Periodic reference tracking and disturbance suppression motor rotating speed control method and device
By using a combination of proportional iterative learning control law and proportional integral quasi-resonant observer in motor speed control, the problem of insufficient speed reference tracking and disturbance suppression performance in the prior art is solved, and high-precision speed tracking and effective disturbance suppression are achieved.
Patent Information
- Application Number
- CN202510080200.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-19
- Publication Date
- 2025-04-25
AI Technical Summary
The existing motor speed control methods are difficult to improve the speed reference tracking performance and disturbance suppression performance at the same time, especially in the rotation speed periodic reference command and periodic disturbance conditions, resulting in significant fluctuations and hysteresis of speed control.
By constructing a speed controller that includes proportional iterative learning control law and proportional integral quasi-resonant observer, real-time tracking of the motor's periodic speed reference instructions is realized, and periodic disturbances are observed and suppressed using proportional integral quasi-resonant observer.
It realizes high-precision tracking of motor speed and effective suppression of periodic disturbances, improving the performance of speed control.
Smart Images
Figure CN119891865A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of motor speed servo control, and in particular relates to a motor speed control method and device for periodic reference tracking and disturbance suppression. Background Art
[0002] Motor drive systems have been widely used in various advanced industrial speed servo fields due to their advantages such as high power density, large torque-to-inertia ratio, and strong reliability. Excellent dynamic response speed and disturbance suppression capabilities are considered to be the core elements of the design of high-performance speed servo controllers for motor drive systems. Advanced industrial products such as robots and CNC machine tools require motor drive systems to not only track speed constant reference instructions and suppress constant disturbances, but also quickly track speed periodic reference instructions and suppress periodic disturbances.
[0003] However, the existing speed control method cannot improve the speed reference tracking performance and disturbance suppression performance at the same time, and cannot be well applied to speed periodic reference instructions and periodic disturbance conditions, resulting in obvious fluctuations and lags in speed control. Summary of the invention
[0004] The purpose of the present invention is to provide a motor speed control method and device with periodic reference tracking and disturbance suppression to solve the above problems. The present invention can effectively track the motor periodic speed reference command and suppress periodic disturbances at the same time to achieve high-performance speed control.
[0005] The present invention is implemented according to the following technical solutions:
[0006] In a first aspect, the present invention provides a motor speed control method for periodic reference tracking and disturbance suppression, wherein the method constructs a speed controller including a proportional iterative learning control law and a proportional integral quasi-resonant observer, tracks the motor periodic speed reference command in real time, and uses the proportional integral quasi-resonant observer to observe and suppress periodic disturbances; the method specifically comprises the following steps:
[0007] Establish a motor mechanical discrete model based on the dynamic characteristics of the motor;
[0008] The preset periodic reference command of the motor speed, the periodic disturbance observation value provided by the proportional integral quasi-resonant observer and the actual motor speed observation value are input into the proportional iterative learning control law to calculate the electromagnetic torque signal of the output motor;
[0009] The output motor electromagnetic torque signal is input into the motor drive system to obtain the actual speed of the motor;
[0010] The actual speed of the motor is input into the proportional-integral quasi-resonant observer, the periodic disturbance signal of the motor speed loop is estimated by the observer, and the periodic disturbance observation value of the motor speed loop and the actual speed observation value are output;
[0011] The motor speed loop periodic disturbance observation value and the actual speed observation value are fed back to the proportional iterative learning control law to form a closed-loop control loop to achieve high-precision tracking of the motor speed and effective suppression of periodic disturbances.
[0012] In one implementation, the motor mechanical discrete model is established based on the dynamic characteristics of the motor as follows:
[0013]
[0014] Where ω(k) is the actual speed of the motor at sampling time k, P(z) = T s / (z-1), z is a discrete time operator, T s is the speed control cycle, J n is the motor moment of inertia, T em (k) is the electromagnetic torque of the motor at sampling time k, and d(k) represents the periodic disturbance of the motor at sampling time k.
[0015] In one implementation, the proportional iterative learning control law is expressed as:
[0016]
[0017] Among them, J n is the motor moment of inertia, is the speed control error; and are the periodic reference speed and speed observation value of the motor at sampling time k respectively; i is the i-th iteration cycle; m represents the m-th control cycle in an iteration cycle; k p is the proportional coefficient of the control law; is the disturbance observation value at sampling time k; v i,m is the output of the iterative learning control part of the control law.
[0018] In one embodiment, the output v of the iterative learning control part of the control law i,m The expression is:
[0019] v i，m (k) = H(z)[v i-1,m (k)+ρL(z)e i-1，m (k)]
[0020] Among them, H(z) is the filtering function; L(z) is the learning function; ρ>0 is the learning gain, vi-1,m (k) and e i-1,m (k) represent the output of the iterative learning control part and the speed control error in the control law at the i-1th iteration cycle at sampling time k respectively.
[0021] In one implementation, the proportional-integral quasi-resonant observer of the speed controller is expressed as:
[0022]
[0023] in, is the disturbance observation value at sampling time k, is the periodic speed observation value of the motor at sampling time k, T em (k) is the electromagnetic torque of the motor at sampling time k, represents the integral part of the disturbance at sampling time k, ω(k) is the actual rotor speed of the motor at sampling time k, h is the observer parameter, G rn (z) is a discrete quasi-resonant controller.
[0024] In one embodiment, the discrete quasi-resonant controller G rn The expression of (z) is:
[0025]
[0026] Among them, parameter b 0n =(c 0n -c 1n ) / c 2n , b 1n =-2c 1n / c 2n , b 2n =-(c 0n +c 1n ) / c 2n , a 1n =(2c 2n -16) / c 2n ,parameter c 2n =4+(nω r ) 2 T s 2 , n is a positive integer, ω r is the fundamental frequency, k rn and are the proportional coefficient and phase adjustment angle of the nth resonance term respectively.
[0027] In a second aspect, the present invention provides a motor speed control device for periodic reference tracking and disturbance suppression, the device comprising: a motor mechanical discrete model module, a proportional iterative learning control law module, a proportional integral quasi-resonant observer and a feedback control module; wherein,
[0028] The motor mechanical discrete model module is used to establish a motor mechanical discrete model based on the dynamic characteristics of the motor;
[0029] The proportional iterative learning control law module is used to receive a preset periodic reference instruction of the motor speed, a periodic disturbance observation value of the speed loop, and an actual speed observation value, and calculate the electromagnetic torque signal of the output motor based on the proportional iterative learning control law; and input the output electromagnetic torque signal of the motor into the motor drive system to obtain the actual speed of the motor;
[0030] The proportional-integral quasi-resonant observer is used to receive the actual speed signal of the motor, estimate the periodic disturbance signal of the motor speed loop, and output the periodic disturbance observation value of the motor speed loop and the actual speed observation value;
[0031] The feedback control module is used to feed back the motor speed loop periodic disturbance observation value and the actual speed observation value to the proportional iterative learning control law module to form a closed-loop control loop to achieve high-precision tracking of the motor speed and suppression of periodic disturbances.
[0032] In a third aspect, a motor speed control system is provided, the system comprising: the motor speed control device with periodic reference tracking and disturbance suppression as described above.
[0033] In a fourth aspect, a computer program product comprises a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the motor speed control method with periodic reference tracking and disturbance suppression as described above is implemented.
[0034] In a fifth aspect, the present invention provides an electronic device, characterized in that it includes a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the above-mentioned motor speed control method of periodic reference tracking and disturbance suppression.
[0035] Compared with the prior art, the present invention has the following advantages:
[0036] The invention designs a proportional iterative learning control law and a proportional integral quasi-resonant observer, and the obtained speed controller can effectively track the motor periodic speed reference command and suppress periodic disturbance at the same time, thereby realizing high-performance speed control. BRIEF DESCRIPTION OF THE DRAWINGS
[0037] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.
[0038] Figure 1 A flow chart of a motor speed control method with periodic reference tracking and disturbance suppression provided by one embodiment of the present invention;
[0039] Figure 2 A schematic diagram of the structure of a motor speed control device for periodic reference tracking and disturbance suppression provided by one embodiment of the present invention;
[0040] Figure 3 The figure is a graph showing the results of the conventional motor speed test and the speed test of the method of the present invention, wherein Figure 3 (a) is the experimental result of the traditional anti-disturbance speed control method. Figure 3 (b) is a diagram showing the experimental results of the speed control method using the method of the present invention.
[0041] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0042] In order to deepen the recognition and understanding of the present invention, the technical solution of the present invention is further introduced below in conjunction with the accompanying drawings and specific implementation methods. The following embodiments are explanations of the present invention and the present invention is not limited to the following embodiments.
[0043] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.
[0044] Reference Figure 1 As shown, an embodiment of the present disclosure provides a motor speed control method for periodic reference tracking and disturbance suppression. The method constructs a speed controller including a proportional iterative learning control law and a proportional-integral quasi-resonant observer to track the motor periodic speed reference command in real time, and uses the proportional-integral quasi-resonant observer to observe and suppress periodic disturbances. The method specifically includes the following steps:
[0045] Step S100: Establishing a motor mechanical discrete model based on the dynamic characteristics of the motor.
[0046] Furthermore, the mechanical discrete model of the motor is established as follows:
[0047]
[0048] Where ω(k) is the actual speed of the motor at sampling time k, P(z) = T s / (z-1), z is a discrete time operator, T s is the speed control cycle, J n is the motor moment of inertia, T em (k) is the electromagnetic torque of the motor at sampling time k, and d(k) represents the periodic disturbance of the motor at sampling time k.
[0049] Step S200: Input the preset periodic reference command of the motor speed, the periodic disturbance observation value provided by the proportional-integral quasi-resonant observer, and the actual motor speed observation value into the proportional iterative learning control law to calculate the electromagnetic torque signal of the output motor.
[0050] The proportional iterative learning control law of the speed controller is as follows:
[0051]
[0052] in, is the speed control error; and are the periodic reference speed and speed observation value of the motor at sampling time k respectively; i is the i-th iteration cycle; m represents the m-th control cycle in an iteration cycle; k p is the proportional coefficient of the control law; is the disturbance observation value at sampling time k; v i,m is the output of the iterative learning control part of the control law.
[0053] Further, v i,m The expression for the output of the iterative learning control part in the control law is:
[0054] v i，m (k) = H(z)[v i-1,m (k)+ρL(z)e i-1，m (k)]
[0055] Among them, H(z) is the filtering function; L(z) is the learning function; ρ>0 is the learning gain; v i-1,m (k) and e i-1,m (k) represent the output of the iterative learning control part and the speed control error in the control law at the i-1th iteration cycle at sampling time k respectively.
[0056] Step S300: Input the output motor electromagnetic torque signal into the motor mechanical discrete model, and obtain the actual speed of the motor through discrete dynamics calculation.
[0057] Step S400: Input the actual speed of the motor into the proportional-integral quasi-resonant observer, use the observer to separate and estimate the periodic disturbance signal of the motor speed loop, and output the motor speed loop periodic disturbance observation value and the actual speed observation value.
[0058] Furthermore, the proportional-integral quasi-resonant observer of the speed controller is as follows:
[0059]
[0060] in, represents the integral part of the disturbance at sampling time k, ω(k) is the actual rotor speed of the motor at sampling time k, h is the observer parameter, G rn (z) is a discrete quasi-resonant controller.
[0061] Furthermore, the discrete quasi-resonant controller G rn (z) are as follows:
[0062]
[0063] Among them, parameter b 0n =(c 0n -c 1n ) / c 2n , b 1n =-2c 1n / c 2n , b 2n =-(c 0n +c 1n ) / c 2n , a 1n =(2c 2n -16) / c 2n ,parameter c 2n =4+(nω r ) 2 T s 2 , n is a positive integer, ω r is the fundamental frequency, k rn and are the proportional coefficient and phase adjustment angle of the nth resonance term respectively.
[0064] Step S500: Feedback the motor speed loop periodic disturbance observation value and the actual speed observation value into the proportional iterative learning control law to form a closed-loop control loop to achieve high-precision tracking of the motor speed and effective suppression of periodic disturbances.
[0065] In order to achieve high-performance speed control, the invention adopts a proportional iterative learning control law module and a proportional integral quasi-resonant observer in the design of the speed controller. The proportional iterative learning control law module uses historical data to iteratively correct the control input, improving the learning ability and tracking accuracy of the system; while the proportional integral quasi-resonant observer accurately extracts interference information through resonant filtering technology and performs real-time compensation, thereby effectively improving the steady-state accuracy and anti-disturbance performance of the system.
[0066] The following is an embodiment of a motor speed control device with periodic reference tracking and disturbance suppression of the present invention, which can be used to execute an embodiment of a motor speed control method with periodic reference tracking and disturbance suppression of the present invention. For details not disclosed in the embodiment of the motor speed control device with periodic reference tracking and disturbance suppression of the present invention, please refer to the embodiment of the motor speed control method with periodic reference tracking and disturbance suppression of the present invention.
[0067] Reference Figure 2 As shown, the embodiment of the present disclosure provides a motor speed control device with periodic reference tracking and disturbance suppression, the device comprising: a motor mechanical discrete model module, a proportional iterative learning control law module, a proportional integral quasi-resonant observer and a feedback control module; wherein,
[0068] The motor mechanical discrete model module is used to establish a motor mechanical discrete model based on the dynamic characteristics of the motor;
[0069] The proportional iterative learning control law module is used to receive a preset periodic reference instruction of the motor speed, a periodic disturbance observation value of the speed loop, and an actual speed observation value, calculate the electromagnetic torque signal of the output motor based on the proportional iterative learning control law, and input the output electromagnetic torque signal of the motor into the motor drive system to obtain the actual speed of the motor;
[0070] The proportional-integral quasi-resonant observer is used to receive the actual speed signal of the motor, estimate the periodic disturbance signal of the motor speed loop, and output the periodic disturbance observation value of the motor speed loop and the actual speed observation value;
[0071] The feedback control module is used to feed back the motor speed loop periodic disturbance observation value and the actual speed observation value to the proportional iterative learning control law module to form a closed-loop control loop to achieve high-precision tracking of the motor speed and suppression of periodic disturbances.
[0072] The proportional iterative learning control law module and the proportional integral quasi-resonant observer can be set in the speed controller. The purpose of designing the motor discrete mechanical model is to subsequently design the proportional integral quasi-resonant observer in the speed controller.
[0073] It should be noted that the motor speed control device with periodic reference tracking and disturbance suppression provided in the above embodiment only uses the division of the above functional modules as an example when executing a motor speed control method with periodic reference tracking and disturbance suppression. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the motor speed control device with periodic reference tracking and disturbance suppression provided in the above embodiment and the motor speed control method embodiment with periodic reference tracking and disturbance suppression belong to the same concept. The implementation process thereof is detailed in the motor speed control method embodiment with periodic reference tracking and disturbance suppression, which will not be repeated here.
[0074] In order to verify the effectiveness and superiority of the control method proposed in the present invention, an experimental verification is carried out, and the specific embodiments are as follows:
[0075] The motor reference speed is set to a periodic trapezoidal signal with a frequency of 10 Hz and an amplitude of 0 r / min to 200 r / min; the load torque is a periodic sinusoidal signal with a frequency of 20 Hz and an amplitude of 5 Nm. The control effect of the motor speed control method of the present invention is verified by observing and comparing the actual speed waveforms of the motor under the traditional anti-disturbance speed controller and the speed controller of the present invention.
[0076] The experimental results are as follows Figure 3 As shown in the figure, it is an experimental comparison diagram of the actual motor speed under the control method proposed by the present invention and the traditional active disturbance rejection control method. It can be seen from the experimental diagram that compared with the conventional active disturbance rejection controller, the speed controller designed by the present invention can effectively track the motor periodic speed reference command and suppress periodic disturbances at the same time, achieving high-performance speed control.
[0077] In one embodiment, a machine program product is proposed. When the computer program / instructions are executed by a processor, one or more processors perform the following steps: establishing a motor mechanical discrete model based on the dynamic characteristics of the motor; inputting a preset periodic reference instruction of the motor speed, a periodic disturbance observation value provided by a proportional-integral quasi-resonant observer, and an actual motor speed observation value into a proportional iterative learning control law, and calculating and outputting an electromagnetic torque signal of the motor; inputting the output motor electromagnetic torque signal into a motor drive system to obtain an actual motor speed; inputting the actual motor speed into a proportional-integral quasi-resonant observer, and using the observer to estimate the periodic disturbance signal of the motor speed loop, and outputting the motor speed loop periodic disturbance observation value and the actual speed observation value; feeding back the motor speed loop periodic disturbance observation value and the actual speed observation value into the proportional iterative learning control law to form a closed-loop control loop, so as to achieve high-precision tracking of the motor speed and effective suppression of periodic disturbances.
[0078] In one embodiment, an electronic device is proposed, wherein the computer device includes a processor and a memory; wherein the processor implements the following steps when executing a computer program stored in the memory: establishing a mechanical discrete model of the motor based on the dynamic characteristics of the motor; inputting a preset periodic reference instruction of the motor speed, a periodic disturbance observation value provided by a proportional-integral quasi-resonant observer, and an actual motor speed observation value into a proportional iterative learning control law, and calculating and outputting an electromagnetic torque signal of the motor; inputting the output electromagnetic torque signal of the motor into a motor drive system to obtain an actual speed of the motor; inputting the actual speed of the motor into a proportional-integral quasi-resonant observer, and using the observer to estimate the periodic disturbance signal of the motor speed loop, and outputting the periodic disturbance observation value of the motor speed loop and the actual speed observation value; and feeding back the periodic disturbance observation value of the motor speed loop and the actual speed observation value into the proportional iterative learning control law to form a closed-loop control loop, so as to achieve high-precision tracking of the motor speed and effective suppression of periodic disturbances.
[0079] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
[0080] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0081] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.
Claims
1. A motor speed control method with periodic reference tracking and disturbance suppression, characterized in that: The method constructs a speed controller including a proportional iterative learning control law and a proportional-integral quasi-resonant observer to track the motor periodic speed reference command in real time, and uses the proportional-integral quasi-resonant observer to observe and suppress periodic disturbances. The method specifically comprises the following steps: Establish a motor mechanical discrete model based on the dynamic characteristics of the motor; The preset periodic reference command of the motor speed, the periodic disturbance observation value provided by the proportional integral quasi-resonant observer and the actual motor speed observation value are input into the proportional iterative learning control law to calculate the electromagnetic torque signal of the output motor; The output motor electromagnetic torque signal is input into the motor drive system to obtain the actual speed of the motor; The actual speed of the motor is input into the proportional-integral quasi-resonant observer, the periodic disturbance signal of the motor speed loop is estimated by the observer, and the periodic disturbance observation value of the motor speed loop and the actual speed observation value are output; The motor speed loop periodic disturbance observation value and the actual speed observation value are fed back to the proportional iterative learning control law to form a closed-loop control loop to achieve high-precision tracking of the motor speed and effective suppression of periodic disturbances.
2. The motor speed control method with periodic reference tracking and disturbance suppression according to claim 1, characterized in that: The motor mechanical discrete model established based on the dynamic characteristics of the motor is: Where ω(k) is the actual speed of the motor at sampling time k, P(z) = T s / (z-1), z is a discrete time operator, T s is the speed control cycle, J n is the motor moment of inertia, T em (k) is the electromagnetic torque of the motor at sampling time k, and d(k) represents the periodic disturbance of the motor at sampling time k.
3. The motor speed control method with periodic reference tracking and disturbance suppression according to claim 1, characterized in that: The expression of the proportional iterative learning control law is: Among them, J n is the motor moment of inertia, is the speed control error; and are the periodic reference speed and speed observation value of the motor at sampling time k respectively; i is the i-th iteration cycle; m represents the m-th control cycle in an iteration cycle; k p is the proportional coefficient of the control law; is the disturbance observation value at sampling time k; v i,m is the output of the iterative learning control part of the control law.
4. The motor speed control method with periodic reference tracking and disturbance suppression according to claim 3 is characterized in that: The output v of the iterative learning control part in the control law i , the expression of m is: in i，m (k)=H(z)[v i-1,m (k)+ρL(z)e i-1，m (k)] Among them, H(z) is the filtering function; L(z) is the learning function; ρ>0 is the learning gain, v i-1,m (k) and e i-1,m (k) represent the output of the iterative learning control part and the speed control error in the control law at the i-1th iteration cycle at sampling time k respectively.
5. The motor speed control method with periodic reference tracking and disturbance suppression according to claim 2, characterized in that: The expression of the proportional-integral quasi-resonant observer is: in, is the disturbance observation value at sampling time k, is the periodic speed observation value of the motor at sampling time k, T em (k) is the electromagnetic torque of the motor at sampling time k, represents the integral part of the disturbance at sampling time k, ω(k) is the actual rotor speed of the motor at sampling time k, h is the observer parameter, G rn (z) is a discrete quasi-resonant controller.
6. The motor speed control method with periodic reference tracking and disturbance suppression according to claim 5, characterized in that: The discrete quasi-resonant controller G rn The expression of (z) is: Among them, parameter b 0n =(c 0n -c 1n ) / c 2n , b 1n =-2c 1n / c 2n , b 2n =-(c 0n +c 1n ) / c 2n , a 1n =(2c 2n -16) / c 2n ,parameter c 2n =4+(nωr) 2 Ts 2 , n is a positive integer, ω r is the fundamental frequency, k rn and are the proportional coefficient and phase adjustment angle of the nth resonance term respectively.
7. A motor speed control device with periodic reference tracking and disturbance suppression, characterized in that: The device comprises: a motor mechanical discrete model module, a proportional iterative learning control law module, a proportional integral quasi-resonant observer and a feedback control module; wherein, The motor mechanical discrete model module is used to establish a motor mechanical discrete model based on the dynamic characteristics of the motor; The proportional iterative learning control law module is used to receive a preset periodic reference instruction of the motor speed, a periodic disturbance observation value of the speed loop, and an actual speed observation value, calculate the electromagnetic torque signal of the output motor based on the proportional iterative learning control law, and input the output electromagnetic torque signal of the motor into the motor drive system to obtain the actual speed of the motor; The proportional-integral quasi-resonant observer is used to receive the actual speed signal of the motor, estimate the periodic disturbance signal of the motor speed loop, and output the periodic disturbance observation value of the motor speed loop and the actual speed observation value; The feedback control module is used to feed back the motor speed loop periodic disturbance observation value and the actual speed observation value to the proportional iterative learning control law module to form a closed-loop control loop to achieve high-precision tracking of the motor speed and suppression of periodic disturbances.
8. A motor speed control system, characterized in that: The system comprises: the motor speed control device with periodic reference tracking and disturbance suppression as described in claim 7.
9. A computer program product comprising a computer program / instructions, characterized in that: When the computer program / instructions are executed by a processor, the motor speed control method with periodic reference tracking and disturbance suppression as claimed in any one of claims 1 to 6 is implemented.
10. An electronic device, characterized in that: It comprises a processor and a memory; wherein, when the processor executes the computer program stored in the memory, the motor speed control method with periodic reference tracking and disturbance suppression as described in any one of claims 1 to 6 is implemented.