A control method and system for disturbance suppression of active magnetic compensation system based on super-helical finite time

Abstract

The present invention belongs to the technical field of active magnetic compensation for magnetic shielding devices, and discloses a control method and system for disturbance suppression of an active magnetic compensation system based on superhelical finite time. The method comprises: establishing a differential equation of an active magnetic compensation system with a sudden disturbance term; designing a finite-time extended state observer based on the differential equation; and designing a superhelical finite-time controller based on a disturbance observer based on the finite-time extended state observer to suppress disturbances. The finite-time extended state observer designed by the present invention can quantitatively observe unknown system states and uncertain sudden disturbances, and can provide prior information for controller design, thereby improving the system's anti-disturbance capability. Due to the design of a superhelical finite-time controller based on a disturbance observer, the system state can be stabilized within a finite time, thereby effectively improving the response speed and control accuracy of the active magnetic compensation system.

Description

Technical Field

[0001] The present invention relates to the technical field of active magnetic compensation for 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] Advances in quantum precision measurement and microchip technology have reignited interest in the study of extremely weak magnetic fields, resulting in significant progress in numerous fields. One key area of ​​research is the acquisition of physiological magnetic field signals, namely magnetocardiography and magnetoencephalography. These novel measurement methods, with their unprecedented spatial resolution and sensitivity, offer potential for early diagnosis and intervention of various cardiovascular and cerebrovascular diseases. However, to maintain the extremely weak magnetic field environment required by measurement sensors and improve the quality of target signals, rapid and high-precision suppression of abrupt interfering magnetic fields is essential.

[0003] Active magnetic compensation systems construct closed-loop systems by introducing compensation coils and adding state feedback channels. They leverage the magnetic field shunting principle of high-permeability materials and the eddy current effect of high-conductivity materials to further reduce the residual magnetic field in the target area. Compared to traditional passive shielding systems, this system significantly reduces the production cost, weight, and anti-interference capabilities of diagnostic equipment. Currently, various active magnetic compensation control systems and methods have been studied. However, most systems use a proportional-integral-derivative (PID) controller embedded in a lock-in amplifier. This controller is easy to debug but has limited convergence speed and control accuracy. Under the influence of sudden disturbance magnetic fields, the system may experience significant overshoot and oscillation, and in extreme cases, even instability. To address these issues, advanced control methods such as fuzzy PID, neural network control, and harmonic suppression have been applied to active magnetic compensation systems. While these methods improve system performance, the system state cannot converge to an equilibrium point within a finite time, making them inadequate for handling sudden changes in the system's stability point under extreme conditions.

[0004] Superhelical sliding modes can construct a high-order system through integral terms, effectively alleviating the chatter phenomenon present in traditional sliding mode control, reducing steady-state errors and improving system robustness. 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 modes achieve finite-time stability of the system and avoid singularity problems by introducing nonlinear terms, and have been widely used in many engineering fields. However, when the system state approaches the sliding surface, the nonlinear terms slow down the convergence rate. In addition, due to the lack of prior information about sudden disturbances, the system will inevitably experience chatter under extreme conditions, limiting its robustness. Quantifying the disturbance through an observer is an effective strategy to address this problem. Summary of the Invention

[0005] To further reduce the impact of uncertain sudden disturbances on active magnetic compensation systems, this paper proposes a control method and system for disturbance suppression in active magnetic compensation systems based on superhelical finite-time control. A finite-time extended state observer is designed to quantitatively observe unknown system states and uncertain sudden disturbances. A superhelical finite-time controller based on the disturbance observer ensures system stability and good dynamic performance, effectively improving the system's interference and noise immunity, and significantly enhancing the control effectiveness 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 the active magnetic compensation system with sudden disturbance terms;

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

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

[0010] Preferably, establishing the differential equation includes:

[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, Indicates the rate of change of the control voltage, k indicates the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ0, τ1, τ2 represent the time constants.

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

[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, ε0, ε1, ε2 represent the observer parameters, and F0(·), F1(·), F2(·) represent the finite-time observation functions.

[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, c0 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 Among them 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] Where α0, α1 are controller parameters, and F3(·) represents the finite-time control function.

[0023] The present invention also provides a control system for disturbance suppression of a superhelical finite-time active magnetic compensation system, wherein the system is used to implement any one of the methods described above, and comprises: 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 the differential equation of the active magnetic compensation system with the 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 perform disturbance suppression.

[0027] Preferably, establishing the differential equation includes:

[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, Indicates the rate of change of the control voltage, k indicates the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ0, τ1, τ2 represent the time constants.

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

[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, ε0, ε1, ε2 represent the observer parameters, and F0(·), F1(·), F2(·) represent the finite-time observation functions.

[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, c0 is 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 Among them 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] Where α0, α1 are controller parameters, and F3(·) represents the 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, thereby effectively improving the response speed and control accuracy of the active magnetic compensation system. 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 any creative work.

[0046] Figure 1 This is a 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 This 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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 have the usual meanings 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. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include 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 may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0053] First, some technical terms used in this 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 through the following methods: 1. Static magnetic shielding: Using a shielding cover made of high-permeability ferromagnetic material to block external magnetic fields, it is widely used in electronic devices. 2. Electromagnetic shielding: Using metal shielding materials to enclose the source of electromagnetic interference, reducing the external electromagnetic field strength to an acceptable level, or protecting electromagnetically sensitive circuits from external electromagnetic fields. 3. Applications: 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 and magnetic fields and electromagnetic waves. 4. Shielding effectiveness: Shielding effectiveness is typically measured by the shielding effectiveness, which is the degree to which the shield attenuates electromagnetic waves. 5. Shielding materials: Electromagnetic shielding can be achieved using metal mesh or covers, or covers made of highly permeable materials. Magnetic shielding devices are crucial in modern electronics, helping to improve equipment reliability, 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 is generally composed of the following three core components: 1. Sensor group: used to measure the strength and direction of the magnetic field 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 finite-time convergent controllers. In the active magnetic compensation problem, the superhelical algorithm can be used to design control laws to enable the active magnetic compensation system to generate 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. Sliding surface design: Construct a multivariable non-singular fast terminal sliding surface. Combined with the improved superhelical algorithm, a finite-time superhelical sliding mode control law can be designed. 4. System stability analysis: Using Lyapunov stability theory, the closed-loop system can be analyzed for finite-time convergence performance 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 for disturbance suppression of the active magnetic compensation system based on superhelical finite time can achieve 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] Example 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 perform feedback control on the system, thereby achieving 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 the 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, Indicates the rate of change of the control voltage, k indicates the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ0, τ1, τ2 represent the time constants.

[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, ε0, ε1, ε2 represent the observer parameters, and F0(·), F1(·), F2(·) represent the finite-time observation functions.

[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, c0 is the controller parameter, F s (·) represents the finite-time control function.

[0072] Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted Among them 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 super-helical finite-time control law u c for:

[0073]

[0074] Where α0, α1 are controller parameters, and F3(·) represents the 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, thereby effectively improving the response speed and control accuracy of the active magnetic compensation system.

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

[0079] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, it should be understood that the size of the serial numbers of the steps in the above embodiments 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 embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-tasking and parallel processing are also possible or may be advantageous.

[0080] Example 2

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

[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, Indicates the rate of change of the control voltage, k indicates the design coefficient, B d represents the sudden disturbance magnetic field, u c represents the control quantity, τ0, τ1, τ2 represent the time constants.

[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, ε0, ε1, ε2 represent the observer parameters, and F0(·), F1(·), F2(·) represent the finite-time observation functions.

[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, c0 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 Among them 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 super-helical finite-time control law u c for:

[0096]

[0097] Where α0, α1 are controller parameters, and F3(·) represents the finite-time control function.

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

[0099] It should be noted that the control system for disturbance suppression based on the superhelical finite-time active magnetic compensation system is embodied in the form of functional units. The term "module" herein can be implemented in software and / or hardware form, without specific limitation.

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

[0101] Example 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 10 is a schematic diagram showing a more specific hardware structure of an electronic device provided in this embodiment. 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 communicatively connected to each other within the device via the bus 1050.

[0104] The processor 1010 can be implemented using 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 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

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

[0107] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (e.g., USB (Universal Serial Bus), network cable, etc.) or a wireless method (e.g., mobile network, WIFI (Wireless Fidelity), Bluetooth, etc.).

[0108] The bus 1050 comprises a path for transmitting 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 a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this 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 corresponding control method for disturbance suppression of an active magnetic compensation system based on superhelical finite time in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0111] Example 4

[0112] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and 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 media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules 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 disc read-only memory (CD-ROM), digital versatile disc (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. Within the scope 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 so as not to obscure the embodiments of the present disclosure, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present disclosure, 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 are to be implemented (i.e., these details should be fully within the purview of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that the embodiments of the present disclosure may be implemented without these specific details or with variations 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 thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on 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 this 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. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this 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 supercoil finite time, characterized in that: The method comprises: Establish the differential equation of the active magnetic compensation system with sudden disturbance terms; Based on the differential equation, a finite-time extended state observer is designed; Based on the finite-time extended state observer, a super-helical finite-time controller based on a disturbance observer is designed to perform disturbance suppression; Establishing the differential equation includes: ； in, Represents the measured magnetic field, represents the filtered magnetic field, 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, represents the design coefficient, represents a sudden disturbance of the magnetic field, Indicates the control quantity, represents the time constant; 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, represents the observer parameters, represents a finite-time observation function; Designing the superhelical finite-time controller based on the disturbance observer includes: The designed non-singular terminal sliding surface s is: ； in, is the controller parameter, represents the finite-time control function; Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted ,in 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 for: ； in, is the controller parameter, represents the finite-time control function.

2. A control system for disturbance suppression of an active magnetic compensation system based on supercoil finite time, the system being used to implement the method of claim 1, 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 the differential equation of the active magnetic compensation system with the 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 perform disturbance suppression.

3. The system according to claim 2, characterized in that Establishing the differential equation includes: ； in, Represents the measured magnetic field, represents the filtered magnetic field, 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, represents the design coefficient, represents a sudden disturbance of the magnetic field, Indicates the control quantity, Represents the time constant.

4. The system according to claim 3, 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, represents the observer parameters, represents a finite-time observation function.

5. The system according to claim 4, characterized in that Designing the superhelical finite-time controller based on the disturbance observer includes: The designed non-singular terminal sliding surface s is: ； in, is the controller parameter, represents the finite-time control function; Based on the non-singular terminal sliding surface, the super-helical reaching law is adopted ,in 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 for: ； in, is the controller parameter, represents the finite-time control function.

6. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the method according to claim 1 is implemented when the processor executes the program.

7. 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 claim 1 is implemented.

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