Management method, device and equipment of sliding-mode active-disturbance-rejection controller, storage medium and computer product

Abstract

The invention relates to the technical field of motor control, and discloses a management method, device and equipment of a sliding-mode active-disturbance-rejection controller, a storage medium and a computer product, and the method comprises the steps: obtaining a first-order tracking differentiator of a second-order active-disturbance-rejection controller; constructing a newfal function according to the design condition of the nonlinear function and the fal function, and constructing a second-order expansion state observer according to the newfal function; obtaining an adjustment function according to the approaching speed of the moving point and the distance from the moving point to the sliding mode surface, and substituting the adjustment function into a traditional exponential approaching law to obtain an output controller; and according to the first-order tracking differentiator, the second-order expansion state observer and the output controller, constructing a sliding-mode active-disturbance-rejection controller. The control precision of the permanent magnet synchronous motor is improved by constructing a new continuous smooth expansion state observer, introducing sliding mode control and designing a new sliding mode adaptive reaching law.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a management method, device, equipment, storage medium and computer product of a sliding mode active disturbance rejection controller. Background Art

[0002] Permanent magnet synchronous motors are affected by external interference and internal parameter changes during operation. The PID control has poor anti-interference ability and cannot meet performance requirements. Therefore, scholars introduced self-anti-disturbance control into the permanent magnet synchronous motor speed control system.

[0003] The core idea of ​​ADRC is to estimate and compensate for the disturbances inside and outside the system in real time through the extended state observer, and then compensate for the total disturbance through the nonlinear error feedback control law. ADRC is now widely used in wind power generation, power system and motor control, robot control and drone control. The linear ADRC technology is used to improve the decoupling control of the brushless doubly fed motor, and the repetitive controller is used to suppress harmonics and improve the energy conversion rate. However, the linear ADRC does not respond well to periodic disturbances. The extended state observer ESO, the core module in the ADRC, uses the non-smooth fal function as the ideal function. Although the function is continuous, it is not smooth. It is easy to produce high-frequency jitter in the neighborhood of the origin, which is not convenient for practical application. At the same time, the traditional nonlinear PD control adopted by the nonlinear error feedback control law NLSEF cannot solve the relationship between the desired speed and overshoot, resulting in low control accuracy of the permanent magnet synchronous motor. Summary of the invention

[0004] The purpose of the present application is to provide a management method, device, equipment, storage medium and computer product of a sliding mode anti-disturbance controller, aiming to solve the technical problem of low control accuracy of a permanent magnet synchronous motor.

[0005] To achieve the above object, the present application proposes a management method of a sliding mode active disturbance rejection controller, the management method of the sliding mode active disturbance rejection controller is applied to a permanent magnet synchronous motor, the method comprising:

[0006] Get the first-order tracking differentiator of the second-order ADRC;

[0007] Constructing a newfal function according to the design conditions of the nonlinear function and the fal function, and constructing a second-order extended state observer according to the newfal function;

[0008] Obtaining a regulation function according to the approaching speed of the moving point and its distance to the sliding surface, and substituting the regulation function into a traditional exponential approaching law to obtain an output controller;

[0009] A sliding mode active disturbance rejection controller is constructed according to the first-order tracking differentiator, the second-order extended state observer and the output controller.

[0010] In one embodiment, the step of obtaining a first-order tracking differentiator of a second-order active disturbance rejection controller comprises:

[0011] Obtain the second-order active disturbance rejection controller, and reduce the second-order active disturbance rejection controller to a first-order active disturbance rejection controller;

[0012] The first-order tracking differentiator is obtained according to the first-order active disturbance rejection controller.

[0013] In one embodiment, the step of constructing a newfal function according to the design conditions of the nonlinear function and the fal function, and constructing a second-order extended state observer according to the newfal function includes:

[0014] Obtaining a continuity condition of the nonlinear function and a first-order derivative continuity condition;

[0015] constructing the newfal function through the fal function based on the continuity condition and the first-order derivative continuity condition;

[0016] Substituting the newfal function into the traditional extended state observer constructs the second-order extended state observer.

[0017] In one embodiment, the step of obtaining a regulation function according to the approaching speed of the moving point and its distance to the sliding surface, and substituting the regulation function into a traditional exponential approaching law to obtain an output controller includes:

[0018] Obtain the traditional exponential convergence law;

[0019] A sliding mode surface function is constructed according to the speed error and the speed error differential in the sliding mode controller;

[0020] Obtaining a regulation function according to the approaching speed of the moving point and its distance to the sliding surface;

[0021] Substituting the adjustment function into the traditional exponential reaching law to obtain an improved exponential reaching law;

[0022] The output controller is obtained according to the sliding surface function and the improved exponential reaching law.

[0023] In one embodiment, after the step of obtaining the output controller according to the sliding surface function and the improved exponential reaching law, the method further includes:

[0024] Substituting the output controller into the Lyapunov function to obtain a detection result;

[0025] When the detection result meets the preset detection condition, the detection result of the output controller is stable.

[0026] In one embodiment, after the step of constructing a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller, the method further includes:

[0027] Adjusting each parameter in the first-order tracking differentiator according to a first preset condition;

[0028] Adjusting each parameter in the second-order extended state observer according to a second preset condition;

[0029] The parameters in the output controller are adjusted according to the third preset condition.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a management device of a sliding mode active disturbance rejection controller, the device comprising:

[0031] The differential tracking module is used to obtain the first-order tracking differentiator of the second-order ADRC;

[0032] A state expansion module, used for constructing a newfal function according to the design conditions of the nonlinear function and the fal function, and constructing a second-order expanded state observer according to the newfal function;

[0033] An output control module, used for obtaining a regulating function according to the approaching speed of the moving point and its distance to the sliding surface, and substituting the regulating function into a traditional exponential approaching law to obtain an output controller;

[0034] The model building module is used to build a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a management device for a sliding mode active disturbance rejection controller, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the management method for the sliding mode active disturbance rejection controller as described above.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the management method of the sliding mode anti-disturbance control controller as described above are implemented.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the management method of the sliding mode active disturbance rejection controller as described above.

[0038] The present application proposes a management method for a sliding mode active disturbance rejection controller, which is applied to a permanent magnet synchronous motor. The method comprises: obtaining a first-order tracking differentiator of a second-order active disturbance rejection controller; constructing a newfal function according to the design conditions of a nonlinear function and a fal function, and constructing a second-order extended state observer according to the newfal function; obtaining a regulation function according to the approaching speed of a moving point and its distance to a sliding mode surface, and substituting the regulation function into a traditional exponential reaching law to obtain an output controller; constructing a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller. The traditional second-order ADRC is simplified, and the mathematical expression of the first-order ADRC is used to improve the speed performance of vector control. A new newfal function is proposed to replace the original fal function, and a new continuous smooth extended state observer is constructed to solve the problem of high-frequency chattering of the ADRC. In view of the fact that NLSEF cannot smooth the relationship between rapidity and overshoot, sliding mode control is introduced, and a new sliding mode adaptive reaching law is designed to weaken the sliding mode control chattering and improve the system stability, thereby improving the control accuracy of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A flow chart of a first embodiment of a management method of a sliding mode active disturbance rejection controller of the present application;

[0042] Figure 2 A flow chart of a second embodiment of the management method of the sliding mode active disturbance rejection controller of the present application;

[0043] Figure 3 A flow chart of a third embodiment of the management method of the sliding mode active disturbance rejection controller of the present application;

[0044] Figure 4This is a schematic diagram of the module structure of the management device of the sliding mode active disturbance rejection controller according to an embodiment of the present application;

[0045] Figure 5 A schematic diagram of the structure of a management device of a sliding mode active disturbance rejection controller in a hardware operating environment involved in a management method of a sliding mode active disturbance rejection controller in an embodiment of the present application;

[0046] Figure 6 This is a motor speed curve diagram in the embodiment of the present application;

[0047] Figure 7 This is a partial enlarged diagram of the sudden load speed curve in the embodiment of the present application;

[0048] Figure 8 This is a graph of the electromagnetic torque of the motor in the embodiment of the present application.

[0049] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0051] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0052] The main solution of the embodiment of the present application is: to obtain a first-order tracking differentiator of a second-order active disturbance rejection controller; to construct a newfal function according to the design conditions of the nonlinear function and the fal function, and to construct a second-order extended state observer according to the newfal function; to obtain a regulation function according to the approach speed of the moving point and its distance to the sliding mode surface, and to substitute the regulation function into the traditional exponential reaching law to obtain an output controller; to construct a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller.

[0053] The extended state observer ESO, the core module in the active disturbance rejection control, adopts the non-smooth fal function as the ideal function. Although the function is continuous, it is not smooth and is prone to high-frequency jitter in the neighborhood of the origin, which is not convenient for practical application. At the same time, the traditional nonlinear PD control adopted by the nonlinear error feedback control law NLSEF cannot solve the relationship between the desired speed and the overshoot well, resulting in low control accuracy of the permanent magnet synchronous motor.

[0054] The present application provides a solution, which simplifies the traditional second-order active disturbance rejection controller, applies the mathematical expression of the first-order active disturbance rejection controller, and uses it to improve the speed performance of vector control; proposes a new newfal function to replace the original fal function, and constructs a new continuous smooth extended state observer to solve the problem of high-frequency chattering of the active disturbance rejection controller; in view of the fact that NLSEF cannot smooth the relationship between rapidity and overshoot, sliding mode control is introduced, and a new sliding mode adaptive reaching law is designed to achieve the purpose of weakening the sliding mode control chattering and improving the system stability, thereby improving the control accuracy of the permanent magnet synchronous motor.

[0055] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a management device of a sliding mode active disturbance rejection controller capable of realizing the above functions, etc. The management device of a sliding mode active disturbance rejection controller is taken as an example to illustrate this embodiment and the following embodiments.

[0056] Based on this, the present application embodiment provides a management method for a sliding mode active disturbance rejection controller, referring to Figure 1 , Figure 1 A flowchart diagram is provided for the first embodiment of the management method of the sliding mode active disturbance rejection controller of the present application.

[0057] In this embodiment, the management method of the sliding mode active disturbance rejection controller includes steps S10 to S40:

[0058] Step S10: Obtain a first-order tracking differentiator of a second-order active disturbance rejection controller.

[0059] It should be understood that the second-order active disturbance rejection controller (SOADRC) is an advanced control strategy that is widely used in nonlinear, strongly coupled and uncertain systems. Among them, the first-order tracking differentiator (FOTD) is an important component of SOADRC, which is mainly used to process the tracking and differentiation of the input signal.

[0060] It should be noted that the main function of the first-order tracking differentiator is to smooth the input signal and extract its differential information. In practical applications, the input signal often contains noise or mutations, which will affect the performance of the control system. Through its special structure and algorithm, FOTD can effectively filter out noise and provide a more accurate differential signal, thereby improving the stability and response speed of the control system.

[0061] Step S20: construct a newfal function according to the design conditions of the nonlinear function and the fal function, and construct a second-order extended state observer according to the newfal function.

[0062] It should be understood that the design conditions of nonlinear functions usually include the following aspects: continuity and differentiability of the function; monotonicity and convexity of the function; boundary conditions and initial conditions of the function. These conditions are very important to ensure the stability and convergence of the function.

[0063] It should be noted that the FAL function is a commonly used nonlinear function. According to the design conditions of the nonlinear function and the basic form of the FAL function, a new FAL function can be constructed. The specific construction process may vary according to the specific design requirements and application scenarios. Generally speaking, a new FAL function can be constructed by adjusting the parameters of the FAL function or introducing new nonlinear terms.

[0064] It should be understood that the second-order extended state observer (SOESO) is an observer used to estimate the state and disturbance of a system. Its construction is usually based on the dynamic model and measurement output of the system. When constructing a second-order extended state observer, it is necessary to select a suitable gain matrix based on the specific characteristics and design requirements of the system. The selection of these gain matrices is usually based on the stability analysis and performance indicators of the system. In addition, in order to ensure the performance of the observer, the noise characteristics and measurement errors of the system also need to be considered. In practical applications, it may be necessary to adjust the parameters of the observer through experiments or simulations to obtain the best estimation effect.

[0065] Step S30: obtaining a regulation function according to the approaching speed of the moving point and its distance to the sliding surface, and substituting the regulation function into a traditional exponential approaching law to obtain an output controller.

[0066] It should be understood that the approach speed of a moving point is a quantity that describes how fast the system state moves toward the sliding surface in phase space. In sliding mode control, it reflects the speed characteristics of the system state trajectory approaching the sliding surface. If the approach speed is large, the system state will approach the sliding surface faster; conversely, if the approach speed is small, the process of the system state approaching the sliding surface will be relatively slow.

[0067] It should be noted that the distance from the moving point to the sliding surface is an indicator of how close the current state of the system is to the sliding surface. This distance directly affects the value of the regulation function. When the distance is large, the regulation function may need a larger regulation effect to make the system state quickly approach the sliding surface; when the distance is small, the regulation effect of the regulation function can be appropriately reduced to avoid large chattering of the system state near the sliding surface.

[0068] Step S40: constructing a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller.

[0069] It should be understood that the Sliding Mode Active Disturbance Rejection Controller (SMC-ADRC) is a control strategy that combines Sliding Mode Control (SMC) and Active Disturbance Rejection Control (ADRC), aiming to improve the robustness and anti-disturbance performance of the system.

[0070] It should be noted that the first-order tracking differentiator is mainly used for signal tracking, filtering and derivation, especially in the case of sensor failure or sensorless, it can be used as a signal tracking method. For example, when it is necessary to calculate the velocity and acceleration from the position signal, direct differential derivation is not suitable because the position sensor has noise. The first-order tracking differentiator can reduce noise and obtain a more accurate signal derivative.

[0071] It should be understood that the second-order extended state observer is the core part of the ADRC, which can estimate the disturbances caused by factors such as model inaccuracy, internal coupling, and external intervention. For example, in a permanent magnet synchronous motor control system, the second-order extended state observer can estimate the load disturbance in real time, use the observed value as the feedforward compensation of the sliding mode speed controller, and reduce the impact of the uncertainty of the motor's inherent parameters on the control system.

[0072] It should be noted that the output controller generates a suitable control signal according to the control target and current state of the system. In the sliding mode active disturbance rejection controller, the output controller usually combines the variable structure characteristics of the sliding mode control and the disturbance compensation capability of the active disturbance rejection control to achieve precise control of the system.

[0073] It should be understood that sliding mode control achieves control of the system by designing a sliding surface so that the system state moves on the sliding surface. For example, in a motor control system, sliding mode control can design a suitable sliding surface so that the motor speed can quickly and accurately track a given value, while having strong robustness to system parameter changes and external disturbances. Active disturbance rejection control estimates the total disturbance of the system, including internal uncertainty and external disturbances, in real time through an extended state observer, and adds it to the control signal as feedforward compensation, thereby improving the system's anti-disturbance performance. For example, in a motor control system with load disturbances, active disturbance rejection control can estimate the size of the load disturbance through an extended state observer and compensate it in the control signal so that the output of the motor can remain stable.

[0074] In this embodiment, the management method of the sliding mode active disturbance rejection controller is applied to a permanent magnet synchronous motor, and the method includes: obtaining a first-order tracking differentiator of a second-order active disturbance rejection controller; constructing a newfal function according to the design conditions of the nonlinear function and the fal function, and constructing a second-order extended state observer according to the newfal function; obtaining an adjustment function according to the approach speed of the moving point and its distance to the sliding mode surface, and substituting the adjustment function into the traditional exponential reaching law to obtain an output controller; constructing a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller. The traditional second-order ADRC is simplified, and the mathematical expression of the first-order ADRC is used to improve the speed performance of vector control. A new newfal function is proposed to replace the original fal function, and a new continuous smooth extended state observer is constructed to solve the problem of high-frequency chattering of the ADRC. In view of the fact that NLSEF cannot smooth the relationship between rapidity and overshoot, sliding mode control is introduced, and a new sliding mode adaptive reaching law is designed to weaken the sliding mode control chattering and improve the system stability, thereby improving the control accuracy of the permanent magnet synchronous motor.

[0075] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , Figure 2 A flow chart of Embodiment 2 of the management method of the sliding mode active disturbance rejection controller of the present application is provided. In step S10, the management method of the sliding mode active disturbance rejection controller further includes:

[0076] Step S110: obtaining the second-order active disturbance rejection controller, and reducing the second-order active disturbance rejection controller to a first-order active disturbance rejection controller;

[0077] Step S120: Acquire the first-order tracking differentiator according to the first-order active disturbance rejection controller.

[0078] It should be understood that the mathematical model of the permanent magnet synchronous motor in the dq coordinate system can be expressed by the following equation:

[0079] Voltage equation:

[0080]

[0081] Current equation

[0082]

[0083] Magnetic flux equation:

[0084]

[0085] Torque equation:

[0086]

[0087] Among them, u d 、i d Represent the stator voltage and armature current under the d-axis respectively; i q 、u q Respectively represent the voltage and current under the q axis; ψ d , q Respectively represent the d-axis and q-axis stator flux; R s is the stator resistance; ψ f is the magnetic flux generated by the permanent magnet; ω e is the electrical angular velocity of the motor; L d , L q Respectively represent the electronic inductance of d and q axes; P n is the pole pair.

[0088] Equations of motion:

[0089]

[0090] Among them, T L is the load torque of the motor; J is the moment of inertia of the motor; B is the damping coefficient of the motor; ω is the mechanical angular velocity of the motor.

[0091] The equation of motion can be transformed into:

[0092]

[0093] Let b = 1.5P n ψ f / J,f=-T L / J-Bω / J, the angular velocity of (6) is expressed as:

[0094]

[0095] Select ω as the state variable x1, the total disturbance f as the state variable x2, and the q-axis current i q As the input control quantity u, the angular velocity equation is expressed as:

[0096]

[0097] The active disturbance rejection controller consists of a tracking-differentiator, an extended state observer, and a nonlinear state error feedback control law. High-order ESOs are more sensitive to noise when estimating higher-order states, while low-order ESOs are less sensitive to high-frequency noise and have better robustness in noisy environments. Therefore, this paper reduces the order of the second-order ADRC (active disturbance rejection controller) and designs a first-order active disturbance rejection controller for the speed loop.

[0098] The first-order tracking differentiator is:

[0099]

[0100] Among them, x1 is the tracking value output by the first-order tracking differentiator, and v is the given speed of the motor.

[0101] In step S20, the management method of the sliding mode active disturbance rejection controller further includes:

[0102] Step S210: obtaining the continuity condition of the nonlinear function and the continuity condition of the first-order derivative;

[0103] Step S220: constructing the newfal function through the fal function based on the continuity condition and the first-order derivative continuity condition;

[0104] Step S230: Substitute the newfal function into the traditional extended state observer to construct the second-order extended state observer.

[0105] It should be noted that fal is a nonlinear function, and its value is:

[0106]

[0107] When |e|=δ, the function is continuous but not smooth. Sudden changes in the derivative will cause the system control performance to deteriorate and produce high-frequency jitter. Therefore, according to the design principles of nonlinear functions: (1) continuous and smooth at the origin; (2) continuous and differentiable when |e|=δ; (3) satisfying the self-disturbance rejection control "large error, small gain; small error, large gain". A new smooth nonlinear function newfal function is designed:

[0108]

[0109] To satisfy the continuity condition and the first-order derivative continuity condition, we know that:

[0110]

[0111] By solving formula (12), we can get:

[0112]

[0113] From this we can construct the newfal function:

[0114]

[0115] The fal function has an obvious turning point at the inflection point of δ=0.1, while the improved nonlinear function newfal is continuous at all points and has better smoothness, avoiding the ESO chattering phenomenon.

[0116] The second-order extended state observer is constructed according to the newfal function:

[0117]

[0118] Among them, z1 is the observed value of the actual output y; z2 is the estimate of the total disturbance of the system, and e2 is the error value between the observed value and the tracking signal y.

[0119] In this embodiment, the traditional second-order ADRC is simplified, the mathematical expression of the first-order ADRC is used to improve the speed performance of vector control; a new FAL function is proposed to replace the original FAL function, and a new continuous smooth extended state observer is constructed to solve the problem of high-frequency vibration of the ADRC.

[0120] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first and second embodiments can refer to the above introduction, and will not be repeated later. Figure 3 , Figure 3 A flow chart of the third embodiment of the management method of the sliding mode active disturbance rejection controller of the present application is provided. In step S30, the management method of the sliding mode active disturbance rejection controller further includes:

[0121] Step S310: obtaining a traditional exponential convergence law;

[0122] Step S320: constructing a sliding mode surface function according to the speed error and the speed error differential in the sliding mode controller;

[0123] Step S330: obtaining a regulation function according to the approaching speed of the moving point and the distance to the sliding surface;

[0124] Step S340: Substituting the adjustment function into the traditional exponential reaching law to obtain an improved exponential reaching law;

[0125] Step S350: obtaining the output controller according to the sliding surface function and the improved exponential reaching law.

[0126] It should be noted that traditional ADRC usually uses a nonlinear PD combination to implement the control law. In contrast, sliding mode control has better control performance and anti-interference ability. This paper introduces sliding mode control into the ADRC and uses the sliding mode controller as a nonlinear combination of speed error and error differential.

[0127] The speed error of PMSM and its derivative are defined as state variables, namely:

[0128]

[0129] From formula (1) to formula (4), we can know that:

[0130]

[0131] Definition: u=i q ;

[0132] The designed sliding surface function is:

[0133] s=cx1+x2 (18)

[0134] In the formula: c is the coefficient to be adjusted; x1 is the speed error; x2 is the differential of the speed error.

[0135] Derivative of formula (18) yields:

[0136]

[0137] The traditional exponential convergence law is:

[0138]

[0139] In order to improve the linearity between the approaching speed and the buffeting reaching the sliding surface, a new improved exponential approach law is proposed, as follows:

[0140]

[0141] In the formula: ε>0; q>0; 0<α<1; m>0.

[0142] Compared with the traditional exponential approach law, the improved exponential approach law adds an adjustment function f(s) to the constant speed term, combining the approach speed of the moving point with the distance of the sliding surface, so that the system can adjust the approach speed according to the distance of the moving point. When the moving point is far from the sliding surface, the constant speed term coefficient is ε / α, which is greater than the constant speed term coefficient ε of the traditional approach law, and the system accelerates to the sliding surface; when the moving point is very close to the sliding surface, the constant speed term coefficient is ε|s| m / (1+|s| m ) is smaller than the constant velocity term coefficient of the traditional reaching law, which can effectively reduce chattering and improve control accuracy.

[0143] The sign function of the traditional reaching law is discontinuous and will produce jitter near the zero point. In order to make the system effect smoother, the sign function is optimized. The optimized sign function is:

[0144]

[0145] Where: σ is a very small constant, and its value here is 0.001.

[0146] Combining equation (19) and equation (21), the output u0 of the sliding mode controller based on the improved exponential reaching law is obtained as follows:

[0147]

[0148] Finally, the control law is constructed as:

[0149]

[0150] After step S350, the method further includes:

[0151] Step S351: Substituting the output controller into the Lyapunov function to obtain the detection result;

[0152] Step S352: When the detection result meets the preset detection condition, the detection result of the output controller is stable.

[0153] It should be noted that the Lyapunov function is selected to verify the stability of the controller.

[0154]

[0155] Substituting into the above formula, we get:

[0156]

[0157] Where: ssign(s)>0;ε>0;0<α<1;q>0;therefore The controller with improved exponential reaching law is stable.

[0158] After step S40, the method further includes:

[0159] The parameters of the first-order tracking differentiator are adjusted according to the first preset condition.

[0160] It should be understood that the first preset condition is that there are three parameters that need to be adjusted in the tracking differentiator: r, α, δ, r is the variable of the speed of the tracking signal, and is obtained by experience as 13. For nonlinear ESO (extended state machine), the newfal function and the fal function have similar values. The linear interval δ should not be too large. If it is too large, the advantage of nonlinear gain will no longer exist, and the system will converge slowly. It should not be too small. If it is too small, it will easily cause the system to produce high-frequency oscillations near the zero point, causing system instability. Generally, 0.01<δ<0.1, δ=0.01 is more appropriate. The power α is between 0 and 1. At this time, the newfal function has the characteristics of "small error and large gain, large error and small gain". α is inversely proportional to the degree of nonlinearity. The smaller its value is, the better the ESO's anti-interference ability and response speed are. The empirical value α=0.4 is taken. The same is true for α and δ in the extended state observer and nonlinear error feedback control law.

[0161] The parameters of the second-order extended state observer are adjusted according to the second preset condition.

[0162] It should be noted that the second preset condition is: the parameters that need to be adjusted in the extended state observer are β1 and β2. Parameters β1 and β2 are the gains of the state error, which affect the estimation accuracy of the ESO for the state variable z1 and the disturbance z2 respectively, and thus directly affect the overall control effect. If the values ​​of β1 and β2 are too large, it will cause overshoot and flutter of the ESO estimation value. If they are too small, the rapidity of the system will deteriorate and the lag in the disturbance estimation will be large. Here, β1=8500, β2=100, δ1=0.01, and α1=0.9 are selected.

[0163] The parameters in the output controller are adjusted according to the third preset condition.

[0164] It should be understood that the third preset condition is: the parameters of the sliding mode controller of the improved reaching law are set to b=1250, c=3, ε=50, q=2200, α=0.1, m=2, b0=1030.6. Parameter b 0m It is the estimated value of the amplification factor b when the control quantity u acts on the system. It is related to the control quantity u and the disturbance estimated by the expanded observer. When the system parameter b is calculated from the motor parameters to 1250, b0 is fine-tuned during the simulation test and the value is 1030.6.

[0165] Motor parameter table;

[0166]

[0167] Figure 6 It is the motor speed curve diagram; Figure 7 This is a partial enlarged view of the speed curve when the load is suddenly increased; Figure 8 This is the electromagnetic torque curve of the motor; the motor starts at no-load, the speed reference value is 1000r / min, and a load of 10N is suddenly added to the system at 0.2s.

[0168] In this embodiment, since NLSEF cannot smooth the relationship between rapidity and overshoot, sliding mode control is introduced, and a new sliding mode adaptive reaching law is designed to weaken the sliding mode control chattering and improve the system stability, thereby improving the control accuracy of the permanent magnet synchronous motor.

[0169] The above are only some embodiments of the present application, and the scope of implementation of the present application is not limited thereto. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the protection scope of the present application.

[0170] This application also provides a management device for a sliding mode active disturbance rejection controller, please refer to Figure 4 , the management device of the sliding mode active disturbance rejection controller comprises:

[0171] A differential tracking module 10, used to obtain a first-order tracking differentiator of a second-order active disturbance rejection controller;

[0172] The state expansion module 20 is used to construct a newfal function according to the design conditions of the nonlinear function and the fal function, and to construct a second-order expanded state observer according to the newfal function;

[0173] An output control module 30 is used to obtain a regulation function according to the approaching speed of the moving point and its distance to the sliding surface, and substitute the regulation function into a traditional exponential approaching law to obtain an output controller;

[0174] The model building module 40 is used to build a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller.

[0175] Optionally, the differential tracking module 10 is further used to obtain the second-order active disturbance rejection controller and reduce the second-order active disturbance rejection controller to a first-order active disturbance rejection controller; and obtain the first-order tracking differentiator according to the first-order active disturbance rejection controller.

[0176] Optionally, the state expansion module 20 is also used to obtain the continuity condition and the first-order derivative continuity condition of the nonlinear function; construct the newfal function through the fal function based on the continuity condition and the first-order derivative continuity condition; substitute the newfal function into the traditional expanded state observer to construct the second-order expanded state observer.

[0177] Optionally, the output control module 30 is also used to obtain a traditional exponential reaching law; construct a sliding surface function based on the speed error and the speed error differential in the sliding mode controller; obtain an adjustment function based on the approach speed of the moving point and its distance to the sliding surface; substitute the adjustment function into the traditional exponential reaching law to obtain an improved exponential reaching law; and obtain the output controller based on the sliding surface function and the improved exponential reaching law.

[0178] Optionally, the output control module 30 is further used to substitute the output controller into a Lyapunov function to obtain a detection result; when the detection result meets a preset detection condition, the detection result of the output controller is stable.

[0179] Optionally, the model building module 40 is also used to adjust the parameters in the first-order tracking differentiator according to a first preset condition; adjust the parameters in the second-order extended state observer according to a second preset condition; and adjust the parameters in the output controller according to a third preset condition.

[0180] The management device of the sliding mode auto-disturbance rejection controller provided by the present application adopts the management method of the sliding mode auto-disturbance rejection controller in the above embodiment, which can solve the technical problem of low control accuracy of the permanent magnet synchronous motor. Compared with the prior art, the beneficial effects of the management device of the sliding mode auto-disturbance rejection controller provided by the present application are the same as the beneficial effects of the management method of the sliding mode auto-disturbance rejection controller provided by the above embodiment, and other technical features in the management device of the sliding mode auto-disturbance rejection controller are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0181] The present application provides a management device for a sliding mode active disturbance rejection controller, the management device for the sliding mode active disturbance rejection controller comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the management method for the sliding mode active disturbance rejection controller in the above-mentioned embodiment one.

[0182] Reference below Figure 5, which shows a schematic diagram of the structure of a management device of a sliding mode anti-disturbance rejection controller suitable for implementing an embodiment of the present application. The management device of the sliding mode anti-disturbance rejection controller in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The management device of the sliding mode active disturbance rejection controller shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0183] like Figure 5 As shown, the management device of the sliding mode ADRC may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for device operation are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the management device of the sliding mode active disturbance rejection controller to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows the management device of the sliding mode active disturbance rejection controller with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0184] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0185] The management device of the sliding mode auto-disturbance rejection controller provided by the present application adopts the management method of the sliding mode auto-disturbance rejection controller in the above embodiment, which can solve the technical problem of low control accuracy of the permanent magnet synchronous motor. Compared with the prior art, the beneficial effects of the management device of the sliding mode auto-disturbance rejection controller provided by the present application are the same as the beneficial effects of the management method of the sliding mode auto-disturbance rejection controller provided by the above embodiment, and other technical features in the management device of the sliding mode auto-disturbance rejection controller are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0186] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0187] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0188] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the management method of the sliding mode active disturbance rejection controller in the above-mentioned embodiment.

[0189] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0190] The computer-readable storage medium may be included in the management device of the sliding mode active disturbance rejection controller; or may exist independently without being assembled into the management device of the sliding mode active disturbance rejection controller.

[0191] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0192] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0193] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0194] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the management method of the above-mentioned sliding mode active disturbance rejection controller, and can solve the technical problem of low control accuracy of the permanent magnet synchronous motor. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the management method of the sliding mode active disturbance rejection controller provided in the above-mentioned embodiment, and will not be repeated here.

[0195] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A management method for a sliding mode active disturbance rejection controller, characterized in that: The management method of the sliding mode active disturbance rejection controller is applied to a permanent magnet synchronous motor, and the method comprises: Get the first-order tracking differentiator of the second-order ADRC; Constructing a newfal function according to the design conditions of the nonlinear function and the fal function, and constructing a second-order extended state observer according to the newfal function; Obtaining a regulation function according to the approaching speed of the moving point and its distance to the sliding surface, and substituting the regulation function into a traditional exponential approaching law to obtain an output controller; A sliding mode active disturbance rejection controller is constructed according to the first-order tracking differentiator, the second-order extended state observer and the output controller.

2. The management method of the sliding mode active disturbance rejection controller according to claim 1, characterized in that: The step of obtaining a first-order tracking differentiator of a second-order active disturbance rejection controller comprises: Obtain the second-order active disturbance rejection controller, and reduce the second-order active disturbance rejection controller to a first-order active disturbance rejection controller; The first-order tracking differentiator is obtained according to the first-order active disturbance rejection controller.

3. The management method of the sliding mode active disturbance rejection controller according to claim 1, characterized in that: The step of constructing a newfal function according to the design conditions of the nonlinear function and the fal function, and constructing a second-order extended state observer according to the newfal function includes: Obtaining a continuity condition of the nonlinear function and a first-order derivative continuity condition; constructing the newfal function through the fal function based on the continuity condition and the first-order derivative continuity condition; Substituting the newfal function into the traditional extended state observer constructs the second-order extended state observer.

4. The management method of the sliding mode active disturbance rejection controller according to claim 1, characterized in that: The step of obtaining a regulating function according to the approaching speed of the moving point and its distance to the sliding surface, and substituting the regulating function into the traditional exponential approaching law to obtain an output controller includes: Obtain the traditional exponential convergence law; A sliding mode surface function is constructed according to the speed error and the speed error differential in the sliding mode controller; Obtaining a regulation function according to the approaching speed of the moving point and its distance to the sliding surface; Substituting the adjustment function into the traditional exponential reaching law to obtain an improved exponential reaching law; The output controller is obtained according to the sliding surface function and the improved exponential reaching law.

5. The management method of the sliding mode active disturbance rejection controller according to claim 4, characterized in that: After the step of obtaining the output controller according to the sliding surface function and the improved exponential reaching law, the method further includes: Substituting the output controller into the Lyapunov function to obtain a detection result; When the detection result meets the preset detection condition, the detection result of the output controller is stable.

6. The management method of the sliding mode active disturbance rejection controller according to claim 1, characterized in that: After the step of constructing a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller, the method further includes: Adjusting each parameter in the first-order tracking differentiator according to a first preset condition; Adjusting each parameter in the second-order extended state observer according to a second preset condition; The parameters in the output controller are adjusted according to the third preset condition.

7. A management device for a sliding mode active disturbance rejection controller, characterized in that: The device comprises: The differential tracking module is used to obtain the first-order tracking differentiator of the second-order ADRC; A state expansion module, used for constructing a newfal function according to the design conditions of the nonlinear function and the fal function, and constructing a second-order expanded state observer according to the newfal function; An output control module, used for obtaining a regulation function according to the approaching speed of the moving point and its distance to the sliding surface, and substituting the regulation function into a traditional exponential approaching law to obtain an output controller; The model building module is used to build a sliding mode active disturbance rejection controller according to the first-order tracking differentiator, the second-order extended state observer and the output controller.

8. A management device for a sliding mode active disturbance rejection controller, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the management method of the sliding mode active disturbance rejection controller according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the management method of the sliding mode active disturbance rejection controller according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the management method of the sliding mode active disturbance rejection controller according to any one of claims 1 to 6 is implemented.

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