0023] The mechanical motion equation is:

[0024]

[0025] Convert it into the mathematical model in the d-q coordinate system:

[0026]

[0027] Where, L A ,L B ,L C is the self-inductance of the three stator windings, M AB ,M AC ,M BA ,M BC ,M CA ,M CB is the self-inductance of the stator winding, if the number of turns of each phase winding is the same, the self-inductance value is equal to the mutual inductance value, i a ,i b ,i c is the three-phase current, ψ a ,ψ b ,ψ c is the stator three-phase winding flux linkage, ψ f is the rotor permanent magnet excitation flux linkage, θ is the electrical angle; P n is the number of magnetic poles, R s is the stator resistance, T e is the electromagnetic torque, T L is the load torque, T s is the stator inductance, J is the moment of inertia, B is the damping coefficient, ω m is the mechanical angular velocity, unit: rad / s, i d ,i q are the d-q coordinate system direct axis and quadrature axis currents respectively;

[0028] S104, determine the state quantity of the system, in the speed loop, determine the speed of the motor as the target state quantity of control, in the current loop, determine the three-phase current of the motor or the current component in the converted two-phase stationary coordinate system as the inner loop state quantity of control.

[0029] Further, in the step S2, the designed sliding mode controller has a second-order sliding mode control law to improve the dynamic response and robustness of the system.

[0030] Further, in the step S2, the designed fractional order PID controller is:

[0031]

[0032] wherein u d (t) is the control output along the d-axis, u q (t) is the control output along the q-axis, is the proportional gain of the d-axis and the q-axis, the current error amplification of the control system, is the integral gain of the d-axis and the q-axis, the accumulation of the control error, is the differential gain of the d-axis and the q-axis, reflecting the influence of the error change rate on the controller, is the d-axis current error, is the q-axis current error, D -λ and D μ represent fractional order integral and fractional order differential operations, respectively.

[0033] Further, the process of designing the sliding mode controller and the fractional order PID controller is as follows:

[0034] S201, according to the mathematical model of the motor and the control target, the sliding surface of the sliding mode controller is designed to ensure that the system state can reach and maintain on the sliding surface:

[0035] Define the sliding variable:

[0036] wherein e is the error of the system, is the error change rate, and c1 and c2 are weight coefficients; the dynamic change form of the sliding variable given by the reaching law is used, and the design of the control input u needs to make the dynamics of the sliding variable s conform to the reaching law, to ensure that the system gradually reaches and maintains on the sliding surface;

[0037] S202, through the switching control law of the controller, to ensure that the system state slides on the sliding surface and achieves the expected dynamic performance:

[0038] The sliding mode controller includes an equivalent control law and a switching control law: u=u eq +u sw ;

[0039] u eq is the equivalent control term, which is used to maintain the stability of the system on the sliding surface;

[0040] u sw is the switching control term, which ensures that the system quickly approaches the sliding surface when it is outside the sliding surface, that is, the reaching law;

[0041] In the traditional sliding mode control, the form of the reaching law is:

[0042]

[0043] In order to make the control process smoother, especially when the system approaches the sliding surface, the reaching law is designed as a nonlinear function form:

[0044]

[0045] Where α and β are parameters less than 1, which control the nonlinear change of the reaching speed, and when s is small, the reaching speed will automatically slow down, thereby reducing chattering; k1 and k2 are adaptive gains, and the controller automatically adjusts the control strength according to the change of system error;

[0046]

[0047] Where ρ1 and ρ2 are adjustment coefficients, And Is the basic gain, and the controller gain changes with the error e(t) and the error change rate Dynamic;

[0048] S203, the fractional order integral and differential order of the fractional order PID controller are adjusted to adapt to the dynamic characteristics of the motor and improve the control accuracy:

[0049] The control law of the fractional order PID controller of the current loop is:

[0050]

[0051] Where u d (t) is the control output along the d-axis, u q (t) is the control output along the q-axis, Is the proportional gain of the d-axis and the q-axis, and the current error amplification multiple of the control system, Is the integral gain of the d-axis and the q-axis, and the accumulation of the control error, Is the differential gain of the d-axis and the q-axis, reflecting the influence of the error change rate on the controller, Is the d-axis current error, Is the q-axis current error, D -λ And D μ Indicate fractional order integral and fractional order differential operation respectively;

[0052] S204, the parameters of the PID controller are adjusted: the parameters are adjusted by optimization algorithm or trial method.

[0053] Further, in the step S3, the designed disturbance observer includes:

[0054] Define the disturbance observer:

[0055]

[0056] Dynamic equation of the disturbance observer:

[0057]

[0058] The compensated control law is:

[0059]

[0060] Where, L q is the q-axis inductance, i q is the q-axis current, R s is the stator resistance, u q is the q-axis control voltage, ω is the motor speed, ψ f is the permanent magnet flux linkage, is the estimated disturbance torque, used to compensate for disturbances in the system; in the dynamic equation, is the estimated state quantity, here representing the estimated motor speed and q-axis current, f, g are functions describing the dynamics of the system, l1, l2, l3 are observer gains used to adjust the response of the observer to the dynamics of the system, is the estimated speed, is the estimated d-axis current.

[0061] Further, in step S4, to avoid frequent switching of the system, a hysteresis interval h>0 is introduced as a hysteresis amount for event triggering:

[0062] Let the event triggering time be t k Under the event triggering mechanism, the sliding mode variable modulus |s(x)| is designed as the triggering condition, and a hysteresis region h is introduced; the triggering condition for hysteresis event triggering is:

[0063] |s(x(t))|≥δ+h

[0064] The condition for stopping updating the control signal is:

[0065] |s(x(t))|<δ-h

[0066] When the modulus of the sliding mode variable exceeds δ+h, the control signal update is triggered; when it falls to δ-h, the control signal update is stopped.

[0067] On the other hand, the present application provides a control system for a surface-mounted permanent magnet synchronous servo motor, which comprises:

[0068] a fractional order PID controller for controlling the current loop of the motor;

[0069] a sliding mode controller for controlling the speed loop of the motor;

[0070] a disturbance observer for estimating and compensating for disturbances in the system;

[0071] An event-triggered controller is used to reduce the calculation amount of control;

[0072] An encoder is used to provide the speed and position output of the motor;

[0073] A Park transformation module is used to convert the three-phase current and voltage of the motor into the components in the two-phase rotating coordinate system;

[0074] An inverse Park transformation module is used to convert the current components in the two-phase rotating coordinate system back into the components in the two-phase stationary coordinate system;

[0075] A Clark transformation module is used to convert the current and voltage in the three-phase stationary coordinate system into the components in the two-phase stationary coordinate system;

[0076] An SVPWM module is used to generate the switching signal of the three-phase inverter.

[0077] The present application has the beneficial effects that: the present application provides a surface-mounted permanent magnet synchronous servo motor control method which comprehensively uses advanced control strategies and algorithms, the method not only improves the accuracy and response speed of motor control, but also improves the energy efficiency ratio and application range of the system by reducing the calculation amount and optimizing the control algorithm. This tension anti-interference control technology based on the event-triggering mechanism is particularly suitable for application occasions that require high-precision tension control, such as tire manufacturing and wire processing, and can significantly improve the stability of the production process and the quality of the products. BRIEF DESCRIPTION OF DRAWINGS

[0078] Fig. 1 is the surface-mounted permanent magnet synchronous servo motor control step flow chart of the present application.

[0079] Fig. 2 is the trigger update principle diagram of the event-triggered sliding mode controller of the present application.

[0080] Fig. 3 is the current loop control block diagram of the present application.

[0081] Fig. 4 is the overall system design flow chart of the present application. DETAILED DESCRIPTION

[0082] The present application will be described in detail below in combination with the drawings and specific embodiments.

[0083] Embodiment one

[0084] As Figs. 1 to 4 , a tension anti-interference control method based on the event-triggering mechanism includes the following steps:

[0085] S1: Establish a surface-mounted permanent magnet synchronous servo motor model, and describe the constructed mathematical model, so as to obtain the state quantity in the speed and position output, speed loop and current loop of the motor;

[0086] S2: Analyze the data obtained in S1, design a sliding mode controller and a fractional order PID controller;

[0087] S3: Design a disturbance observer to estimate and compensate the disturbance in the system through the state quantity of the double loop, and improve the robustness of the system;

[0088] S4: Design an event-triggered mechanism based on the nonlinear sliding mode control law to reduce the calculation amount of the sliding mode control and reduce the operation demand of the overall system.

[0089] In the step S1, a mathematical model based on a surface-mounted permanent magnet synchronous servo motor is established, and the specific steps are as follows:

[0090] S101: Describe the electromagnetic characteristics and mechanical characteristics of the servo motor, including the magnetic circuit, the circuit of the motor and the interaction between them.

[0091] S102: Determine the parameters of the motor, such as the magnetic flux of the rotor permanent magnet, the resistance and inductance of the stator winding, the moment of inertia and friction coefficient of the motor, etc.

[0092] S103: Establish the dynamic equation of the motor, including the voltage equation, the flux linkage equation and the torque equation.

[0093] Voltage equation:

[0094]

[0095] Flux linkage equation:

[0096]

[0097] Electromagnetic torque equation:

[0098]

[0099] Mechanical motion equation:

[0100]

[0101] Convert it into a mathematical model in the d-q coordinate system:

[0102]

[0103] Where L A ,L B ,L C are the self-inductance of the three stator windings, M AB ,M ACM BA M BC M CA M CB Self-induction of stator winding, if the number of turns of each phase winding is the same, the self-induction value is equal to the mutual induction value, i a i b i c Three-phase current, ψ f Rotor permanent magnet excitation flux linkage, θ is the electrical angle; P n Number of magnetic pole pairs, T e Electromagnetic torque, T L Load torque, T s Stator inductance, J is the moment of inertia, B is the damping coefficient, ω m Mechanical angular velocity, unit: rad / s.

[0104] S104: Determine the state quantity of the system, in the speed loop, determine the speed of the motor as the target state quantity of control, in the current loop, determine the three-phase current of the motor or the current component in the converted two-phase static coordinate system as the inner loop state quantity of control.

[0105] In step S2, the surface-mounted permanent magnet synchronous servo motor mathematical model obtained in step S1 is analyzed, and a sliding mode controller and a fractional order PID controller are designed. The specific steps are as follows:

[0106] S201: According to the mathematical model of the motor and the control target, the sliding surface of the sliding mode controller is designed to ensure that the system state can reach and maintain on the sliding surface.

[0107] Define the sliding variable:

[0108] Where e is the error of the system, is the error change rate, and c1 and c2 are weight coefficients. The dynamic change form of the sliding variable given by the reaching law is used to design the control input u, which needs to make the dynamic of the sliding variable s comply with the reaching law, to ensure that the system gradually reaches and maintains on the sliding surface.

[0109] S202: Design the switching control law of the sliding mode controller to ensure the sliding of the system state on the sliding surface and achieve the expected dynamic performance.

[0110] The sliding mode controller includes an equivalent control law and a switching control law: u=u eq +u sw

[0111] u eq is the equivalent control term, which is used to maintain the stability of the system on the sliding surface;

[0112] u swis the switching control term, which ensures that the system quickly approaches the sliding surface when it is outside the sliding surface, that is, the reaching law.

[0113] In traditional sliding mode control, the reaching law is in the form of:

[0114]

[0115] In order to make the control process smoother, especially when the system approaches the sliding surface, the reaching law is designed as a nonlinear function:

[0116]

[0117] where α and β are parameters less than 1, controlling the nonlinear change of the reaching speed. In this way, when s is small, the reaching speed will automatically slow down, thereby reducing chattering. k1 and k2 are adaptive gains, and the controller can automatically adjust the control strength according to the change of system error.

[0118]

[0119] where ρ1 and ρ2 are adjustment coefficients, and are the base gains, and the controller gain changes dynamically with the error e(t) and the error rate .

[0120] S203: Determine the fractional order integral and derivative order of the fractional order PID controller to adapt to the dynamic characteristics of the motor and improve control accuracy.

[0121] The control law of the fractional order PID controller in the current loop is:

[0122]

[0123] where u d (t) is the control output along the d-axis, u q (t) is the control output along the q-axis, is the proportional gain of the d-axis and q-axis, controlling the current error amplification multiple of the control system, is the integral gain of the d-axis and q-axis, controlling the accumulation of the error, is the derivative gain of the d-axis and q-axis, reflecting the influence of the error rate on the controller, is the d-axis current error, is the q-axis current error, D -λ and D μ represent fractional order integral and fractional order derivative operations, respectively.

[0124] S204: Design the parameters of the fractional order PID controller, such as proportional gain, integral gain and derivative gain, and adjust the parameters through optimization algorithm or experimental method.

[0125] In step S3, the design of the disturbance observer, the specific steps are as follows:

[0126] S301: According to the mathematical model of the motor and the operating conditions, design a disturbance observer to estimate the uncertainty and external disturbance in the system.

[0127] First, define the state of the system:

[0128]

[0129] τ d Consider the extended state (external disturbance)

[0130] Expand the model as:

[0131]

[0132] Where f(x1,x2) is the known dynamics of the motor, g(x1,x2,u q ) is the current dynamics of the system.

[0133] Design a linear disturbance observer:

[0134]

[0135] Here is the observed disturbance, which can be estimated in real time according to the known motor model and system dynamics.

[0136] S302: Determine the observation strategy and compensation mechanism of the disturbance observer to improve the robustness of the system.

[0137] In order to further improve the robustness of the estimation, we introduce a state observer to estimate the speed and current while observing the disturbance. Its structure is as follows:

[0138] Define a disturbance observer:

[0139]

[0140] The dynamic equation of the observer:

[0141]

[0142] Where l1, l2, l3 are the observer gains.

[0143] Through the observer to estimate the disturbance After that, we can compensate for the disturbance in the control law. The compensated control law is:

[0144]

[0145] where R s is the stator resistance, i q is the q-axis current, L q is the q-axis inductance, ω m is the motor angular velocity, and ψ f is the permanent magnet flux linkage.

[0146] In this way, unknown disturbances in the system can be compensated for by the estimated disturbance , thereby improving the robustness of the control system.

[0147] In the step S4, the event-triggered mechanism based on the nonlinear sliding mode control law is as follows:

[0148] S401: An event-triggered condition based on the nonlinear sliding mode control law is designed to reduce the execution frequency of the control algorithm and reduce the computational load.

[0149] S402: The triggering time and triggering condition of the event-triggered mechanism are determined to ensure control performance while reducing the consumption of communication and computing resources.

[0150] In order to avoid frequent switching of the system, we introduce a hysteresis interval h>0 as a hysteresis amount of event triggering. Let t k Under the event-triggered mechanism, we design the sliding mode variable modulus |s(x)| as the triggering condition, and δ is the threshold value of the sliding mode variable, representing the allowable error limit, and a hysteresis region h is introduced. The triggering condition of the hysteresis event triggering is:

[0151] |s(x(t))|≥δ+h

[0152] The condition for stopping updating the control signal is:

[0153] |s(x(t))|<δ-h

[0154] When the modulus of the sliding mode variable exceeds δ+h, the control signal update is triggered; when it falls to δ-h, the control signal update is stopped. This design can effectively reduce the frequent switching behavior in sliding mode control, filter effective control signals, and save computing and communication resources.

[0155] For surface-mounted permanent magnet synchronous motors using sliding mode control, this method can suppress the chattering phenomenon unique to sliding mode control while saving computing resources; the disturbance observer can reduce the influence of external disturbances on the output, ultimately reducing the computational load and significantly enhancing the anti-interference performance.

[0156] Embodiment Two

[0157] A control system of a surface-mounted permanent magnet synchronous servo motor can be used to implement the tension anti-interference control method in Embodiment One, and comprises:

[0158] a fractional order PID controller for controlling the current loop of the motor;

[0159] a sliding mode controller for controlling the speed loop of the motor;

[0160] a disturbance observer for estimating and compensating disturbances in the system;

[0161] an event-triggered controller for reducing the computational load of the control;

[0162] an encoder for providing the speed and position output of the motor;

[0163] a Park transformation module for converting the three-phase current and voltage of the motor into components in a two-phase rotating coordinate system;

[0164] an inverse Park transformation module for converting the current components in the two-phase rotating coordinate system back into components in a two-phase stationary coordinate system;

[0165] a Clark transformation module for converting the current and voltage in a three-phase stationary coordinate system into components in a two-phase stationary coordinate system;

[0166] an SVPWM module for generating the switching signals of the three-phase inverter.

[0167] The above shows and describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the above embodiments do not limit the protection scope of the present application in any form, and any technical solutions obtained by equivalent replacement or the like fall within the protection scope of the present application. The parts not involved in the present application are the same as or can be realized by the prior art.

Claims

1. A tension anti-interference control method based on event triggering mechanism, characterized in that: The steps include: S1: Build a surface-mount permanent magnet synchronous servo motor model and describe the constructed mathematical model to obtain the motor's speed and position output, speed loop, and state variables in the current loop; S2: Analyze the data obtained in step S1 and design a sliding mode controller and a fractional-order PID controller; S3: Design a disturbance observer to improve system robustness by estimating the state variables of the dual loop and compensating for disturbances in the system. S4: Design an event trigger mechanism based on nonlinear sliding mode control to reduce the computational complexity of sliding mode control, thereby lowering the computational requirements of the overall system and achieving the control objective. To avoid frequent system switching, introduce a hysteresis interval h>0 as the hysteresis for event triggering: Let the trigger event time be t k , under the event trigger mechanism, the sliding mode variable modulus |s(x)| is designed as the trigger condition, and the hysteresis region h is introduced; the trigger condition for the hysteresis event trigger is: |s(x(t))|≥δ+h The conditions for stopping updating of the control signal are: |s(x(t))|<δ-h Where δ is the pre-adjusted event trigger threshold; When the sliding mode variable modulus exceeds δ+h, the control signal update is triggered; when it drops to δ-h, the control signal update is stopped.

2. The tension anti-interference control method based on event triggering mechanism according to claim 1 is characterized in that: In step S1, the process of establishing the surface-mounted permanent magnet synchronous servo motor model is as follows: S101. Describe the electromagnetic and mechanical characteristics of the servo motor, including the motor's magnetic circuit, circuit, and the interaction between them; S102, determining the parameters of the motor; S103, establishing dynamic equations of the motor, including voltage equation, flux equation, and torque equation; The voltage equation is: The magnetic flux equation is: The electromagnetic torque equation is: The mechanical motion equation is: Convert it into a mathematical model in the dq coordinate system: Among them, L A ,L B ,L C is the three-term stator winding self-inductance, M AB ,M AC ,M BA ,M BC ,M CA ,M CB is the stator winding self-inductance. If the number of turns of each phase winding is the same, the self-inductance value is equal to the mutual inductance value, i a ,i b ,i c is the three-phase current, ψ a ,ψ b ,ψ c is the stator three-phase winding flux, ψ f is the rotor permanent magnet excitation flux, θ is the electrical angle; P n is the number of magnetic pole pairs, R s is the stator resistance, T e is the electromagnetic torque, T L is the load torque, T s is the stator inductance, J is the moment of inertia, B is the damping coefficient, ω m is the mechanical angular velocity in rad / s, i d ,i q are the direct axis and quadrature axis currents in the dq coordinate system respectively; S104. Determine the state quantity of the system. In the speed loop, determine the motor speed as the target state quantity of control. In the current loop, determine the motor's three-phase current or the current component in the converted two-phase stationary coordinate system as the inner loop state quantity of control.

3. The tension anti-interference control method based on event triggering mechanism according to claim 1 is characterized in that: In step S2, the designed sliding mode controller has a second-order sliding mode control law to improve the dynamic response and robustness of the system.

4. The tension anti-interference control method based on event triggering mechanism according to claim 1 is characterized in that: In step S2, the designed fractional-order PID controller is: Among them, u d (t) is the control output along the d-axis, u q (t) is the control output along the q-axis, is the proportional gain of the d-axis and the q-axis, the current error magnification of the control system, is the integral gain of the d-axis and q-axis, the accumulation of control errors, is the differential gain between the d-axis and the q-axis, reflecting the effect of the error change rate on the controller. is the d-axis current error, is the q-axis current error, D -λ and D μ They represent fractional-order integration and fractional-order differentiation operations respectively.

5. A tension anti-interference control method based on an event trigger mechanism according to claim 1, 3 or 4, characterized in that: In step S2, the process of designing the sliding mode controller and the fractional-order PID controller is as follows: S201. Design the sliding surface of the sliding mode controller based on the motor's mathematical model and control objectives to ensure that the system state can reach and remain on the sliding surface: Define the sliding mode variables: where e is the error of the system, is the error change rate, c1 and c2 are weight coefficients; Using the dynamic variation of the sliding mode variable given by the reaching law, the design of the control input u needs to make the dynamics of the sliding mode variable s conform to the reaching law, ensuring that the system gradually reaches and remains on the sliding surface; S202. By switching the control law of the controller, the system state is ensured to slide on the sliding surface and achieve the desired dynamic performance: The sliding mode controller includes the equivalent control law and the switching control law: u = u eq +u sw ; u eq is an equivalent control term used to maintain the stability of the system on the sliding surface; u sw It is a switching control item that ensures that the system quickly approaches the sliding surface when it is outside the sliding surface, which is also called the reaching law; In traditional sliding mode control, the reaching law is in the form of: In order to make the control process smoother, when the system approaches the sliding surface, the reaching law is designed as a nonlinear function: Where α and β are adjustable parameters less than 1, which control the nonlinear change of the approach speed. When s is small, the approach speed will automatically slow down, thereby reducing chattering. k1 and k2 are adaptive gains. The controller automatically adjusts the control strength according to the change of system error. Where ρ1 and ρ2 are adjustment coefficients, and is the basic gain, and the controller gain changes with the error e(t) and the error rate of change Dynamic changes; S203, using the fractional-order integral and differential orders of the multi-order PID controller to adapt to the dynamic characteristics of the motor and improve control accuracy: The control law of the fractional-order PID controller of the current loop is: where u d (t) is the control output along the d-axis, u q (t) is the control output along the q-axis, is the proportional gain of the d-axis and the q-axis, the current error magnification of the control system, is the integral gain of the d-axis and q-axis, the accumulation of control errors, is the differential gain between the d-axis and the q-axis, reflecting the effect of the error change rate on the controller. is the d-axis current error, is the q-axis current error, D -λ and D μ Represent fractional-order integral and fractional-order differential operations respectively; S204. Adjust the parameters of the PID controller: perform parameter adjustment through an optimization algorithm or an experimental method.

6. The tension anti-interference control method based on event triggering mechanism according to claim 1 is characterized in that: In step S3, the designed disturbance observer includes: Define the disturbance observer: The dynamic equations of the disturbance observer are: The control law after compensation: Among them, L q is the q-axis inductance, i q is the q-axis current, R s is the stator resistance, u q is the q-axis control voltage, ω is the motor speed, ψ f is the permanent magnet flux linkage, is the estimated disturbance torque, which is used to compensate for the disturbance in the system; is the estimated state quantity, which here represents the estimated motor speed and q-axis current, f, g are functions that describe the system dynamics, l1, l2, l3 are observer gains, which are used to adjust the observer's response to the system dynamics, is the estimated rotational speed, is the estimated d-axis current.

7. A control system for a surface-mounted permanent magnet synchronous servo motor used in the tension anti-interference control method of claim 1, characterized in that: include: A fractional-order PID controller to control the motor's current loop; A sliding mode controller to control the motor's speed loop; a disturbance observer to estimate and compensate for disturbances in the system; An event-triggered controller is used to reduce the computational complexity of control.

8. The control system of the surface-mounted permanent magnet synchronous servo motor according to claim 7, characterized in that: The control system further comprises: An encoder to provide speed and position output of the motor; A Park transformation module, used to convert the three-phase current and voltage of the motor into components in a two-phase rotating coordinate system; An inverse Park transformation module is used to convert the current components of the motor in the two-phase rotating coordinate system back to the components in the two-phase stationary coordinate system; A Clark transformation module for converting the current and voltage in a three-phase stationary coordinate system into components in a two-phase stationary coordinate system; An SVPWM module is used to generate switching signals for the three-phase inverter.

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