Self-adaptive valve driving device and control method

Abstract

The invention provides a self-adaptive valve driving device and a control method. The self-adaptive valve driving device is characterized in that an upper computer receives signals transmitted by a torque sensor and a photoelectric encoder through an RS485, and the upper computer analyzes the signals through an inner-ring controller and an outer-ring controller of an internal active-disturbance-rejection iterative learning algorithm, removes interference and then outputs control signals; the lower computer comprises a brushless direct current motor, a planetary reducer and a valve rod, signals output by the upper computer are transmitted to the brushless direct current motor, the brushless direct current motor transmits torque to the valve rod through the planetary reducer, and therefore opening and closing of the ball valve are controlled. The running state and the fault condition of the valve are judged according to the collected data, and the output of the brushless direct current motor is adaptively adjusted through the active-disturbance-rejection iterative control algorithm to act on opening and closing of the ball valve.

Description

Technical Field

[0001] The present invention belongs to the technical field of valve control, and in particular relates to an adaptive valve driving device and a control method. Background Art

[0002] Valve is a widely used device in pipeline system, which can be used to adjust the flow in pipeline system and plays an important role in petrochemical industry and urban construction. With the progress of economy and the development of intelligence, electric valve has been widely used in industry. It realizes the opening and closing of valve through electric actuator, which has the advantages of high efficiency, fast adjustment speed and convenient operation.

[0003] In actual applications, since most valves are tightly installed and made of metal, they will age, wear, rust, and accumulate dust after a long period of use, making it difficult to open and close the valves. It is time-consuming and laborious to shut down and inspect the valves after a problem occurs. The existing valve drive device has difficulty in determining the internal state of the valve, and the output torque is fixed and difficult to adjust when a fault occurs, which can easily lead to overload of the drive motor and damage the safety of the pipeline.

[0004] The valve drive devices and control methods currently on the market are generally PID control, genetic algorithm control and neural network control. These methods are easily interfered by external factors, have slow operation speeds, and are difficult to achieve real-time data processing and adaptive control functions.

[0005] Technical solution of prior art 1

[0006] The existing PID control method adopts position-speed-current three-loop control. First, the feedback signal of the encoder is obtained, including position, speed and current information; second, the actual data is calculated and compared with the target data to find the deviation; finally, the PID algorithm is used to output the PWM signal to control the motor.

[0007] Disadvantages of the prior art 1

[0008] First, the parameters of PID control need to be reset according to the load changes when the motor is running, which makes it difficult to measure and adaptively adjust in real time; second, PID control has poor robustness and weak anti-interference ability; finally, PID control has low accuracy and cannot meet the requirements of high-precision control.

[0009] Technical solution of prior art 2

[0010] Existing neural network control simulates the connection mode of human brain neurons through data collection, model processing and optimization, establishes a highly complex computing model, and achieves precise control of the motor.

[0011] Disadvantages of the second prior art

[0012] First, the calculation process of this method is relatively complicated and the running speed is slow; second, the neural network method has many structures and parameters, making debugging and optimization difficult; finally, it has strong data dependence and requires a large amount of training data as a reference.

[0013] Therefore, there is an urgent need for a drive device that can measure valve data in real time, judge valve status and faults, and adaptively adjust motor output to achieve automatic control of the valve. Summary of the invention

[0014] The purpose of the present invention is to solve the defects of the above-mentioned prior art and provide an adaptive valve driving device and control method.

[0015] The present invention adopts the following technical solution:

[0016] An adaptive valve driving device, comprising:

[0017] The host computer is used to receive the data collected by the sensor for analysis and calculation, and output signals to control the operation of the motor.

[0018] The lower computer is used to execute the signal output by the upper computer to control the opening and closing of the valve.

[0019] The host computer receives the signals transmitted by the torque sensor and the photoelectric encoder through RS485. The host computer uses the internal dual-loop controllers of the internal anti-disturbance iterative learning algorithm to analyze the signals and remove interference before outputting the control signal.

[0020] The lower computer includes a brushless DC motor, a planetary reducer, and a valve stem. The signal output by the upper computer is transmitted to the brushless DC motor, and the brushless DC motor transmits the torque to the valve stem through the planetary reducer, thereby controlling the opening and closing of the ball valve.

[0021] Furthermore, a photoelectric encoder is mounted on the rotating shaft at the top of the ball valve.

[0022] Furthermore, the photoelectric encoder selects an incremental photoelectric encoder.

[0023] A control method for an adaptive valve driving device, comprising:

[0024] Step 1. The brushless DC motor starts the ball valve normally, and the torque sensor and photoelectric encoder are used to detect the signal when the ball valve is started.

[0025] Step 2. When the ball valve is operating normally, the torque will reach its maximum value at a rotation angle of about 7°, so it is necessary to gradually increase the torque before the ball valve rotates 7° and then reduce it. The torque change at this time is normal. However, if the rotation angle of the ball valve is slightly less than 18° in the first 4 seconds, it means that the ball valve is aging or rusting, and it is necessary to control the brushless DC motor through the upper computer to increase the torque;

[0026] If the torque reaches the maximum value of the specified range and the rotation angle is much less than 18°, it means that the ball valve 350 is blocked or has a major fault, and the machine needs to be shut down for maintenance.

[0027] Step 3. When the ball valve starts to pass the medium (the medium refers to the flowing material passing through the valve, which can be gas or liquid, and will flow through the valve to generate pressure when the valve is opened) to the fully open stage, if the torque of the ball valve suddenly increases at a certain moment and the angle changes slowly, and then returns to normal in a short time, it means that the ball valve may be stuck, blocked by foreign objects, or partially aged or rusted. At this time, the torque needs to be increased to observe the angle change. If the valve still cannot operate normally, it means that it is stuck and needs to be shut down for maintenance; if the valve can continue to operate, it means that it is partially aged or rusted, and it can continue to work, but the position needs to be recorded and wait for maintenance.

[0028] Furthermore, step 3 also includes if the torque curve tends to be stable and the ball valve opening angle reaches 45°, it is necessary to slightly reduce the output of the drive device and maintain dynamic balance within a small range to protect the motor until the ball valve is fully opened.

[0029] Furthermore, the torque sensor and photoelectric encoder are used to collect the rotation angle and current of the valve during operation as the input values ​​of the internal and external controllers of the self-disturbance rejection iterative learning control algorithm in the host computer. The self-disturbance rejection iterative learning control algorithm is used to analyze and suppress the existing interference, and then the host computer transmits the processed results to the brushless DC motor to guide the output. The self-disturbance rejection iterative learning control algorithm includes:

[0030] First define a comprehensive error σ(t,k) and let the error value of the last item e m The (t,k) coefficient is 1, where t is the time and k is the number of iterations.

[0031]

[0032] In the formula, ε is a variable with a value between (0,1], a n is the last term of the polynomial, a m is the mth term when the polynomial is accumulated;

[0033] Let the first term of the error The following formula can be used:

[0034]

[0035] ω r (t,0) is the part of the system that is constantly iterating and learning, and is an estimate of the input data. This formula is the initial term when k = 0, and is transformed into:

[0036]

[0037] Among them, ω r (t, k) is an estimate of f(t, r), which is learned iteratively in the system. f is a locally bounded Lipschitz continuous unknown nonlinear time-varying function, and Bounded.

[0038] In order to improve the stability and convergence of the iteration, σ(t,k) is derived to obtain:

[0039]

[0040] a i is the value of the polynomial when the i-th term is given, and then the system error equation

[0041]

[0042] f(t,x) is the unknown term input into the system through sensor acquisition, u(t,k) is the control quantity of the iterative system, t is the time, k is the number of iterations, and we substitute The following formula can be obtained:

[0043]

[0044] represents the derivative of the desired trajectory, and sets the control rate of iterative learning to

[0045]

[0046]

[0047] β ≥ 0 represents the feedback gain, and is substituted into In the formula, we get

[0048]

[0049] At the same time, in order to ensure the stability of the calculation process, ω r The iterative process is used to set the limit:

[0050]

[0051] in

[0052]

[0053] Finally, substitute it into In, get

[0054]

[0055] Beneficial effects:

[0056] (1) It realizes the function of real-time measurement of torque and angle of rotation during valve operation and generates visual curves.

[0057] (2) The anti-interference ability and control accuracy of the valve drive device are improved, and the adjustment time of the drive device output is reduced.

[0058] (3) The function of judging the current operating state of the valve when the valve is opened or closed by changing the torque and the angle of rotation is realized.

[0059] (4) The function of judging whether the valve has faults such as corrosion or blockage by changing the torque and angle of rotation is realized.

[0060] (5) It realizes the automation and visualization of fault diagnosis, reduces the time of downtime maintenance due to faults, and improves operating efficiency.

[0061] (6) The function of adaptively adjusting the output torque of the drive device according to the valve operating status is realized.

[0062] (7) It realizes automatic adjustment and reduces the time-consuming and labor-intensive manual operation of valves. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is the overall module diagram of the present invention.

[0064] Figure 2 It is the upper computer control module diagram.

[0065] Figure 3 This is the lower computer driver module diagram.

[0066] Figure 4 This is the structure diagram of the torque sensor.

[0067] Figure 5 This is the structure diagram of the photoelectric encoder.

[0068] Figure 6 This is the structural diagram of a brushless DC motor.

[0069] Figure 7 This is the structural diagram of the planetary reducer.

[0070] Figure 8 This is a ball valve structure diagram.

[0071] Fig. 9 This is a running example diagram.

[0072] In the figure: 100-upper computer, 110-lower computer, 210-torque sensor, 220-photoelectric encoder, 230-RS485, 320-brushless DC motor, 330-planetary reducer, 340-valve stem, 350-ball valve. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] The existing valve drive device cannot achieve the ideal control effect of the brushless DC motor 320 through the PID control algorithm, because its control sensitivity is low, and it is difficult to suppress the interference during operation, and when the load of the motor changes, the parameters need to be readjusted; on the other hand, the existing drive device and control method cannot determine the internal operation state, opening and closing degree and potential faults of the valve, so it is impossible to adaptively adjust the torque output of the drive device according to its operation and guide the operator to perform targeted maintenance on the valve. If the valve is blocked or other faults occur, and the existing drive device lacks the function of adaptively adjusting the output and judging the cause of the fault, in order to open and close the valve, the voltage and current of the motor will continue to increase. Even if it will be powered off when it reaches a certain level, it will still cause great damage to the motor itself, reduce its life or even scrap it, and the cause of the fault cannot be known, which will eventually cause huge losses.

[0075] In addition, the torque of the current drive device is fixed during installation and cannot be adjusted. When the driving force is insufficient, especially during the opening and closing of the valve, if the output is too small, the motor will burn out due to overheating; if the output is too large, the weak links in the valve structure will be damaged; if an emergency occurs, the output cannot be adaptively adjusted and it will be difficult to resolve in a short time, thus affecting the control effect of the valve.

[0076] In order to ensure that the output torque of the drive device can effectively control the opening and closing of the valve to reduce damage to the device and the valve, and to reduce the problem of insufficient drive and inability to open and close due to special circumstances such as blockage, rust, and aging when the valve is used in an emergency, the operating parameters of the valve should be collected and processed in real time to determine its current operating status and possible fault factors.

[0077] Example

[0078] like Figure 1-Figure 9 As shown, an adaptive valve driving device of the present invention comprises:

[0079] The host computer 100 is used to receive data collected by the sensor for analysis and calculation, and output signals to control the operation of the motor.

[0080] The lower computer 110 is used to execute the signal output by the upper computer 100 to control the opening and closing of the valve.

[0081] The host computer 100 receives the signal transmitted by the torque sensor 210 and the photoelectric encoder 220 through RS485, and uses the internal dual-loop controllers of the internal self-disturbance rejection iterative learning algorithm to analyze the signal and remove the interference before outputting the control signal, thereby reducing the system error and improving the system stability. RS485 is used to transmit the signal collected by the sensor. The torque sensor 210 is used to measure the change of torque and convert it into an accurate voltage signal output. The photoelectric encoder 220 converts the mechanical displacement of the ball valve 350 into a pulse digital quantity through photoelectric conversion and transmits it to the host computer 100.

[0082] The lower computer 110 includes a brushless DC motor 320, a planetary reducer 330, and a valve stem 340. The signal output by the upper computer 100 is transmitted to the brushless DC motor 320, and the brushless DC motor 320 transmits the torque to the valve stem 340 through the planetary reducer 330, thereby controlling the opening and closing of the ball valve 350. The brushless DC motor 320 obtains the rotor position through the Hall sensor, and uses the electronic commutator control coil to achieve precise control of the rotor. The planetary reducer 330 reduces the output speed and increases the output torque by meshing the small gear on the transmission shaft with the large gear, which can effectively increase the life and load capacity of the output device. One end of the valve stem 340 is connected to one end of the planetary reducer 330, and the other end is connected to the valve core of the ball valve 350.

[0083] Furthermore, the photoelectric encoder 220 is installed on the rotating shaft at the top of the ball valve 350 .

[0084] Furthermore, an incremental photoelectric encoder 220 is selected. The principle is that when light passes through the code disk and the detection grating, the photoelectric device will output an electrical signal similar to a sine wave, thereby obtaining the angle or speed information, realizing accurate collection of the position of the ball valve 350, and improving the accuracy and reliability of the data.

[0085] Furthermore, the use of the planetary reducer 330 can increase the output torque, increase the control accuracy, improve the load capacity of the drive device, and prolong the service life without maintenance, thereby avoiding the impact of the drive device due to self-aging and other reasons to a great extent.

[0086] Furthermore, a brushless DC motor 320 is used, which has the advantages of large torque, high speed, wide speed range, and small size, etc. It can reduce noise and motor rotor loss during operation and improve operation accuracy.

[0087] When the ball valve 350 is running, the corresponding signal will be output through the photoelectric encoder 220 and the torque sensor 210. After signal amplification and filtering, some interference is filtered out, and then the collected signal is subjected to self-interference rejection iterative learning calculation, and then the upper computer 100 realizes adaptive control of the motor.

[0088] This embodiment determines the valve state and adjusts the output of the driving device based on the valve ball angle curve and the torque curve. Here, the valve opening is taken as an example.

[0089] The ball valve 350 will output various signals during operation, and transmit the data to the host computer 100 through the torque sensor 210 and the photoelectric encoder 220. The photoelectric encoder 220 needs to be connected to the rotating shaft at the top and needs to be close to the measured device to obtain more accurate data. Therefore, the present invention installs it on the rotating shaft at the top of the ball valve 350 to obtain more accurate data. The host computer 100 determines whether the state of the ball valve 350 is healthy, whether there is data anomaly, and whether there is a failure of the ball valve 350 based on the collected and processed rotation angle and torque data.

[0090] If the data is normal, the system will determine whether the current torque size can effectively realize the opening and closing of the ball valve 350 according to the rotation angle and torque data during the opening and closing process of the ball valve 350, and adaptively adjust its size through the self-disturbance rejection iterative control algorithm;

[0091] If the data is abnormal, the system will determine the possible fault problem and guide the output of the drive device based on the current operating status of the ball valve 350 and the change of the data.

[0092] When the ball valve 350 is opened, the torque will change with the degree of opening. When the ball in the ball valve 350 starts to start and is about to open, the sealing force of the sealing pair in the valve body is the largest at this time, so the torque is also the largest; as the torque decreases until the valve body begins to open, it increases again, and then the ball valve 350 opens, and the torque gradually decreases.

[0093] Under normal circumstances:

[0094] When the ball valve 350 starts to start and is about to open, it is necessary to start from the preset minimum valve torque output, and judge the operation of the ball valve 350 by the change of the ball angle. At this time, it is necessary to continuously increase the torque. Through multiple tests, it is concluded that the maximum torque is generally reached when the ball is opened to about 7°. Therefore, it is preset that the torque needs to be gradually increased before the ball valve 350 opens to 7°, and then reduced. This can not only effectively realize the opening and closing of the ball valve 350 but also well protect the motor from damage.

[0095] Under normal circumstances, if the torque curve tends to be stable and the opening angle of the ball valve 350 reaches 45°, it is necessary to slightly reduce the output of the drive device and maintain dynamic balance in a small range to protect the motor until the ball valve 350 is fully opened.

[0096] In case of abnormal situation:

[0097] Generally, the ball needs to rotate about 18° in the first 4 seconds. If the angle of the valve ball changes slowly when approaching the preset maximum torque range, or the valve opening is slightly less than 18° in 4 seconds, it means that the ball valve 350 is aged or corroded, resulting in increased resistance of the ball valve 350 and increased torque required for control, which affects the opening of the ball valve 350.

[0098] If the torque reaches the maximum value of the specified range and the rotation angle is much less than 18°, it means that the ball valve is blocked or has a major fault.

[0099] When the ball valve 350 begins to pass the medium and fully opens, if the torque of the ball valve 350 suddenly increases at a certain moment and the rotation angle changes slowly, and then returns to normal in a short time, it means that the ball valve 350 may be stuck, blocked by foreign objects, or partially aged or corroded.

[0100] Therefore, the present invention also provides a control method for an adaptive valve driving device, comprising:

[0101] The brushless DC motor 320 starts the ball valve 350 normally, and the torque sensor 210 and the photoelectric encoder 220 are used to detect the signal when the ball valve 350 is started.

[0102] When the ball valve 350 is operating normally, the torque will reach the maximum value at a rotation angle of about 7°, so it is necessary to gradually increase the torque before the ball valve rotates 7° and then reduce it. The torque change at this time is normal. However, if the rotation angle of the ball valve 350 is slightly less than 18° in the first 4 seconds, it means that the ball valve 350 is aged or corroded, and it is necessary to control the brushless DC motor 320 through the host computer 100 to increase the torque;

[0103] If the torque reaches the maximum value of the specified range and the rotation angle is much less than 18°, it means that the ball valve 350 is blocked or has a major fault. At this time, it is necessary to shut down the machine for maintenance to avoid serious damage to the valve and pipeline.

[0104] When the ball valve 350 starts to pass the medium and fully opens, if the torque of the ball valve 350 suddenly increases at a certain moment and the rotation angle changes slowly, and then returns to normal in a short time, it means that the ball valve 350 may be stuck, blocked by foreign objects, or partially aged or corroded. At this time, the torque needs to be increased to observe the change in the rotation angle. If the valve still cannot operate normally, it means that it is stuck and needs to be shut down for maintenance; if the valve can continue to operate, it means that it is partially aged or corroded, and it can continue to work, but the position needs to be recorded and wait for maintenance.

[0105] If the torque curve tends to be stable and the opening angle of the ball valve 350 reaches 45°, it is necessary to slightly reduce the output of the drive device and maintain dynamic balance in a small range to protect the motor until the ball valve 350 is fully opened.

[0106] According to the experimental results of the self-disturbance rejection iterative learning control algorithm, after multiple tests, the adjustment time of the drive device under normal circumstances is about 5ms, and the adjustment time of the drive device when the load changes suddenly is about 6ms.

[0107] After the upper computer 100 processes the state judgment and algorithm calculation, the abnormal data and judgment results are presented on the upper computer 100 interface, and the output control signal obtained by the algorithm calculation is transmitted to the lower computer 110. The brushless DC motor 320 adjusts the torque output according to the signal, and controls the opening and closing of the ball valve 350 through the planetary reducer 330.

[0108] Furthermore, the brushless DC motor 320 used in the present invention is a nonlinear control system. In order to better control the motor, the system is converted into an inner and outer double-loop series control structure of the angle and current. Data processing and judgment are realized through an anti-disturbance iterative learning controller, and the results are transmitted back to the drive device to guide the output.

[0109] For the self-disturbance rejection iterative learning control algorithm of nonlinear time-varying systems, we can first define a comprehensive error σ(t,k) and let the error value of the last item e m The (t,k) coefficient is 1, where t is the time and k is the number of iterations.

[0110]

[0111] In the formula, ε is a variable with a value between (0,1], a n is the last term of the polynomial, a m is the mth term when the polynomial is accumulated;

[0112] Let the first term of the error The following formula can be used:

[0113]

[0114] ω r (t,0) is the part of the system that is constantly iterating and learning, and is an estimate of the input data. This formula is the initial term when k = 0, and is transformed into:

[0115]

[0116] Among them, ω r (t, k) is an estimate of f(t, r), which is learned iteratively in the system. f is a locally bounded Lipschitz continuous unknown nonlinear time-varying function, and Bounded.

[0117] In order to improve the stability and convergence of the iteration, σ(t,k) is derived to obtain:

[0118]

[0119] a i is the value of the polynomial when the i-th term is given, and then the system error equation

[0120]

[0121] f(t,x) is the unknown term input into the system through sensor acquisition, u(t,k) is the control quantity of the iterative system, t is the time, k is the number of iterations, and we substitute The following formula can be obtained:

[0122]

[0123] represents the derivative of the desired trajectory, and sets the control rate of iterative learning to

[0124]

[0125]

[0126] β ≥ 0 represents the feedback gain, and is substituted into In the formula, we get

[0127]

[0128] At the same time, in order to ensure the stability of the calculation process, ω r The iterative process is used to set the limit:

[0129]

[0130] in

[0131]

[0132] Finally, substitute it into In, get

[0133]

[0134] The drive device collects the rotation angle and current of the ball valve 350 during operation as input values ​​of the internal and external controllers through the torque sensor 210 and the photoelectric encoder 220, analyzes and suppresses the existing interference through the above-mentioned self-anti-disturbance iterative learning control algorithm, and then transmits the processed results to the host computer 100 to guide the output of the drive device.

[0135] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive valve drive device, characterized in that ,include: The host computer receives the signals transmitted by the torque sensor and the photoelectric encoder through RS485. The host computer uses the internal dual-loop controllers of the internal anti-disturbance iterative learning algorithm to analyze the signals and remove the interference before outputting the control signal. The lower computer includes a brushless DC motor, a planetary reducer, and a valve stem. The signal output by the upper computer is transmitted to the brushless DC motor, and the brushless DC motor transmits the torque to the valve stem through the planetary reducer, thereby controlling the opening and closing of the ball valve.

2. The adaptive valve drive device according to claim 1, characterized in that: The photoelectric encoder is installed on the rotating shaft at the top of the ball valve.

3. The adaptive valve driving device according to claim 1, characterized in that: Photoelectric encoder: Select incremental photoelectric encoder.

4. The control method of the adaptive valve driving device according to claim 1, characterized in that: include: Step 1. The brushless DC motor starts the ball valve normally, and the torque sensor and photoelectric encoder are used to detect the signal when the ball valve is started; Step 2. When the ball valve is operating normally, the torque will reach its maximum value at a rotation angle of 7°. Therefore, it is necessary to gradually increase the torque before the ball valve rotates 7° and then reduce it. The torque change at this time is normal. However, if the rotation angle of the ball valve is less than 18° in the first 4 seconds, it means that the ball valve is aging or corroded. In this case, it is necessary to control the brushless DC motor through the upper computer to increase the torque. If the torque reaches the maximum value of the specified range and the rotation angle is less than 18°, it means that the ball valve is blocked or has a major fault. At this time, it is necessary to shut down for maintenance. Step 3. When the ball valve starts to pass the medium and fully opens, if the torque of the ball valve suddenly increases at a certain moment and the angle changes slowly, and then returns to normal in a short time, it means that the ball valve is stuck, blocked by foreign objects, or partially aged or corroded. At this time, it is necessary to increase the torque and observe the angle change. If the valve still cannot operate normally, it means that it is stuck and needs to be shut down for maintenance. If the valve can continue to operate, it means that it is partially aged or corroded and it should continue to work, but the position needs to be recorded and maintenance should be waited.

5. The method according to claim 4, characterized in that Step 3 also includes if the torque curve tends to be stable and the ball valve opening angle reaches 45°, then it is necessary to reduce the output of the brushless DC motor and maintain dynamic balance until the ball valve is fully opened.

6. The method according to claim 4, characterized in that Step 1 also includes collecting the rotation angle and current of the ball valve during operation through the torque sensor and the photoelectric encoder as the input values ​​of the internal and external controllers of the self-disturbance rejection iterative learning control algorithm in the host computer, analyzing and suppressing the existing interference through the self-disturbance rejection iterative learning control algorithm, and then the host computer transmits the processed result to the brushless DC motor guidance output, wherein the self-disturbance rejection iterative learning control algorithm includes: First define a comprehensive error σ(t,k) and let the error value of the last item e m The (t,k) coefficient is 1, where t is the time and k is the number of iterations; In the formula, ε is a variable with a value between (0,1], a n is the last term of the polynomial, a m is the mth term when the polynomial is accumulated; Let the first term of the error The following formula: ω r (t,0) is the part where the system continuously iterates and learns, which is an estimate of the input data. This formula is the initial term when k=0, and is transformed into: Among them, ω r (t, k) is an estimate of f(t, r), which is learned iteratively in the system. f is a locally bounded Lipschitz continuous unknown nonlinear time-varying function, and Bounded; In order to improve the stability and convergence of the iteration, σ(t,k) is derived to obtain: a i is the value of the polynomial when the i-th term is given, and then the system error equation f(t,x) is the unknown term input into the system through sensor acquisition, u(t,k) is the control quantity of the iterative system, t is the time, k is the number of iterations, and we substitute The following formula is obtained: represents the derivative of the desired trajectory, and sets the control rate of iterative learning to β ≥ 0 represents the feedback gain, and is substituted into In the formula, we get At the same time, in order to ensure the stability of the calculation process, ω r The iterative process is used to set the limit: in Finally, substitute it into In, get

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