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

Abstract

This invention belongs to the field of active magnetic compensation technology for magnetic shielding devices, and discloses a control method and system for disturbance suppression in an active magnetic compensation system based on a superspiral finite-time disturbance. The method includes: establishing the differential equation of the active magnetic compensation system with abrupt disturbance terms; designing a finite-time extended state observer based on the differential equation; and designing a superspiral finite-time controller based on the disturbance observer based on the finite-time extended state observer to suppress disturbances. The finite-time extended state observer designed in this invention can quantitatively observe unknown system states and uncertain abrupt disturbances, providing prior information for controller design and improving the system's anti-disturbance capability. Because this invention designs a superspiral finite-time controller based on the disturbance observer, the system state can stabilize within a finite time, effectively improving the response speed and control accuracy of the active magnetic compensation system.

Description

Technical Field

[0001] This invention relates to the field of active magnetic compensation technology for magnetic shielding devices, and specifically to a control method and system for disturbance suppression in an active magnetic compensation system based on superspiral finite time. Background Technology

[0002] The development of quantum precision measurement and microchip technology has reignited interest in the study of extremely weak magnetic fields, yielding significant results in numerous fields. One important research area is the acquisition of physiological magnetic field signals, namely magnetocardiography (MCG) and magnetoencephalography (MEG). Benefiting from unprecedented spatial resolution and sensitivity, this novel measurement method enables early diagnosis and intervention for various cardiovascular and cerebrovascular diseases. However, to meet the requirements of the extremely weak magnetic field environment for the measurement sensors and improve the quality of the target signal, it is essential to achieve rapid and high-precision suppression of abrupt interference magnetic fields.

[0003] Active magnetic compensation systems construct closed-loop systems by introducing compensation coils and adding state feedback channels. The residual magnetic field in the target area is further reduced by utilizing the magnetic field shunting principle of high-permeability materials and the eddy current effect of high-conductivity materials. Compared to traditional passive shielding systems, this system significantly reduces the production cost, weight, and anti-interference capability of diagnostic equipment. Currently, various active magnetic compensation control systems and methods have been researched. However, most systems use proportional-integral-derivative (PID) controllers embedded in lock-in amplifiers. While these controllers are easy to debug, they have limitations in convergence speed and control accuracy. Under the influence of abruptly changing magnetic field disturbances, the system may exhibit significant overshoot and oscillations, 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. Although these methods improve system performance, the system state cannot asymptotically converge to the equilibrium point within a finite time, which is insufficient to handle abrupt changes in the system's stability point under extreme conditions.

[0004] Superspiral sliding mode can construct a higher-order system through integral terms, effectively mitigating chatter in traditional sliding mode control, reducing steady-state error, and improving system robustness. However, due to the use of a linear sliding surface, the system state still cannot converge to the equilibrium point in finite time. Non-singular terminal sliding mode, by introducing nonlinear terms, achieves finite-time stability of the system and avoids singularity problems, 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. Furthermore, due to the lack of prior information about abrupt disturbances, the system will inevitably chatter under extreme conditions, limiting its robustness. Quantizing disturbances 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 invention proposes a control method and system for disturbance suppression based on superspiral finite-time dynamics. A finite-time extended state observer is designed to achieve quantitative observation of the unknown system state and uncertain sudden disturbances. A superspiral finite-time controller based on the disturbance observer is designed to ensure system stability and good dynamic performance, effectively improving the system's disturbance rejection and noise immunity, and significantly enhancing the control effect of the active magnetic compensation system.

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

[0007] Establish the differential equations for an active magnetic compensation system with abrupt disturbance terms;

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

[0009] Based on the aforementioned finite-time extended state observer, a super-spiral finite-time controller based on a perturbation observer is designed to suppress perturbations.

[0010] Preferably, establishing the differential equation includes:

[0011] ;

[0012] in, Indicates the measurement of the magnetic field. Indicates the filtered magnetic field. Indicates the control voltage. This represents the rate of change of the filtered magnetic field. This indicates the rate of change of the measured magnetic field. Indicates the rate of change of the control voltage. Indicates the design factor. This indicates a sudden disturbance in the magnetic field. Indicates the control quantity. This represents the time constant.

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

[0014] ;

[0015] in, These are the observed values ​​of the filtered magnetic field. To measure the observed values ​​of the magnetic field, The observed values ​​of the magnetic field due to abrupt disturbances. The rate of change of the observed values ​​of the filtered magnetic field. To measure the rate of change of observed values ​​of the magnetic field, The rate of change of the observed values ​​of the abruptly disturbed magnetic field. This is the observation error of the filtered magnetic field. Indicates the observer parameters, This represents a finite-time observation function.

[0016] Preferably, the design of the perturbation observer-based superspiral finite-time controller includes:

[0017] Design non-singular terminal sliding surface s for:

[0018] ;

[0019] in, For controller parameters, Represents a finite-time control function;

[0020] Based on the non-singular terminal sliding surface, a superspiral reaching law is adopted. ,in Indicates the superhelical reaching term. For integration time, To integrate time The described sliding surface, The rate of change of the sliding surface; the designed superspiral finite-time control law. for:

[0021] ;

[0022] in, For controller parameters, This 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 above, including: a differential equation construction module, a finite time extended state observer design module, and a sudden disturbance suppression module;

[0024] The differential equation construction module is used to establish the differential equations of an active magnetic compensation system with abrupt disturbance terms.

[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 mutation perturbation suppression module is used to design a superspiral finite-time controller based on the perturbation observer based on the finite-time extended state observer, and to perform perturbation suppression.

[0027] Preferably, establishing the differential equation includes:

[0028] ;

[0029] in, Indicates the measurement of the magnetic field. Indicates the filtered magnetic field. Indicates the control voltage. This represents the rate of change of the filtered magnetic field. This indicates the rate of change of the measured magnetic field. Indicates the rate of change of the control voltage. Indicates the design factor. This indicates a sudden disturbance in the magnetic field. Indicates the control quantity. This represents the time constant.

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

[0031] ;

[0032] in, These are the observed values ​​of the filtered magnetic field. To measure the observed values ​​of the magnetic field, The observed values ​​of the magnetic field due to abrupt disturbances. The rate of change of the observed values ​​of the filtered magnetic field. To measure the rate of change of observed values ​​of the magnetic field, The rate of change of the observed values ​​of the abruptly disturbed magnetic field. This is the observation error of the filtered magnetic field. Indicates the observer parameters, This represents a finite-time observation function.

[0033] Preferably, the design of the perturbation observer-based superspiral finite-time controller includes:

[0034] Design non-singular terminal sliding surface s for:

[0035] ;

[0036] in, For controller parameters, Represents a finite-time control function;

[0037] Based on the non-singular terminal sliding surface, a superspiral reaching law is adopted. ,in Indicates the superhelical reaching term. For integration time, To integrate time The described sliding surface, The rate of change of the sliding surface; the designed superspiral finite-time control law. for:

[0038] ;

[0039] in, For controller parameters, This represents a finite-time control function.

[0040] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any one of the methods described above.

[0041] The present invention also provides a computer-readable storage medium storing a computer program that, when executed, implements any one of the methods described above.

[0042] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0043] The finite-time extended state observer designed in this invention can quantitatively observe the state of unknown systems and uncertain sudden disturbances, providing prior information for controller design and improving the system's resistance to disturbances.

[0044] This invention utilizes a superspiral finite-time controller based on a disturbance observer, which allows the system state to stabilize within a finite time, effectively improving the response speed and control accuracy of the active magnetic compensation system. Attached Figure Description

[0045] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart of a control method for disturbance suppression in an active magnetic compensation system based on superspiral 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 in an active magnetic compensation system based on superspiral finite time, according to an embodiment of the present invention.

[0048] Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Attached image description:

[0050] 1010, Processor; 1020, Memory; 1030, Input / Output Interface; 1040, Communication Interface; 1050, Bus. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only 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 this invention will be explained:

[0054] Magnetic shielding is a technology used to reduce or eliminate interference from magnetic fields on the surrounding environment or equipment. It can be achieved through the following methods: 1. Static magnetic shielding: Using a shield made of ferromagnetic material with high magnetic permeability to shield external magnetic fields, widely used in electronic devices. 2. Electromagnetic shielding: Enclosing electromagnetic interference sources using metallic shielding materials to reduce the intensity of external electromagnetic fields to permissible values, or protecting electromagnetically sensitive circuits from external electromagnetic fields. 3. Application areas: Magnetic shielding devices are used in circuits such as inductors, high-capacity steam turbine generators, filters, transformers, and DC-DC converters, as well as 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, which is the degree to which the shielding body attenuates electromagnetic waves. 5. Shielding materials: Electromagnetic shielding can be achieved using metal mesh or covers, high-permeability magnetic material covers, etc. Magnetic shielding devices are very important in the modern electronics field, helping to improve equipment reliability, enhance product quality, and protect personnel and equipment from magnetic field interference.

[0055] Active magnetic compensation technology is a technique that uses active control to adjust the magnetic field, aiming to compensate for the influence of external magnetic field disturbances on the desired magnetic field. This technology typically consists of three core components: 1. A sensor array: used to measure the strength and direction of the magnetic field in the current environment. 2. A control unit: calculates the amount of magnetic field compensation required based on the magnetic field information provided by the sensor array. 3. An execution unit: generates the magnetic field based on the calculation results from the control unit to actively compensate for external disturbances. The main advantages of this technology include high accuracy, rapid response, and stable performance. For example, in space exploration, when using a highly sensitive spin-free exchange relaxation (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, effectively compensate for external magnetic field disturbances, and thus improve measurement sensitivity.

[0056] The superspiral algorithm is a nonlinear control method used to design finite-time convergent controllers. In active magnetic compensation problems, the superspiral algorithm can be used to design control laws to generate extremely weak magnetic field environments in the active magnetic compensation system. The following are some key points regarding superspiral finite-time guidance: 1. Model Establishment: Establish the differential equations of the active magnetic compensation system with abrupt disturbance terms. 2. External Disturbance Estimation: Estimate external disturbances online using a finite-time observer. 3. Sliding Mode Surface Design: Construct a multivariable nonsingular fast terminal sliding mode surface, and combine it with an improved superspiral algorithm to design a finite-time superspiral sliding mode control law. 4. System Stability Analysis: Utilize Lyapunov stability theory to perform finite-time convergence performance analysis on the closed-loop system, ensuring the stability and performance of the active magnetic compensation system. 5. Application Example: In active magnetic compensation field control, the superspiral finite-time active magnetic compensation system disturbance suppression control method can achieve external disturbance estimation and finite-time convergence of the system state.

[0057] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] Example 1

[0059] The present invention provides a method such as Figure 1 The control method for disturbance suppression of an active magnetic compensation system based on superspiral finite time according to the present invention includes: firstly, establishing the differential equation of the active magnetic compensation system with abrupt disturbance terms; designing a finite-time extended state observer based on the differential equation; and then designing a superspiral finite-time controller based on the disturbance observer to perform feedback control of the system based on the finite-time extended state observer, thereby achieving the purpose of abrupt 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 equations for the active magnetic compensation system with abrupt disturbance terms:

[0062] The differential equation for an active magnetic compensation system with abrupt disturbance terms is:

[0063]

[0064] in, Indicates the measurement of the magnetic field. Indicates the filtered magnetic field. Indicates the control voltage. This represents the rate of change of the filtered magnetic field. This indicates the rate of change of the measured magnetic field. Indicates the rate of change of the control voltage. Indicates the design factor. This indicates a sudden disturbance in the magnetic field. Indicates the control quantity. This represents the time constant.

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

[0066]

[0067] in, These are the observed values ​​of the filtered magnetic field. To measure the observed values ​​of the magnetic field, The observed values ​​of the magnetic field due to abrupt disturbances. The rate of change of the observed values ​​of the filtered magnetic field. To measure the rate of change of observed values ​​of the magnetic field, The rate of change of the observed values ​​of the abruptly disturbed magnetic field. This is the observation error of the filtered magnetic field. Indicates the observer parameters, This represents a finite-time observation function.

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

[0069] Design non-singular terminal sliding surface s for:

[0070]

[0071] in, For controller parameters, This represents a finite-time control function.

[0072] Based on the non-singular terminal sliding surface, a superspiral reaching law is adopted. ,in Indicates the superhelical reaching term. For integration time, To integrate time The described sliding surface, Let be the rate of change of the sliding surface. The designed finite-time control law for the superspiral is... for:

[0073]

[0074] in, For controller parameters, This represents a finite-time control function.

[0075] The technical solution of this invention,

[0076] The finite-time extended state observer designed in this invention can quantitatively observe the state of unknown systems and uncertain sudden disturbances, providing prior information for controller design and improving the system's resistance to disturbances.

[0077] This invention utilizes a superspiral finite-time controller based on a disturbance observer, which allows the system state to stabilize within a finite time, effectively improving the response speed and control accuracy of the active magnetic compensation system.

[0078] It should be noted that the method of this disclosure embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this disclosure embodiment, and the multiple devices will interact with each other to complete the method described.

[0079] It should be noted that some embodiments of the present invention have been described above. In some cases, it should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. 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 embodiments of the present invention. The actions or steps described in the present invention can be performed in a different order than that in the above embodiments and can still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking 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 embodiments, 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 of the methods described above, including: 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 build the differential equations of an active magnetic compensation system with abrupt perturbation 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 mutation perturbation suppression module is used to design a superspiral finite-time controller based on the perturbation observer based on the finite-time extended state observer, and to perform perturbation suppression.

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

[0086] ;

[0087] in, Indicates the measurement of the magnetic field. Indicates the filtered magnetic field. Indicates the control voltage. This represents the rate of change of the filtered magnetic field. This indicates the rate of change of the measured magnetic field. Indicates the rate of change of the control voltage. Indicates the design factor. This indicates a sudden disturbance in the magnetic field. Indicates the control quantity. This represents the time constant.

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

[0089] ;

[0090] in, These are the observed values ​​of the filtered magnetic field. To measure the observed values ​​of the magnetic field, The observed values ​​of the magnetic field due to abrupt disturbances. The rate of change of the observed values ​​of the filtered magnetic field. To measure the rate of change of observed values ​​of the magnetic field, The rate of change of the observed values ​​of the abruptly disturbed magnetic field. This is the observation error of the filtered magnetic field. Indicates the observer parameters, This represents a finite-time observation function.

[0091] In this embodiment, the design of the superspiral finite-time controller based on the perturbation observer includes:

[0092] Design non-singular terminal sliding surface s for:

[0093] ;

[0094] in, For controller parameters, Represents a finite-time control function;

[0095] Based on the non-singular terminal sliding surface, a superspiral reaching law is adopted. ,in Indicates the superhelical reaching term. For integration time, To integrate time The described sliding surface, Let be the rate of change of the sliding surface. The designed finite-time control law for the superspiral is... for:

[0096] ;

[0097] in, For controller parameters, This represents a finite-time control function.

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

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

[0100] For example, a "module" can be a software program, hardware circuit, or a combination of both that implements the above functions. Hardware circuits may include application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functions.

[0101] Example 3

[0102] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this 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 the processor executes the program to implement the methods described in any of the above embodiments.

[0103] Figure 3 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0104] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by 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 realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

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

[0108] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0109] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

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

[0111] Example 4

[0112] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute a control method for disturbance suppression of an active magnetic compensation system based on superspiral 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, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0114] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute a control method for disturbance suppression of an active magnetic compensation system based on superspiral 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 exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0116] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this disclosure, the provided drawings may or may not show well-known power / ground connections to integrated circuit (IC) chips and other components. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this disclosure, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this disclosure will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuitry) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this disclosure may be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0117] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, 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 be used with the embodiments discussed.

[0118] Therefore, the units of the various examples described in the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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] This disclosure is 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 this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control method for disturbance suppression in an active magnetic compensation system based on superspiral finite-time operation, characterized in that, The method includes: Establish the differential equations for an active magnetic compensation system with abrupt disturbance terms; Based on the aforementioned differential equation, a finite-time extended state observer is designed. Based on the aforementioned finite-time extended state observer, a super-spiral finite-time controller based on a perturbation observer is designed to suppress perturbations. Establishing the differential equation includes: in, The design of the finite-time extended state observer includes: in, The design of the superspiral finite-time controller based on the perturbation observer includes: Design the non-singular terminal sliding surface s as follows: in, Based on the non-singular terminal sliding surface, a superspiral reaching law is adopted. in, 2. A control system for disturbance suppression of an active magnetic compensation system based on superspiral finite-time, said system for implementing the method of claim 1, characterized in that, include: Differential equation construction module, finite-time extended state observer design module, and mutation perturbation suppression module; The differential equation construction module is used to establish the differential equations of an active magnetic compensation system with abrupt disturbance terms. The finite-time extended state observer design module is used to design a finite-time extended state observer based on the differential equation. The mutation perturbation suppression module is used to design a superspiral finite-time controller based on the perturbation observer based on the finite-time extended state observer, and to perform perturbation suppression.

3. The system according to claim 2, characterized in that, Establish the differential equation include: in, 4. The system according to claim 3, characterized in that, Design the finite-time extended state observer. include: in, 5. The system according to claim 4, characterized in that, The design of the superspiral finite-time controller based on the perturbation observer includes: Design the non-singular terminal sliding surface s as follows: in, Based on the non-singular terminal sliding surface, a superspiral reaching law is adopted. in, 6. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in claim 1.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in claim 1.

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