Control method and system for disturbance suppression of active magnetic compensation system based on superhelix finite time

Abstract

The invention belongs to the technical field of active magnetic compensation of magnetic shielding devices, and discloses a control method and system for disturbance suppression of an active magnetic compensation system based on superhelix finite time, and the method comprises the steps: building a differential equation of the active magnetic compensation system with a sudden change disturbance term; designing a finite time expansion state observer based on the differential equation; and based on the finite time expansion state observer, designing a superhelix finite time controller based on a disturbance observer, and carrying out disturbance suppression. The finite time extended state observer designed by the invention can perform quantitative observation on an unknown system state and uncertain sudden change disturbance, can provide prior information for controller design, and improves the anti-disturbance capability of the system. Due to the fact that the superhelix finite time controller based on the disturbance observer is designed, the system state can be stable in finite time, and the response speed and the control precision of the active magnetic compensation system are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of active magnetic compensation of magnetic shielding devices, and in particular to a control method and system for disturbance suppression of an active magnetic compensation system based on superhelical finite time. Background Art

[0002] The development of quantum precision measurement and microchip technology has rekindled people's interest in the study of extremely weak magnetic fields, and certain results have been achieved in many fields. One important research area is the acquisition of physiological magnetic field signals, namely magnetocardiography and magnetoencephalography. Thanks to the unprecedented spatial resolution and sensitivity, this new measurement method can be used for early diagnosis and intervention of various cardiovascular and cerebrovascular diseases. However, in order to meet the extremely weak magnetic field environment required by the measurement sensor and improve the quality of the target signal, it is necessary to achieve rapid and high-precision suppression of the sudden interfering magnetic field.

[0003] The active magnetic compensation system constructs a closed-loop system by introducing compensation coils and adding state feedback channels. The magnetic field shunting principle of high magnetic permeability materials and the eddy current effect of high conductivity materials are used to further reduce the residual magnetic field in the target area. Compared with the traditional passive shielding system, this system significantly reduces the production cost, weight and anti-interference ability of diagnostic equipment. At present, there have been a variety of active magnetic compensation control systems and methods. However, most systems use a proportional-integral-differential (PID) controller embedded in a lock-in amplifier, which is easy to debug but has limited capabilities in terms of convergence speed and control accuracy. Under the influence of sudden disturbance magnetic fields, the system may experience obvious overshoot and oscillation, and even instability in extreme cases. In order to solve the above problems, advanced control methods such as fuzzy PID, neural network control, and harmonic suppression have been applied to active magnetic compensation systems. Although the system performance is improved, the system state cannot converge to the equilibrium point asymptotically within a limited time, which is insufficient to cope with the sudden change of the system stability point in extreme cases.

[0004] Superhelical sliding mode can construct a high-order system through integral terms, effectively alleviating the chatter phenomenon existing in traditional sliding mode control, reducing steady-state errors and improving the robustness of the system. However, due to the use of a linear sliding surface, the system state still cannot converge to the equilibrium point within a finite time. Non-singular terminal sliding mode achieves finite-time stability of the system and avoids singular problems by introducing nonlinear terms, and has been widely used in many engineering fields. However, when the system state approaches the sliding surface, the nonlinear terms slow down the convergence speed. In addition, due to the lack of prior information about sudden disturbances, the system will inevitably chatter under extreme conditions, and its robustness is limited. Quantifying disturbances through observers is an effective strategy to solve this problem. Summary of the invention

[0005] In order to further reduce the impact of uncertain mutation disturbances on the active magnetic compensation system, the present invention proposes a control method and system for disturbance suppression of the active magnetic compensation system based on superhelical finite time, and designs a finite time extended state observer to realize the quantitative observation of unknown system states and uncertain mutation disturbances. A superhelical finite time controller based on the disturbance observer is designed to ensure the stability and good dynamic performance of the system, effectively improve the anti-disturbance and anti-noise performance of the system, and greatly improve the control effect of the active magnetic compensation system.

[0006] The present invention discloses a control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time, the method comprising:

[0007] Establish the differential equation of active magnetic compensation system with sudden disturbance term;

[0008] Based on the differential equation, a finite-time extended state observer is designed;

[0009] Based on the finite-time extended state observer, a superhelical finite-time controller based on a disturbance observer is designed to perform disturbance suppression.

[0010] Preferably, establishing the differential equation comprises:

[0011]

[0012] Among them, B m Indicates the measured magnetic field, B f represents the filtered magnetic field, v c represents the control voltage, represents the rate of change of the filtered magnetic field, represents the rate of change of the measured magnetic field, represents the rate of change of the control voltage, k represents the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ 0 ,τ 1 ,τ 2 Represents the time constant.

[0013] Preferably, designing the finite-time extended state observer comprises:

[0014]

[0015] in, is the observed value of the filtered magnetic field, is the observed value of the measured magnetic field, is the observed value of the sudden disturbance magnetic field, is the rate of change of the observed value of the filtered magnetic field, is the rate of change of the observed value of the measured magnetic field, is the rate of change of the observed value of the sudden disturbance magnetic field, is the observation error of the filtered magnetic field, ε 0 ,ε 1 ,ε 2 represents the observer parameters, F 0 (·),F 1 (·),F 2 (·) denotes a finite-time observation function.

[0016] Preferably, designing the superhelical finite-time controller based on the disturbance observer comprises:

[0017] The designed non-singular terminal sliding surface s is:

[0018]

[0019] Among them, c 0 is the controller parameter, F s (·) represents the finite-time control function;

[0020] Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted where F t1 (·),F t2 (·) represents the superhelical approach term, is the integration time, Integral time The sliding surface described by is the rate of change of the sliding surface; the designed superhelical finite time control law u c for:

[0021]

[0022] Among them, α 0 ,α 1 is the controller parameter, F 3 (·) represents a finite-time control function.

[0023] The present invention also provides a control system for disturbance suppression of an active magnetic compensation system based on superhelical finite time, the system being used to implement any one of the methods described, comprising: a differential equation building module, a finite time extended state observer design module and a sudden disturbance suppression module;

[0024] The differential equation building module is used to establish a differential equation of an active magnetic compensation system with a sudden disturbance term;

[0025] The finite-time extended state observer design module is used to design a finite-time extended state observer based on the differential equation;

[0026] The sudden disturbance suppression module is used to design a super-helical finite-time controller based on a disturbance observer based on the finite-time extended state observer to suppress disturbances.

[0027] Preferably, establishing the differential equation comprises:

[0028]

[0029] Among them, B m Indicates the measured magnetic field, B f represents the filtered magnetic field, v c represents the control voltage, represents the rate of change of the filtered magnetic field, represents the rate of change of the measured magnetic field, represents the rate of change of the control voltage, k represents the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ 0 ,τ 1 ,τ 2 Represents the time constant.

[0030] Preferably, designing the finite-time extended state observer comprises:

[0031]

[0032] in, is the observed value of the filtered magnetic field, is the observed value of the measured magnetic field, is the observed value of the sudden disturbance magnetic field, is the rate of change of the observed value of the filtered magnetic field, is the rate of change of the observed value of the measured magnetic field, is the rate of change of the observed value of the sudden disturbance magnetic field, is the observation error of the filtered magnetic field, ε 0 ,ε 1 ,ε 2 represents the observer parameters, F 0 (·),F 1 (·),F 2 (·) denotes a finite-time observation function.

[0033] Preferably, designing the superhelical finite-time controller based on the disturbance observer comprises:

[0034] The designed non-singular terminal sliding surface s is:

[0035]

[0036] Among them, c 0is the controller parameter, F s (·) represents the finite-time control function;

[0037] Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted where F t1 (·),F t2 (·) represents the superhelical approach term, is the integration time, Integral time The sliding surface described by is the rate of change of the sliding surface; the designed superhelical finite time control law u c for:

[0038]

[0039] Among them, α 0 ,α 1 is the controller parameter, F 3 (·) represents a finite-time control function.

[0040] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the methods described above when executing the program.

[0041] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, any one of the methods described above is implemented.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The finite-time extended state observer designed in the present invention can quantitatively observe unknown system states and uncertain sudden disturbances, provide prior information for controller design, and improve the system's anti-disturbance capability.

[0044] Since the present invention designs a super-helical finite-time controller based on a disturbance observer, the system state can be stabilized within a finite time, so that the response speed and control accuracy of the active magnetic compensation system are effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0046] Figure 1A flow chart of a control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time according to an embodiment of the present invention;

[0047] Figure 2 It is an overall control block diagram of a control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time according to an embodiment of the present invention;

[0048] Figure 3 Schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Description of the drawings:

[0050] 1010, processor; 1020, memory; 1030, input / output interface; 1040, communication interface; 1050, bus. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0052] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0053] First, some technical terms used in the present invention are explained:

[0054] Magnetic shielding is a technology used to reduce or eliminate the interference of magnetic fields on the surrounding environment or equipment. It can be achieved in the following ways: 1. Static magnetic shielding: Use a shielding cover made of ferromagnetic material with high magnetic permeability to shield the external magnetic field, which is widely used in electronic devices. 2. Electromagnetic shielding: Use metal shielding materials to enclose the source of electromagnetic interference, reduce the external electromagnetic field strength to the allowable value, or protect electromagnetic sensitive circuits from the influence of external electromagnetic fields. 3. Application areas: Magnetic shielding devices are used in circuits such as inductors, large-capacity steam turbine generators, filters, transformers, DC-DC converters, and in communications to control the induction and radiation of electric fields, magnetic fields and electromagnetic waves. 4. Shielding effectiveness: The shielding effect is usually measured by shielding effectiveness, that is, the degree of attenuation of electromagnetic waves by the shielding body. 5. Shielding materials: Electromagnetic shielding can be achieved in the form of metal mesh or cover, high magnetic permeability material cover, etc. Magnetic shielding devices are very important in the field of modern electronics. They help improve the reliability of equipment, enhance product quality, and protect personnel and equipment from magnetic field interference.

[0055] Active magnetic compensation technology is a technology that uses active control technology to adjust the magnetic field in order to compensate for the impact of external magnetic field disturbances on the required magnetic field. This technology usually consists of the following three core parts: 1. Sensor group: used to measure the magnetic field strength and direction in the current environment. 2. Control unit: calculates the amount of magnetic field that needs to be compensated based on the magnetic field information provided by the sensor group. 3. Execution unit: generates a magnetic field based on the calculation results of the control unit to actively compensate for external disturbances. The main advantages of this technology include high accuracy, fast response and stable performance. For example, in space exploration, when using a highly sensitive spin exchange relaxation-free (SERF) atomic magnetometer for magnetic field measurement, the active magnetic compensation system can track the magnetic field compensation point in real time, reduce system noise, and effectively compensate for external magnetic field disturbances, thereby improving measurement sensitivity.

[0056] The superhelical algorithm is a nonlinear control method used to design a controller that converges in finite time. In the active magnetic compensation problem, the superhelical algorithm can be used to design a control law so that the active magnetic compensation system produces an extremely weak magnetic field environment. The following are some key points about superhelical finite time guidance: 1 Model establishment: Establish the differential equation of the active magnetic compensation system with a sudden disturbance term. 2 External disturbance estimation: Online estimation of external disturbances through a finite time observer. 3 Design of sliding surface: Construct a multivariable non-singular fast terminal sliding surface, and combine it with the improved superhelical algorithm to design a finite time superhelical sliding mode control law. 4 System stability analysis: Using the Lyapunov stability theory, the finite time convergence performance analysis of the closed-loop system can be performed to ensure the stability and performance of the active magnetic compensation system. 5 Application example: In the active magnetic compensation magnetic field control, the control method of disturbance suppression of the active magnetic compensation system based on superhelical finite time can realize the estimation of external disturbances and achieve finite time convergence of the system state.

[0057] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] Embodiment 1

[0059] The embodiment of the present invention provides a Figure 1 The control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time of the present invention comprises: firstly establishing a differential equation of the active magnetic compensation system with a sudden disturbance term, designing a finite time extended state observer based on the differential equation, and then designing a superhelical finite time controller based on the disturbance observer based on the finite time extended state observer to feedback control the system, so as to achieve the purpose of sudden disturbance suppression.

[0060] like Figure 2 As shown, the specific implementation steps of the present invention are as follows:

[0061] Step (1): Establish the differential equation of the active magnetic compensation system with sudden disturbance term:

[0062] The differential equation of the active magnetic compensation system with sudden disturbance term is:

[0063]

[0064] Among them, B m Indicates the measured magnetic field, B f represents the filtered magnetic field, v c represents the control voltage, represents the rate of change of the filtered magnetic field, represents the rate of change of the measured magnetic field, represents the rate of change of the control voltage, k represents the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ 0 ,τ 1 ,τ 2 Represents the time constant.

[0065] Step (2): The finite-time extended state observer is:

[0066]

[0067] in, is the observed value of the filtered magnetic field, is the observed value of the measured magnetic field, is the observed value of the sudden disturbance magnetic field, is the rate of change of the observed value of the filtered magnetic field, is the rate of change of the observed value of the measured magnetic field, is the rate of change of the observed value of the sudden disturbance magnetic field, is the observation error of the filtered magnetic field, ε 0 ,ε 1 ,ε 2 represents the observer parameters, F 0 (·),F 1 (·),F 2 (·) denotes a finite-time observation function.

[0068] Step (3): The design of the superhelical finite-time controller based on the disturbance observer specifically includes:

[0069] The designed non-singular terminal sliding surface s is:

[0070]

[0071] Among them, c 0 is the controller parameter, F s (·) represents a finite-time control function.

[0072] Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted where F t1 (·),F t2 (·) represents the superhelical approach term, is the integration time, Integral time The sliding surface described by is the rate of change of the sliding surface. The designed superhelical finite-time control law u c for:

[0073]

[0074] Among them, α 0 ,α 1 is the controller parameter, F 3 (·) represents a finite-time control function.

[0075] The technical solution of the present invention,

[0076] The finite-time extended state observer designed in the present invention can quantitatively observe unknown system states and uncertain sudden disturbances, provide prior information for controller design, and improve the system's anti-disturbance capability.

[0077] Since the present invention designs a super-helical finite-time controller based on a disturbance observer, the system state can be stabilized within a finite time, so that the response speed and control accuracy of the active magnetic compensation system are effectively improved.

[0078] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0079] It should be noted that some embodiments of the present disclosure are described above. Other embodiments are within the scope of the attached claims. In some cases, it should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. The actions or steps recorded in the claims can be performed in an order different from that in the above embodiment and still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0080] Embodiment 2

[0081] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present invention also provides a control system for disturbance suppression of an active magnetic compensation system based on superhelical finite time, wherein the system is used to implement any of the above-mentioned methods, and comprises: a differential equation building module, a finite time extended state observer design module and a sudden disturbance suppression module;

[0082] The differential equation building module is used to establish the differential equations of the active magnetic compensation system with sudden disturbance terms;

[0083] The finite time extended state observer design module is used to design a finite time extended state observer based on the differential equation;

[0084] The sudden disturbance suppression module is used to design a super-helical finite-time controller based on a disturbance observer based on the finite-time extended state observer to suppress disturbances.

[0085] In this embodiment, establishing the differential equation includes:

[0086]

[0087] Among them, B m Indicates the measured magnetic field, B f represents the filtered magnetic field, v c represents the control voltage, represents the rate of change of the filtered magnetic field, represents the rate of change of the measured magnetic field, represents the rate of change of the control voltage, k represents the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ 0 ,τ 1 ,τ 2 Represents the time constant.

[0088] In this embodiment, designing the finite-time extended state observer includes:

[0089]

[0090] in, is the observed value of the filtered magnetic field, is the observed value of the measured magnetic field, is the observed value of the sudden disturbance magnetic field, is the rate of change of the observed value of the filtered magnetic field, is the rate of change of the observed value of the measured magnetic field, is the rate of change of the observed value of the sudden disturbance magnetic field, is the observation error of the filtered magnetic field, ε 0 ,ε 1 ,ε 2 represents the observer parameters, F 0 (·),F 1 (·),F 2 (·) denotes a finite-time observation function.

[0091] In this embodiment, designing the superhelical finite-time controller based on the disturbance observer includes:

[0092] The designed non-singular terminal sliding surface s is:

[0093]

[0094] Among them, c 0 is the controller parameter, F s (·) represents the finite-time control function;

[0095] Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted where F t1 (·),F t2 (·) represents the superhelical approach term, is the integration time, Integral time The sliding surface described by is the rate of change of the sliding surface. The designed superhelical finite-time control law u c for:

[0096]

[0097] Among them, α 0 ,α 1 is the controller parameter, F 3 (·) represents a finite-time control function.

[0098] The system of the above embodiment is used to implement a control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time corresponding to any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0099] It should be noted that the above control system for disturbance suppression based on superhelical finite-time active magnetic compensation system is embodied in the form of functional units. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0100] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0101] Embodiment 3

[0102] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the XXXXXXXXX method described in any of the above embodiments is implemented.

[0103] Figure 3 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0104] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0105] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0106] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0107] The communication interface 1040 is used to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB (Universal Serial Bus), network cable, etc.), or through a wireless mode (such as mobile network, WIFI (Wireless Fidelity), Bluetooth, etc.).

[0108] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0109] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0110] The system of the above embodiment is used to implement a control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time corresponding to any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0111] Embodiment 4

[0112] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute a control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time as described in any of the above embodiments.

[0113] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0114] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute a control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0115] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0116] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0117] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0118] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0119] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time, characterized in that: The method comprises: Establish the differential equation of active magnetic compensation system with sudden disturbance term; Based on the differential equation, a finite-time extended state observer is designed; Based on the finite-time extended state observer, a superhelical finite-time controller based on a disturbance observer is designed to perform disturbance suppression.

2. The method according to claim 1, characterized in that Establishing the differential equation includes: Among them, B m Indicates the measured magnetic field, B f represents the filtered magnetic field, v c represents the control voltage, represents the rate of change of the filtered magnetic field, represents the rate of change of the measured magnetic field, represents the rate of change of the control voltage, k represents the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ0, τ1, τ2 represent the time constants.

3. The method according to claim 2, characterized in that Designing the finite-time extended state observer includes: in, is the observed value of the filtered magnetic field, is the observed value of the measured magnetic field, is the observed value of the sudden disturbance magnetic field, is the rate of change of the observed value of the filtered magnetic field, is the rate of change of the observed value of the measured magnetic field, is the rate of change of the observed value of the sudden disturbance magnetic field, is the observation error of the filtered magnetic field, ε0, ε1, ε2 represent the observer parameters, and F0(·), F1(·), F2(·) represent the finite-time observation functions.

4. The method according to claim 3, characterized in that Designing the superhelical finite-time controller based on the disturbance observer includes: The designed non-singular terminal sliding surface s is: Among them, c0 is the controller parameter, F s (·) represents the finite-time control function; Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted where F t1 (·),F t2 (·) represents the superhelical approach term, is the integration time, Integral time The sliding surface described by is the rate of change of the sliding surface; the designed superhelical finite time control law u c for: Among them, α0, α1 are controller parameters, and F3(·) represents the finite time control function.

5. A control system for disturbance suppression of an active magnetic compensation system based on superhelical finite time, the system being used to implement the method of any one of claims 1 to 4, characterized in that: include: Differential equation building module, finite-time extended state observer design module and sudden disturbance suppression module; The differential equation building module is used to establish a differential equation of an active magnetic compensation system with a sudden disturbance term; The finite-time extended state observer design module is used to design a finite-time extended state observer based on the differential equation; The sudden disturbance suppression module is used to design a super-helical finite-time controller based on a disturbance observer based on the finite-time extended state observer to suppress disturbances.

6. The system according to claim 5, characterized in that Establishing the differential equation includes: Among them, B m Indicates the measured magnetic field, B f represents the filtered magnetic field, v c represents the control voltage, represents the rate of change of the filtered magnetic field, represents the rate of change of the measured magnetic field, represents the rate of change of the control voltage, k represents the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ0, τ1, τ2 represent the time constants.

7. The system according to claim 6, characterized in that Designing the finite-time extended state observer includes: in, is the observed value of the filtered magnetic field, is the observed value of the measured magnetic field, is the observed value of the sudden disturbance magnetic field, is the rate of change of the observed value of the filtered magnetic field, is the rate of change of the observed value of the measured magnetic field, is the rate of change of the observed value of the sudden disturbance magnetic field, is the observation error of the filtered magnetic field, ε0, ε1, ε2 represent the observer parameters, and F0(·), F1(·), F2(·) represent the finite-time observation functions.

8. The system according to claim 7, characterized in that Designing the superhelical finite-time controller based on the disturbance observer includes: The designed non-singular terminal sliding surface s is: Among them, c0 is the controller parameter, F s (·) represents the finite-time control function; Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted where F t1 (·),F t2 (·) represents the superhelical approach term, is the integration time, Integral time The sliding surface described by is the rate of change of the sliding surface; the designed superhelical finite time control law u c for: Among them, α0, α1 are controller parameters, and F3(·) represents the finite time control function.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 4 is implemented.

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