Disturbance suppression method, disturbance suppression device, disturbance suppression system and storage medium

Abstract

The invention discloses a disturbance suppression method, a disturbance suppression device, a disturbance suppression system and a computer readable storage medium. The disturbance suppression method is applied to the motor control system, the motor control system comprises a motor, an extended state observer and a controller, and the extended state observer and the controller are both connected with the motor. The disturbance suppression method comprises the steps of obtaining parameter information of a motor; designing an extended state observer based on the parameter information, wherein the extended state observer is used for observing and outputting each order state and external disturbance of the motor control system; and compensating the output of the extended state observer through the controller. Therefore, the observation burden of the extended state observer is reduced, the observation of each order state and the external disturbance of the motor control system is more accurate, and the external disturbance can be better compensated.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to a disturbance suppression method, a disturbance suppression device, a disturbance suppression system and a computer-readable storage medium. Background Art

[0002] As one of the three electrical systems of new energy vehicles, the motor is mainly responsible for the conversion between the electrical energy and mechanical energy of the system. After receiving the control command of the electronic control, the motor will output different torques to achieve the corresponding speed and bring power to the car. The current motor control algorithm has poor ability to suppress disturbances. Summary of the invention

[0003] The embodiments of the present application provide a disturbance suppression method, a disturbance suppression device, a disturbance suppression system and a computer-readable storage medium to solve at least one of the above-mentioned technical problems.

[0004] The disturbance suppression method of the embodiment of the present application is applied to a motor control system, the motor control system includes a motor, and the disturbance suppression method includes:

[0005] Obtaining parameter information of the motor;

[0006] Constructing an extended state observer based on the parameter information to observe and output various order states and external disturbances of the motor control system;

[0007] A controller is constructed to compensate for the output of the extended state observer.

[0008] In some embodiments, constructing an extended state observer based on the parameter information to observe and output various order states and external disturbances of the motor control system includes:

[0009] Substituting the parameter information into the dynamic equation of the motor;

[0010] Derivation of a state space equation of the motor control system according to the dynamic equation;

[0011] The extended state observer is designed based on the state space equation to observe and output various order states and external disturbances of the motor control system.

[0012] In some embodiments, the extended state observer is a two-input three-output structure.

[0013] In some embodiments, constructing a controller to compensate for the output of the extended state observer includes:

[0014] The controller is constructed based on a PD control function to compensate the output of the extended state observer.

[0015] In some embodiments, constructing a controller to compensate for the output of the extended state observer includes:

[0016] The controller is constructed based on a sliding mode control function and a PD control function to compensate the output of the extended state observer.

[0017] In some embodiments, constructing a controller to compensate for the output of the extended state observer further includes:

[0018] The sliding mode control parameters of the controller are adjusted through fuzzy functions.

[0019] In some embodiments, constructing the controller based on the sliding mode control function and the PD control function includes:

[0020] Design PD control function;

[0021] Design sliding surface function;

[0022] Determining an exponential approach rate function based on the sliding surface function;

[0023] The controller is constructed according to the PD control function, the sliding surface function and the exponential approach rate function.

[0024] In some embodiments, the controller has a two-input and one-output structure.

[0025] In some embodiments, the sliding mode control parameter is related to a sliding mode switching vector function gain and an exponential approach rate parameter, and adjusting the sliding mode control parameter of the controller by using a fuzzy function includes:

[0026] determining a fuzzy control rule of the fuzzy function;

[0027] The sliding mode switching vector function gain and the exponential approach rate parameter are adjusted according to the fuzzy control rule to adjust the sliding mode control parameter.

[0028] In some embodiments, adjusting the sliding mode switching vector function gain and the exponential approach rate parameter according to the fuzzy control rule to adjust the sliding mode control parameter includes:

[0029] Determine the input membership function and the output membership function according to the fuzzy control rules;

[0030] estimating the upper bound of the sliding mode switching vector function gain and the exponential approach rate parameter according to the fuzzy control rule, the input membership function and the output membership function;

[0031] The sliding mode switching vector function gain and the exponential approach rate parameter in the sliding mode control parameters are replaced according to upper bounds of the sliding mode switching vector function gain and the exponential approach rate parameter.

[0032] The disturbance suppression device of the embodiment of the present application is applied to a motor control system, wherein the motor control system includes a motor, an extended state observer and a controller, wherein the extended state observer and the controller are both connected to the motor, and the disturbance suppression device includes:

[0033] An acquisition module, used for acquiring parameter information of the motor;

[0034] A first construction module is used to construct an extended state observer based on the parameter information to observe and output various order states and external disturbances of the motor control system;

[0035] The second building module is used to build a controller to compensate for the error value between the output of the extended state observer and the input of the motor control system.

[0036] The disturbance suppression system of the embodiment of the present application includes one or more processors and a memory, the memory stores a computer program, and when the computer program is executed by the processor, the disturbance suppression method of any of the above embodiments is implemented.

[0037] The computer-readable storage medium of the embodiment of the present application stores a computer program thereon, and when the program is executed by a processor, the disturbance suppression method of any of the above-mentioned embodiments is implemented.

[0038] In the disturbance suppression method, disturbance suppression device, disturbance suppression system and computer-readable storage medium of the embodiment of the present application, an extended state observer constructed based on the parameter information of the motor is used to observe the various order states and external disturbances of the motor control system, and the output of the extended state observer is compensated by the controller. In this way, the observation burden of the extended state observer is reduced, and the observation of the various order states and external disturbances of the motor control system is more accurate, which can better compensate for the external disturbance.

[0039] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0041] Figure 1is a flow chart of a disturbance suppression method according to certain embodiments of the present application;

[0042] Figure 2 is a schematic diagram of the structure of a motor control system of certain embodiments of the present application;

[0043] Figure 3 is a schematic diagram of the structure of a motor in some embodiments of the present application;

[0044] Figure 4 is a flow chart of a disturbance suppression method according to certain embodiments of the present application;

[0045] Figure 5 is a schematic diagram of the structure of an extended state observer in certain embodiments of the present application;

[0046] Figure 6 is a flow chart of a disturbance suppression method according to certain embodiments of the present application;

[0047] Figure 7 is a flow chart of a disturbance suppression method according to certain embodiments of the present application;

[0048] Figure 8 is a flow chart of a disturbance suppression method according to certain embodiments of the present application;

[0049] Fig. 9 is a schematic diagram of the structure of a controller of certain embodiments of the present application;

[0050] Fig.10 is a flow chart of a disturbance suppression method according to certain embodiments of the present application;

[0051] Fig.11 is a flow chart of a disturbance suppression method according to certain embodiments of the present application;

[0052] Fig.12 is a flow chart of a disturbance suppression method according to certain embodiments of the present application;

[0053] Fig.13 is a schematic diagram of an input membership function of certain embodiments of the present application;

[0054] Fig.14 is a schematic diagram of an output membership function of certain embodiments of the present application;

[0055] Fig.15 is a schematic diagram of a module of a disturbance suppression device according to certain embodiments of the present application;

[0056] Fig.16 is a schematic diagram of a module of a disturbance suppression system according to certain embodiments of the present application;

[0057] Fig.17It is a schematic diagram of the connection status between a computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0058] The following is a further description of the embodiments of the present application in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the present application.

[0059] As one of the three electrical systems of new energy vehicles, the motor is mainly responsible for the conversion between the system's electrical energy and mechanical energy. After receiving the control instructions from the electronic control, the motor will output different torques to achieve the corresponding speed and provide power to the car.

[0060] In the related art, a proportional-integral-differential (PID) control algorithm is used for motor control. Although the PID control algorithm itself has a large stability margin, its margin for good dynamic quality is not large, so the dynamic quality of the closed-loop control system is very sensitive to changes in the PID gain. Therefore, when the controlled object is in a changing environment, the PID control parameters need to be changed frequently.

[0061] The idea of ​​PID control algorithm is to eliminate error by error feedback, but the output of motor control system has some inertia, which makes PID control algorithm unable to control input jump well, and easily causes overshoot of the system. In addition, the integral link in PID control algorithm can obviously suppress constant disturbance, but has low suppression ability for nonlinear and time-varying disturbance. At the same time, if there is no error in motor control system, the integral part will reduce the dynamic performance of the system.

[0062] Therefore, please refer to Figures 1 to 3 The embodiment of the present application provides a disturbance suppression method, which is applied to a motor control system 100. The motor control system 100 includes a motor 10. The disturbance suppression method includes:

[0063] 010: Get parameter information of motor 10;

[0064] 020: constructing an extended state observer 20 based on the parameter information to observe and output various order states and external disturbances of the motor control system 100;

[0065] 030: Construct a controller 30 to compensate the output of the extended state observer 20.

[0066] In the disturbance suppression method of the embodiment of the present application, an extended state observer 20 constructed based on the parameter information of the motor 10 is used to observe the various order states and external disturbances of the motor control system 100, and the output of the extended state observer 20 is compensated by the controller 30. In this way, the observation burden of the extended state observer 20 is reduced, and the observation of the various order states and external disturbances of the motor control system 100 is more accurate, which can better compensate for the external disturbance.

[0067] Specifically, the parameter information of the motor 10 includes armature voltage, armature resistance, armature current, armature inductance, back electromotive force, output torque, rotation speed, moment of inertia and disturbance torque, etc., which can be obtained by measuring the motor 10. An extended state observer 20 is constructed based on the parameter information of the motor 10, and the extended state observer 20 is connected to the motor 10. The extended state observer 20 can be used to observe the states of each order of the motor control system 100. In addition, the extended state observer 20 can also regard the external disturbance in the motor control system 100 as one of the states in the motor control system 100, establish a new state space, observe the state in this state space, and obtain the estimated value of the external disturbance.

[0068] Afterwards, the controller 30 is constructed, and the controller 30 is connected to the extended state observer 20. The extended state observer 20 observes the various order states and external disturbances of the motor control system 100 and outputs them to the controller 30. The controller 30 can compensate for the error value between the various order states of the extended state observer 20 and the input of the motor control system 100. The controller 30 is also connected to the motor 10 to output the control amount to the motor 10. The extended state observer 20 is also connected between the controller 30 and the motor 10 to output the observed external disturbance. The control amount output by the controller 30 compensates for the external disturbance and then inputs into the motor 10, thereby achieving the suppression of the external disturbance.

[0069] In related technologies, known information about the system is ignored when constructing an observer. The observer may need to observe more system characteristics as unknown states, thereby increasing the dimension of the state space and the complexity of the observation, causing information waste and increasing the observation burden of the observer.

[0070] In the embodiment of the present application, an extended state observer 20 is constructed based on the parameter information of the motor 10. The parameter information can be obtained by measuring the motor 10, that is, the parameter information is known information. The extended state observer 20 constructed based on the known information is used to observe the various order states and external disturbances of the motor control system 100, and the output of the extended state observer 20 is compensated by the controller 30. In this way, the observation burden of the extended state observer 20 is reduced, and the observation of the various order states and external disturbances of the motor control system 100 is more accurate, which can better compensate for the external disturbance.

[0071] See also Figure 2 and Figure 4 In some embodiments, an extended state observer 20 is constructed based on parameter information to observe and output various order states and external disturbances of the motor control system 100 (ie, 020), including:

[0072] 021: Substitute the parameter information into the dynamic equation of the motor 10;

[0073] 022: Derive the state space equation of the electric motor control system 100 according to the dynamic equation;

[0074] 023: Design an extended state observer 20 based on the state space equation to observe and output various order states and external disturbances of the motor control system 100.

[0075] Specifically, the structure of the motor 10 is as follows: Figure 3 As shown, Representing the Laplace operator, the dynamic equation of the motor 10 is as follows:

[0076]

[0077] Where, u is the armature voltage; R is the armature resistance; I d is the armature current; L is the armature inductance; E is the reverse electromotive force; M is the output torque of the motor 10; K i is the moment coefficient; K e is the reverse electromotive force coefficient; ω is the angular velocity; J is the moment of inertia of the motor 10; n is the speed; M f is the disturbance torque.

[0078] Substituting the parameter information into the dynamic equation of the motor 10, the mathematical model of the motor 10 can be obtained. Based on the mathematical model of the motor 10, the state space equation of the motor control system 100 can be derived, as shown in the following equation:

[0079]

[0080] Among them, x1 and x2 are state quantities of the motor control system 100, x1 represents position, and x2 represents speed; are the derivatives of x1 and x2 respectively. d is the disturbance of the armature voltage. y is the output, which can be the speed. The extended state observer 20 is designed based on the state space equation, and the mathematical model of the extended state observer 20 is shown in the following formula:

[0081]

[0082] Among them, z1 and z2 are respectively the estimates of the state quantities x1 and x2 in the state space equation, that is, z1 is the estimate of the position, z2 is the estimate of the speed, z1 and z2 are the states of the motor control system 100 observed by the extended state observer 20, in some examples, z1 is the first-order state, z2 is the second-order state. z3 is the estimate of the external disturbance of the motor control system 100. and are the derivatives of z1, z2 and z3 respectively. β1, β2 and β3 are the error feedback gains to be designed respectively. It should be noted that in practical applications, β1, β2 and β3 can be set and adjusted accordingly according to the actual situation.

[0083] See also Figure 2 and Figure 5 In some embodiments, the extended state observer 20 is a two-input three-output structure.

[0084] Specifically, the motor control system 100 further includes an input terminal 40 and an output terminal 50, one end of the controller 30 is connected to the input terminal 40, the other end is connected to one end of the motor 10, and the other end of the motor 10 is connected to the output terminal 50. The extended state observer 20 includes a first input port I1, a second input port I2, a first output port O1, a second output port O2, and a third output port O3. The first input port I1 is connected between the controller 30 and the motor 10, the second input port I2 is connected between the motor 10 and the output terminal 50, the first output port O1 and the second output port O2 are connected between the input terminal 40 and the controller 30, and the third output port O3 is connected between the controller 30 and the motor 10.

[0085] The first input port I1 is used to input the input quantity of the motor 10, the second input port I2 is used to input the output quantity of the motor 10, the first output port O1 is used to output the first-order state z1, the second output port O2 is used to output the second-order state z2, and the third output port O3 is used to output the external disturbance z3.

[0086] See also Figure 2 and Figure 6 In some embodiments, a controller 30 is constructed to compensate the output of the extended state observer 20 (ie, 030), including:

[0087] 031: Construct a controller 30 based on the PD control function to compensate the output of the extended state observer 20.

[0088] In the related art, a proportional-integral (PI) control algorithm is used for compensation, that is, linear superposition control is performed on the error and the accumulation of the error. Although the steady-state error can be eliminated, over-compensation may cause overshoot, affecting the stability of the system, and the accumulation of the integral term will cause the system to respond slowly.

[0089] In the implementation manner of the present application, the extended state observer 20 is constructed based on the mathematical model of the motor 10, and can accurately observe the various states of the motor 10. Therefore, a proportional-differential (PD) control algorithm can be selected to replace the PI control algorithm.

[0090] Specifically, the controller 30 is constructed by the PD control function, and the output of the extended state observer 20 is compensated by the controller 30. Without the integral term, the risk of overshoot can be reduced. At the same time, the differential term can predict the trend of error changes and compensate in advance, so that the response speed of the motor control system 100 can be effectively improved and overshoot can be reduced.

[0091] See also Figure 2 and Figure 7 In some embodiments, a controller 30 is constructed to compensate the output of the extended state observer 20 (ie, 030), including:

[0092] 032: Construct a controller 30 based on the sliding mode control function and the PD control function to compensate the output of the extended state observer 20.

[0093] Specifically, the sliding mode control and the PD control can be combined, and the controller 30 can be constructed based on the sliding mode control function and the PD control function, and the output of the extended state observer 20 can be compensated by the controller 30. The sliding mode control is insensitive to external disturbances and has the characteristics of strong robustness. Therefore, when the observation effect of the external disturbance is not obvious or there is interference such as parameter perturbation in the motor control system 100, the controller 30 can still maintain good performance.

[0094] See also Figure 2 and Figure 8 In some embodiments, a controller 30 (ie, 032) is constructed based on the sliding mode control function and the PD control function, including:

[0095] 0321: Design PD control function;

[0096] 0322: Design sliding surface function;

[0097] 0323: Determine the exponential approach rate function based on the sliding surface function;

[0098] 0324: Construct controller 30 according to the PD control function, the sliding surface function and the exponential approach rate function.

[0099] Specifically, the PD control function is designed as shown in the following formula:

[0100] u=k p ε p1 +k d ε p2

[0101] Wherein, u is the control quantity. When the control quantity is input into the motor 10, the control quantity is also the armature voltage. p is the proportional control parameter, ε p1 k is the difference between the given signal and the first-order state observed by the extended state observer 20; d is the differential control parameter, ε p2 is the difference between the derivative of the given signal and the second-order state observed by the extended state observer 20.

[0102] Design the sliding surface function as shown below:

[0103] s=pε p1+ ε p2

[0104] Among them, s is the designed sliding surface function; p is the sliding surface parameter.

[0105] Based on the sliding surface function, the exponential approach rate function can be determined as shown in the following formula:

[0106]

[0107] in, is the exponential approach rate function, sgn(s) is the anti-saturation function, k is the sliding mode switching vector function gain, and q is the exponential approach rate parameter.

[0108] Afterwards, the controller 30 can be constructed according to the PD control function, the sliding surface function and the exponential approach rate function. The mathematical model of the controller 30 is shown in the following formula:

[0109]

[0110] Where v1 is the given signal, v2 is the differential of the given signal, v1 can be a position signal, in which case v2 is a velocity signal. p1 and ε p2 are all inputs of the controller 30. It can be understood that ε p1 is the first-order input, ε p2 For a second-order input, the controller 30 controls the first-order input and the second-order input respectively and superimposes them linearly, which can increase the response speed and control accuracy of the controller 30.

[0111] See also Figure 2 and Fig. 9 In some embodiments, the controller 30 has a two-input and one-output structure.

[0112] Specifically, the controller 30 has a two-input and one-output structure, and the controller 30 includes a third input port I3, a fourth input port I4, and a fourth output port O4. The input end 40 of the motor control system 100 is connected to the third input port I3 and the fourth input port I4, respectively. The motor control system 100 also includes a differentiator 60, a first adder and subtractor 71, a second adder and subtractor 72, and a third adder and subtractor 73. The first adder and subtractor 71 is connected between the input end 40 and the third input port I3, the differentiator 60 and the second adder and subtractor 72 are connected between the input end 40 and the fourth input port I4, and the third adder and subtractor 73 is connected between the fourth output port O4 and the motor 10.

[0113] It should be noted that the input terminal 40 of the motor control system 100 is used to input a given signal (such as a position signal). The first output port O1 of the extended state observer 20 is connected to the first adder-subtractor 71. When the motor 10 controller 30 inputs a given signal, the given signal is divided into two paths, one of which passes through the first adder-subtractor 71, and is subtracted from the first-order state z1 output from the first output port O1 and then input to the controller 30, thereby compensating for the error between the first-order state observed by the extended state observer 20 and the given signal.

[0114] The second output port O2 of the extended state observer 20 is connected to the second adder-subtractor 72. The other path of the given signal is differentiated by the differentiator 60. The differential of the given signal (for example, the speed signal) is input into the controller 30 after the subtraction operation between the second order state z2 outputted from the second output port O2 by the second adder-subtractor 72, thereby compensating for the error between the second order state observed by the extended state observer 20 and the differential of the given signal.

[0115] The third output port O3 of the extended state observer 20 is connected to the third adder-subtractor 73 to be connected between the controller 30 and the motor 10. The controller 30 outputs the control quantity u, which is subtracted from the external disturbance z3 output from the third output port O3 and then input into the motor 10, thereby compensating for the external disturbance observed by the extended state observer 20.

[0116] See also Figure 2 and Fig.10 In some embodiments, the controller 30 is constructed to compensate the output of the extended state observer 20 (ie, 030), and further includes:

[0117] 033: The sliding mode control parameters of the controller 30 are adjusted through the fuzzy function.

[0118] Specifically, since the sliding surface and sliding mode control rate introduced by the sliding mode function will cause output jitter of the sliding mode control, and the output jitter will affect both the control accuracy and the system stability, the fuzzy function can be combined with the sliding mode control function, and the sliding mode control parameters can be adjusted through the fuzzy function to make the sliding mode control parameters reach the optimal parameters, thereby suppressing the impact of output jitter.

[0119] See also Figure 2 and Fig.11 In some embodiments, the sliding mode control parameter is related to the sliding mode switching vector function gain and the exponential approach rate parameter, and the sliding mode control parameter of the controller 30 is adjusted by the fuzzy function (ie, 033), including:

[0120] 0331: Determine the fuzzy control rules of the fuzzy function;

[0121] 0332: According to the fuzzy control rules, the sliding mode switching vector function gain and the exponential approach rate parameters are adjusted to adjust the sliding mode control parameters.

[0122] Specifically, the sliding mode control parameters include the sliding mode switching vector function gain and the exponential approach rate parameter in the mathematical model of the controller 30. To design the fuzzy function, it is first necessary to determine the fuzzy control rule, which is related to the control amount of the fuzzy function, and the control amount of the fuzzy function is related to the sliding mode switching vector function gain and the exponential approach rate parameter. The fuzzy control rule can be determined as follows:

[0123] if Then k and q should increase;

[0124] if Then k and q should be reduced.

[0125] According to the fuzzy control rules, the sliding mode switching vector function gain and the exponential approach rate parameters are adjusted to make the sliding mode control parameters more accurate, thereby effectively alleviating the impact of output jitter on the motor control system 100 .

[0126] See also Figure 2 and Fig.12 In some embodiments, the sliding mode switching vector function gain and the exponential approach rate parameter are adjusted according to the fuzzy control rule to adjust the sliding mode control parameter (ie, 0332), including:

[0127] 03321: Determine the input membership function and the output membership function according to the fuzzy control rules;

[0128] 03322: Estimate the upper bound of the sliding mode switching vector function gain and exponential approach rate parameter based on fuzzy control rules, input membership function and output membership function;

[0129] 03323: Replace the sliding mode switching vector function gain and the exponential approach rate parameters in the sliding mode control parameters according to the upper bounds of the sliding mode switching vector function gain and the exponential approach rate parameters.

[0130] Specifically, the input and output of fuzzy control can be determined according to the fuzzy control rules. The input is as follows:

[0131]

[0132] The output is as follows:

[0133] Δk={NB, NM, NS, Z, PS, PM, PB}

[0134] Δq={NB, NM, NS, Z, PS, PM, PB}

[0135] Among them, NB is negative and large, NM is negative and medium, NS is negative and small, Z is zero, PS is positive and small, PM is positive and medium, and PB is positive and large. The input membership function corresponding to the input of fuzzy control is as follows: Fig.13 As shown, taking Δq as an example, the output membership function corresponding to the output is as follows Fig.14 shown.

[0136] Afterwards, according to the fuzzy control rules, the input membership function and the output membership function, the upper bounds of the sliding mode switching vector function gain and the exponential approach rate parameter are estimated, so that the estimated upper bounds satisfy the fuzzy control rules compared to the changes in the sliding mode switching vector function gain and the exponential approach rate parameter. The upper bounds can be estimated using the integral method, and the upper bounds of the sliding mode switching vector function gain and the exponential approach rate parameter are shown as follows:

[0137]

[0138]

[0139] in, is the upper bound of the sliding mode switching vector function gain, is the upper bound of the exponential approach rate parameter; G is the proportional coefficient. When G>0, the estimated upper bounds of the sliding mode switching vector function gain and the exponential approach rate parameter can be used to replace the sliding mode switching vector function gain and the exponential approach rate parameter in the sliding mode control parameter, and the formula of the control quantity u in the mathematical model of the controller 30 becomes:

[0140]

[0141] The controller 30 outputs a control variable according to the adjustable sliding mode control parameters, thereby enhancing the robustness of the controller 30 and making the motor control system 100 more capable of controlling sudden change signals.

[0142] See also Figure 2 and Fig.15 The embodiment of the present application also provides a disturbance suppression device 200, which is applied to the motor control system 100. The motor control system 100 includes a motor 10, an extended state observer 20 and a controller 30, and the extended state observer 20 and the controller 30 are both connected to the motor 10. The disturbance suppression device 200 includes an acquisition module 210, a first construction module 220 and a second construction module 230. The acquisition module 210 is used to acquire parameter information of the motor 10. The first construction module 220 is used to construct the extended state observer 20 based on the parameter information to observe and output the various order states and external disturbances of the motor control system 100. The second construction module 230 is used to construct the controller 30 to compensate for the error value between the output of the extended state observer 20 and the input of the motor control system 100.

[0143] In some embodiments, the first building module 220 is specifically used to substitute parameter information into the dynamic equation of the motor 10; derive the state space equation of the motor control system 100 according to the dynamic equation; and design an extended state observer 20 based on the state space equation to observe and output various order states and external disturbances of the motor control system 100.

[0144] In some embodiments, the second building module 230 is specifically configured to build the controller 30 based on the PD control function to compensate for the output of the extended state observer 20 .

[0145] In some implementations, the second building module 230 is specifically configured to build the controller 30 based on the sliding mode control function and the PD control function to compensate for the output of the extended state observer 20 .

[0146] In some embodiments, the second building module 230 is further configured to adjust the sliding mode control parameters of the controller 30 through a fuzzy function.

[0147] In some embodiments, the second construction module 230 is specifically used to design a PD control function; design a sliding surface function; determine an exponential approach rate function based on the sliding surface function; and construct a controller 30 based on the PD control function, the sliding surface function and the exponential approach rate function.

[0148] In some embodiments, the sliding mode control parameters are related to the sliding mode switching vector function gain and the exponential approach rate parameter, and the second construction module 230 is specifically used to determine the fuzzy control rule of the fuzzy function; the sliding mode switching vector function gain and the exponential approach rate parameter are adjusted according to the fuzzy control rule to adjust the sliding mode control parameters.

[0149] In some embodiments, the second construction module 230 is specifically used to determine the input membership function and the output membership function according to the fuzzy control rules; estimate the upper bounds of the sliding mode switching vector function gain and the exponential approach rate parameter according to the fuzzy control rules, the input membership function and the output membership function; and replace the sliding mode switching vector function gain and the exponential approach rate parameter in the sliding mode control parameters according to the upper bounds of the sliding mode switching vector function gain and the exponential approach rate parameter.

[0150] It should be noted that the explanation of the disturbance suppression method in the aforementioned embodiment is also applicable to the disturbance suppression device 200 in the embodiment of the present application, and will not be elaborated here.

[0151] See also Fig.16 The embodiment of the present application further provides a disturbance suppression system 300. The disturbance suppression system 300 includes one or more processors 310 and a memory 320. The memory 320 stores a computer program. When the computer program is executed by the processor 310, the disturbance suppression method of any of the above embodiments is implemented.

[0152] For example, when the computer program is executed by the processor 310, the following disturbance suppression method is implemented:

[0153] 010: Get parameter information of motor 10;

[0154] 020: constructing an extended state observer 20 based on the parameter information to observe and output various order states and external disturbances of the motor control system 100;

[0155] 030: Construct a controller 30 to compensate the output of the extended state observer 20.

[0156] For another example, when the computer program is executed by the processor 310, the following disturbance suppression method is implemented:

[0157] 021: Substitute the parameter information into the dynamic equation of the motor 10;

[0158] 022: Derive the state space equation of the electric motor control system 100 according to the dynamic equation;

[0159] 023: Design an extended state observer 20 based on the state space equation to observe and output various order states and external disturbances of the motor control system 100.

[0160] It should be noted that the explanations and descriptions of the disturbance suppression method and the disturbance suppression device 200 in the aforementioned embodiments are also applicable to the disturbance suppression system 300 in the embodiments of the present application, and will not be elaborated here.

[0161] See also Fig.17The computer-readable storage medium 400 of the embodiment of the present application stores a computer program 410 thereon, and when the program is executed by the processor 420, the disturbance suppression method of any of the above-mentioned embodiments is implemented.

[0162] For example, when the computer program 410 is executed by the processor 420, the following disturbance suppression method is implemented:

[0163] 010: Get parameter information of motor 10;

[0164] 020: constructing an extended state observer 20 based on the parameter information to observe and output various order states and external disturbances of the motor control system 100;

[0165] 030: Construct a controller 30 to compensate the output of the extended state observer 20.

[0166] For another example, when the computer program 410 is executed by the processor 420, the following disturbance suppression method is implemented:

[0167] 021: Substitute the parameter information into the dynamic equation of the motor 10;

[0168] 022: Derive the state space equation of the electric motor control system 100 according to the dynamic equation;

[0169] 023: Design an extended state observer 20 based on the state space equation to observe and output various order states and external disturbances of the motor control system 100.

[0170] It should be noted that the explanations and descriptions of the disturbance suppression method and the disturbance suppression device 200 in the aforementioned embodiments are also applicable to the computer-readable storage medium 400 in the embodiments of the present application, and will not be elaborated here.

[0171] In summary, in the disturbance suppression method, disturbance suppression device 200, disturbance suppression system 300 and computer-readable storage medium 400 of the embodiment of the present application, an extended state observer 20 is constructed based on the parameter information of the motor 10, and the parameter information can be obtained by measuring the motor 10, that is, the parameter information is known information, and the extended state observer 20 constructed based on the known information is used to observe the various order states and external disturbances of the motor control system 100, and the output of the extended state observer 20 is compensated by the controller 30. In this way, the observation burden of the extended state observer 20 is reduced, and the observation of the various order states and external disturbances of the motor control system 100 is more accurate, which can better compensate for the external disturbance.

[0172] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0173] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0174] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a computer-readable storage medium can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable storage media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0175] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0176] A person of ordinary skill in the art will appreciate that all or part of the steps carried by the method for implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0177] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A disturbance suppression method, characterized in that: Applied to a motor control system, the motor control system includes a motor, and the disturbance suppression method includes: Obtaining parameter information of the motor; Constructing an extended state observer based on the parameter information to observe and output various order states and external disturbances of the motor control system; A controller is constructed to compensate for the output of the extended state observer.

2. The disturbance suppression method according to claim 1, characterized in that: The extended state observer is constructed based on the parameter information to observe and output various order states and external disturbances of the motor control system, including: Substituting the parameter information into the dynamic equation of the motor; Derivation of a state space equation of the motor control system according to the dynamic equation; The extended state observer is designed based on the state space equation to observe and output various order states and external disturbances of the motor control system.

3. The disturbance suppression method according to claim 1, characterized in that: The extended state observer has a two-input and three-output structure.

4. The disturbance suppression method according to claim 1, characterized in that: The constructing a controller to compensate the output of the extended state observer comprises: The controller is constructed based on a PD control function to compensate the output of the extended state observer.

5. The disturbance suppression method according to claim 1, characterized in that: The constructing a controller to compensate the output of the extended state observer comprises: The controller is constructed based on a sliding mode control function and a PD control function to compensate the output of the extended state observer.

6. The disturbance suppression method according to claim 5, characterized in that: The constructing a controller to compensate the output of the extended state observer further includes: The sliding mode control parameters of the controller are adjusted through fuzzy functions.

7. The disturbance suppression method according to claim 5, characterized in that: The controller is constructed based on the sliding mode control function and the PD control function, comprising: Design PD control function; Design sliding surface function; Determining an exponential approach rate function based on the sliding surface function; The controller is constructed according to the PD control function, the sliding surface function and the exponential approach rate function.

8. The disturbance suppression method according to claim 1, characterized in that: The controller has a two-input and one-output structure.

9. The disturbance suppression method according to claim 6, characterized in that: The sliding mode control parameter is related to the sliding mode switching vector function gain and the exponential approach rate parameter, and the sliding mode control parameter of the controller is adjusted by the fuzzy function, including: determining a fuzzy control rule of the fuzzy function; The sliding mode switching vector function gain and the exponential approach rate parameter are adjusted according to the fuzzy control rule to adjust the sliding mode control parameter.

10. The disturbance suppression method according to claim 9, characterized in that: The step of adjusting the sliding mode switching vector function gain and the exponential approach rate parameter according to the fuzzy control rule to adjust the sliding mode control parameter includes: Determining an input membership function and an output membership function according to the fuzzy control rule; estimating the upper bound of the sliding mode switching vector function gain and the exponential approach rate parameter according to the fuzzy control rule, the input membership function and the output membership function; The sliding mode switching vector function gain and the exponential approach rate parameter in the sliding mode control parameters are replaced according to upper bounds of the sliding mode switching vector function gain and the exponential approach rate parameter.

11. A disturbance suppression device, characterized in that: Applied to a motor control system, the motor control system includes a motor, an extended state observer and a controller, the extended state observer and the controller are both connected to the motor, and the disturbance suppression device includes: An acquisition module, used for acquiring parameter information of the motor; A first construction module is used to construct an extended state observer based on the parameter information to observe and output various order states and external disturbances of the motor control system; The second building module is used to build a controller to compensate the output of the extended state observer.

12. A disturbance suppression system, characterized in that: The disturbance suppression system includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the disturbance suppression method according to any one of claims 1 to 10 is implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the disturbance suppression method described in any one of claims 1 to 10 is implemented.

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