Motor speed regulation control method and device, electronic equipment and storage medium

Abstract

The invention provides a motor speed regulation control method and device, electronic equipment and a storage medium, and relates to the technical field of motors. The motor speed regulation control method comprises the following steps: determining the back electromotive force of a motor based on a fuzzy super-spiral sliding mode observer with an integral item; determining the rotor position and the rotor rotating speed of the motor according to the back electromotive force; and performing speed regulation control on the motor according to the rotor position and the rotor rotating speed. The counter electromotive force is determined based on the fuzzy super-spiral sliding-mode observer with the integral term, position sensors such as a rotary transformer and an eddy current sensor can be replaced to detect the position of a motor rotor, and an expensive position sensor is omitted, so that the cost of an electric drive assembly can be reduced, and the working efficiency is improved. And the fuzzy super-spiral sliding-mode observer comprises an integral term, and a low-pass filter can be omitted structurally, so that the cost can be reduced, and the phase lag problem caused by the low-pass filter can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and more particularly, to a method and device for controlling the speed of a motor, an electronic device, and a storage medium. Background Art

[0002] Permanent magnet synchronous motors are widely used in the electric drive systems of electric vehicles due to their high power density, high efficiency, and good dynamic response characteristics. The speed control system of a permanent magnet synchronous motor mainly detects the angle (corresponding to the rotor position) and speed of the rotor, feeds the information back to the control system, and then adjusts the input voltage, frequency, and current control strategy of the motor to achieve precise control of speed and torque to meet the requirements under different operating conditions.

[0003] In related technologies, position sensors such as resolvers and eddy current sensors are usually used to detect the position of the motor rotor, and then vector control or direct torque control is realized to ensure the efficient operation of the motor. However, the cost of such sensors is relatively high. For example, a resolver uses a high-precision winding and a complex iron core structure, and its manufacturing process involves precision machining, winding, magnetic circuit optimization, and high-precision assembly. The core components of an eddy current sensor usually include a high-precision coil and a high-frequency excitation circuit, and strict control of the electromagnetic characteristics of the materials is required. The manufacturing process is complex, which affects the overall cost of the motor system. Summary of the Invention

[0004] The problem solved by the present invention is how to reduce the cost of the electric drive assembly.

[0005] To solve the above problems, the present invention provides a method and device for controlling the speed of a motor, an electronic device, and a storage medium.

[0006] In a first aspect, the present invention provides a method for controlling the speed of a motor, including:

[0007] Determining the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term;

[0008] Determining the rotor position and rotor speed of the motor according to the back electromotive force;

[0009] Controlling the speed of the motor according to the rotor position and the rotor speed.

[0010] Optionally, the determining the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term includes:

[0011] Constructing the fuzzy super-twisting sliding mode observer;

[0012] Determining the back electromotive force according to the fuzzy super-twisting sliding mode observer and the mathematical model of the motor.

[0013] Optionally, the constructing of the fuzzy hyper-twisting sliding mode observer includes:

[0014] Constructing a hyper-twisting sliding mode observer, wherein the hyper-twisting sliding mode observer uses the hyperbolic tangent function as the switching function;

[0015] Optimizing the hyper-twisting sliding mode observer based on the fuzzy control principle to construct the fuzzy hyper-twisting sliding mode observer.

[0016] Optionally, the constructing of the hyper-twisting sliding mode observer includes:

[0017] Applying a hyper-twisting sliding mode control algorithm to the sliding mode observer to construct the hyper-twisting sliding mode observer, wherein the hyper-twisting sliding mode control algorithm is constructed based on the sliding mode gain, sign function and external disturbance of the hyper-twisting sliding mode observer.

[0018] Optionally, the optimizing of the hyper-twisting sliding mode observer based on the fuzzy control principle includes:

[0019] Optimizing the hyper-twisting sliding mode observer through a fuzzy controller, wherein the inputs of the fuzzy controller include the current error and the rate of change of the current error of the motor, and the output of the fuzzy controller includes an intermediate gain, and the intermediate gain is related to the sliding mode gain of the hyper-twisting sliding mode observer.

[0020] Optionally, the determining of the rotor position and rotor speed of the motor according to the back electromotive force includes:

[0021] Determining the rotor angle of the motor according to the back electromotive force, wherein the rotor angle is used to characterize the rotor position;

[0022] Determining the rotor speed of the motor according to the rotor angle.

[0023] Optionally, the speed regulation control of the motor according to the rotor position and the rotor speed includes:

[0024] Modifying the PID parameters based on a fuzzy PID controller, wherein the inputs of the fuzzy PID controller include the speed error and the rate of change of the speed error of the motor, and the output of the fuzzy PID controller includes the correction value of the PID parameters;

[0025] Performing speed regulation control on the motor based on the correction value of the PID parameters.

[0026] In a second aspect, the present invention provides a motor speed regulation control device, including:

[0027] A first module, configured to determine the back electromotive force of the motor based on a fuzzy hyper-twisting sliding mode observer with an integral term;

[0028] A second module, configured to determine the rotor position and rotor speed of the motor according to the back electromotive force;

[0029] A third module, configured to perform speed regulation control on the motor according to the rotor position and the rotor speed.

[0030] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0031] The memory is configured to store a computer program;

[0032] The processor is configured to, when executing the computer program, implement the motor speed regulation control method as described in the first aspect.

[0033] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the motor speed regulation control method as described in the first aspect is implemented.

[0034] The beneficial effects of the motor speed regulation control method of the present invention are as follows: The back electromotive force is determined based on a fuzzy super-twisting sliding mode observer with an integral term, which can replace position sensors such as resolvers and eddy current sensors to detect the rotor position of the motor, eliminating expensive position sensors. Therefore, the cost of the electric drive assembly can be reduced. Moreover, since the fuzzy super-twisting sliding mode observer itself includes an integral term, a low-pass filter can be omitted in the structure. Therefore, not only can the cost be reduced, but also the phase lag problem caused by the low-pass filter can be avoided. Description of the Drawings

[0035] Figure 1 It is a schematic flowchart of the motor speed regulation control method according to an embodiment of the present invention;

[0036] Figure 2 It is a schematic flowchart of determining the back electromotive force according to an embodiment of the present invention;

[0037] Figure 3 It is a schematic flowchart of constructing a fuzzy super-twisting sliding mode observer according to an embodiment of the present invention;

[0038] Figure 4 It is a schematic flowchart of determining the rotor position and rotor speed according to an embodiment of the present invention;

[0039] Figure 5 It is a schematic flowchart of the speed regulation control according to an embodiment of the present invention;

[0040] Figure 6 It is a three-dimensional view obtained by the fuzzy super-twisting sliding mode observer based on fuzzy rules according to an embodiment of the present invention;

[0041] Figure 7 The structure of the fuzzy PID controller according to an embodiment of the present invention;

[0042] Figure 8 A comparison diagram of the estimated position and the actual position determined by the fuzzy super-twisting sliding mode observer according to an embodiment of the present invention;

[0043] Figure 9 The speed response characteristic curve of the permanent magnet synchronous motor under no-load and load mutation conditions according to an embodiment of the present invention;

[0044] Figure 10 The speed response characteristic curve of the permanent magnet synchronous motor under variable speed conditions according to an embodiment of the present invention;

[0045] Figure 11 The system architecture diagram of the motor speed control device according to an embodiment of the present invention;

[0046] Figure 12 The system architecture diagram of the electronic device according to an embodiment of the present invention. Detailed implementation manners

[0047] To make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0048] It should be understood that the steps recorded in the method embodiments of the present invention can be executed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0049] As used herein, the term "comprising" and its variants are open-ended, that is, "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or mutual dependence relationship of the functions executed by these devices, modules or units.

[0050] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise clearly specified in the context, it should be understood as "one or more".

[0051] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0052] As Figure 1 shown, a motor speed regulation control method provided by an embodiment of the present invention includes:

[0053] S100: Determine the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term.

[0054] Specifically, the motor may include a permanent magnet synchronous motor. The fuzzy super-twisting sliding mode observer with an integral term can estimate the back electromotive force based on the mathematical model of the motor, thereby obtaining the position information of the rotor. Therefore, a sliding mode observer (such as a fuzzy super-twisting sliding mode observer) can replace position sensors such as a resolver and an eddy current sensor to detect the position of the motor rotor, which can reduce the cost of the electric drive assembly. Compared with the traditional first-order sliding mode observer, since the fuzzy super-twisting sliding mode observer itself includes an integral term, a low-pass filter (used to filter high-frequency signals to obtain a smooth back electromotive force waveform) can be omitted in the structure, so the phase lag problem caused by the low-pass filter can be avoided.

[0055] S200: Determine the rotor position and rotor speed of the motor according to the back electromotive force.

[0056] Specifically, the rotor position can be determined through the back electromotive force, eliminating the expensive position sensor. Furthermore, the rotor speed can be determined according to the rotor position; and the current loop can be optimized using the back electromotive force information to enhance the dynamic response ability.

[0057] Among them, the back electromotive force refers to the induced voltage generated by electromagnetic induction inside the motor, whose direction is opposite to the applied voltage, that is, during the operation of the motor itself, the induced electromotive force (the direction of the induced electromotive force is always opposite to the applied voltage) generated due to the stator winding cutting the magnetic field.

[0058] Among them, Figure 8 a comparison diagram of the estimated position and the actual position determined by the fuzzy super-twisting sliding mode observer is expanded. As Figure 8 can be seen, the estimated position (Estimation of rotor position) is close to the actual position (Real rotor position). Therefore, using the fuzzy super-twisting sliding mode observer can accurately determine the rotor position and rotor speed of the motor.

[0059] S300: Adjust the speed of the motor according to the rotor position and the rotor speed.

[0060] Specifically, in PID control, a double closed-loop control system can be adopted, that is, calculate the current reference value through the speed loop, control the inverter through the current loop, and make the motor operate according to the desired torque.

[0061] Among them, Figure 9 shows the speed response characteristic curves of the permanent magnet synchronous motor under no-load and load mutation conditions, Figure 10 shows the speed response characteristic curves of the permanent magnet synchronous motor under variable speed conditions. From Figure 9 and Figure 10 it can be seen that compared with the original permanent magnet synchronous motor speed control system (Original PMSM speed control system), the improved permanent magnet synchronous motor speed control system (Improved PMSM speed control system) of this embodiment has a more timely response; a sudden change in load will cause a sharp change in the electromagnetic torque demand of the motor. If the control system does not respond in time, it may cause a large fluctuation in the motor speed, thereby affecting the smooth driving of the vehicle.

[0062] In this embodiment, the back electromotive force can be determined based on a fuzzy super-twisting sliding mode observer with an integral term, which can replace position sensors such as resolvers and eddy current sensors to detect the position of the motor rotor, eliminating expensive position sensors. Therefore, the cost of the electric drive assembly can be reduced, and since the fuzzy super-twisting sliding mode observer itself contains an integral term, the low-pass filter can be omitted in the structure. Therefore, not only can the cost be reduced, but also the phase lag problem caused by the low-pass filter can be avoided.

[0063] Optionally, determining the back electromotive force based on the fuzzy super-twisting sliding mode observer with an integral term includes:

[0064] S110: Construct the fuzzy super-twisting sliding mode observer.

[0065] Specifically, as shown in Figure 2 , first construct a super-twisting sliding mode observer, and then optimize the super-twisting sliding mode observer based on the fuzzy control principle to construct a fuzzy super-twisting sliding mode observer.

[0066] S120: Determine the back electromotive force according to the fuzzy super-twisting sliding mode observer and the mathematical model of the motor.

[0067] Specifically, as shown in Figure 2 , taking the permanent magnet synchronous motor as an example, the mathematical model of the permanent magnet synchronous motor in the two-phase static coordinate system can be expressed as:

[0068]

[0069] Among them, R S and L S represent the motor resistance and the motor inductance respectively, and e α and e β represent the back electromotive forces of the α-axis and the β-axis respectively, and uα and uβ represent the voltage of the motor (the stator voltage of the α-β axis);

[0070] Determine the following results according to the difference between the expression of the following hyper-twisting sliding mode observer and the expression of the mathematical model of the above permanent magnet synchronous motor:

[0071]

[0072] The back electromotive forces of the α-β axis estimated by the hyper-twisting sliding mode observer can be expressed as:

[0073]

[0074] Among them, K 1α and K 11β and K 2α and K 2β are constants, represents the difference between the estimated current and the actual current.

[0075] The basic idea of the sliding mode observer is to construct a current observer through the mathematical model of the permanent magnet synchronous motor, and then use the sliding mode control method to approximate the actual current, so as to indirectly estimate the back electromotive force.

[0076] In this optional embodiment, the back electromotive force is determined according to the fuzzy hyper-twisting sliding mode observer and the mathematical model of the permanent magnet synchronous motor, and the estimated back electromotive force can be stably tracked through the sliding mode control law, and it has strong anti-noise ability.

[0077] Optionally, constructing the fuzzy hyper-twisting sliding mode observer includes:

[0078] S111: Construct a hyper-twisting sliding mode observer, where the hyper-twisting sliding mode observer uses the hyperbolic tangent function as the switching function.

[0079] Specifically, as shown in Figure 3 the hyper-twisting sliding mode observer can be expressed as:

[0080]

[0081] Among them, represent the estimated current of the α-axis and the estimated current of the β-axis respectively, and R S and L Srespectively represent the motor resistance and the motor inductance, sgn() represents the sign function, u α 、u β represent the voltage of the motor (representing the stator voltages of the α-β axes respectively), represents the difference between the estimated current and the actual current, and K1 and K2 are constants;

[0082] Among them, the super-twisting sliding mode observer uses the hyperbolic tangent function as the switching function, and the hyperbolic tangent function can be expressed as:

[0083]

[0084] Among them, a represents the curve coefficient of the hyperbolic tangent function, and X represents the independent variable.

[0085] Since permanent magnet synchronous motors will exhibit chattering phenomena when using sliding mode observers for control, chattering will cause errors in rotor position estimation. For example, when using the traditional sign function as the control switching law, the image characteristic is a step function with a sudden change. The control signal suddenly jumps at s = 0 (s represents the sliding mode surface, which determines whether the system state is in the sliding mode state), resulting in chattering. By using the hyperbolic tangent function to replace the sign function, the image characteristic is a smooth S-shaped curve, and the control signal gradually transitions smoothly when s≈0, converting the discrete switching control into a smooth continuous control, which can reduce the generation probability of chattering phenomena.

[0086] S112: Optimize the super-twisting sliding mode observer based on the fuzzy control principle to construct the fuzzy super-twisting sliding mode observer.

[0087] Specifically, as shown in Figure 3 , optimize the super-twisting sliding mode observer through a fuzzy controller, thereby constructing a fuzzy super-twisting sliding mode observer.

[0088] In this optional embodiment, by setting the super-twisting sliding mode observer to use the hyperbolic tangent function as the switching function, the generation probability of chattering phenomena can be reduced; optimizing the super-twisting sliding mode observer based on the fuzzy control principle can improve the rotational speed anti-interference ability of the permanent magnet synchronous motor, and can also improve problems such as safety issues caused by frequent operation mode switching of the electric drive system and weakening of dynamic performance caused by sudden load changes.

[0089] Optionally, the construction of the super-twisting sliding mode observer includes:

[0090] Apply the super-twisting sliding mode control algorithm to the sliding mode observer to construct the super-twisting sliding mode observer, where the super-twisting sliding mode control algorithm is constructed based on the sliding mode gain, sign function, and external disturbance of the super-twisting sliding mode observer.

[0091] Specifically, the super-twisting sliding mode control algorithm can be expressed as:

[0092]

[0093] Wherein, K1 and K2 represent the gains of the sliding mode observer and both K1 and K2 are greater than 0; x1 and x2 represent state variables, sgn() represents the sign function, and ρ1(x1,t) and ρ2(x2,t) represent external disturbances;

[0094] In this embodiment, applying the super-twisting sliding mode control algorithm to the sliding mode observer can construct a super-twisting sliding mode observer; the other design processes of the super-twisting sliding mode observer are the same as those of the conventional sliding mode observer design process, which will not be elaborated here.

[0095] In this alternative embodiment, by applying the super-twisting sliding mode control algorithm to the sliding mode observer to construct a super-twisting sliding mode observer, the back electromotive force can be smoothly estimated, and then the rotor position and speed can be further calculated, and finally sensorless control can be achieved.

[0096] Optionally, optimizing the super-twisting sliding mode observer based on the fuzzy control principle includes:

[0097] Optimizing the super-twisting sliding mode observer through a fuzzy controller, wherein the inputs of the fuzzy controller include the current error and the rate of change of the current error of the motor, and the output of the fuzzy controller includes an intermediate gain, and the intermediate gain is related to the sliding mode gain of the super-twisting sliding mode observer.

[0098] Specifically, optimizing the improved super-twisting sliding mode observer based on the fuzzy control principle, estimating the upper bound of the boundary function through fuzzy control (the super-twisting control algorithm depends on the upper bound of the boundary function, but in actual processes, it is difficult to obtain the upper bound of the boundary function). For example, a two-dimensional controller is selected, that is, a 2-input 1-output mode, the inputs include the current error and the rate of change of the current error, and the output includes an intermediate gain. The relationship between the sliding mode gains K1 and K2 of the super-twisting sliding mode observer and the intermediate gain λ output by the fuzzy controller can be expressed as:

[0099]

[0100] Wherein, Figure 6 Shows the three-dimensional view obtained by the fuzzy super-twisting sliding mode observer based on the fuzzy rules.

[0101] In this alternative embodiment, the super-twisting sliding mode observer is optimized by a fuzzy controller to eliminate the influence of system states (such as current and back electromotive force) on load disturbances, parameter uncertainties, and noise (the relevant influences make it difficult to obtain the upper limit of the boundary layer function), which can improve the anti-interference ability of the rotational speed of the permanent magnet synchronous motor and can also improve problems such as safety issues caused by frequent operation mode switching of the electric drive system and weakening of dynamic performance caused by sudden load changes.

[0102] Optionally, determining the rotor position and rotor speed of the motor according to the back electromotive force includes:

[0103] S210: Determine the rotor angle of the motor according to the back electromotive force, where the rotor angle is used to represent the rotor position.

[0104] Specifically, as shown in Figure 4 , rotor position information and speed signals can be obtained through the back electromotive force, that is:

[0105]

[0106] where respectively represent the estimated values of the back electromotive force on the α-axis and β-axis, represents the estimated value of the rotor angle, represents the estimated value of the speed; the rotor angle is a quantitative expression of the rotor position, that is, the rotor position can be expressed as 0° to 360°.

[0107] S220: Determine the rotor speed of the motor according to the rotor angle.

[0108] Specifically, as shown in Figure 4 , according to the above formula, after determining the rotor angle, numerical differentiation can be performed on the rotor angle to determine the rotor speed.

[0109] In this alternative embodiment, the rotor angle can be determined according to the back electromotive force, and then the rotor speed can be determined. By eliminating the expensive position sensor, the cost of the electric drive assembly can be reduced.

[0110] Optionally, controlling the speed of the motor according to the rotor position and the rotor speed includes:

[0111] S310: Modify the PID parameters based on a fuzzy PID controller, where the inputs of the fuzzy PID controller include the speed error and the rate of change of the speed error of the motor, and the output of the fuzzy PID controller includes the correction value of the PID parameters.

[0112] Specifically, as shown in Figure 5 and Figure 7As shown, fuzzy PID control corrects the PID parameters (K p , K i , K d ) in the PID controller through fuzzy control. The inputs of the fuzzy PID controller include the rotational speed error and the change rate of the rotational speed error, and the outputs include the correction values of the PID parameters, that is, △K p , △K i , △K d . Combining them with the output by the PID controller realizes the correction of the control parameters. For the speed control system of a permanent magnet synchronous motor (PMSM), fuzzy PID control performs fuzzy processing on the deviation e of the rotational speed and the change rate of the deviation e c , obtains the PID correction value based on the fuzzy rules, then inputs it into the PID controller, and finally obtains the output quantities K p , K i , K d of the fuzzy PID controller, and uses them to control the controlled object (such as a motor).

[0113] Among them, at the Nth sampling time, the proportional, integral, and differential parameters processed by the fuzzy PID controller are tuned to:

[0114]

[0115] S320: Perform speed control on the motor based on the correction value of the PID parameter.

[0116] Specifically, as shown in Figure 5 , perform speed control on the motor based on the correction value of the PID parameter. For example, adjust the rotational speed of the motor to ensure that it tracks the set value, and adjust the motor current to provide a stable torque, that is, use a fuzzy PID controller to replace the PID controller. Since fuzzy control does not require an accurate model of the controlled object, it has a good control effect when dealing with controlled objects with nonlinear characteristics such as permanent magnet synchronous motors.

[0117] In this optional embodiment, after correcting the PID parameters based on the fuzzy PID controller, performing speed control on the motor based on the correction value of the PID parameter can improve the rotational speed anti-interference ability of the permanent magnet synchronous motor.

[0118] As shown in Figure 11 , a motor speed control device 1100 provided by an embodiment of the present invention includes:

[0119] A first module 1110, configured to determine the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term;

[0120] A second module 1120, configured to determine the rotor position and rotor speed of the motor according to the back electromotive force;

[0121] A third module 1130, configured to perform speed regulation control on the motor according to the rotor position and the rotor speed.

[0122] As Figure 12 shown, an electronic device 1200 provided by an embodiment of the present invention includes a memory 1220 and a processor 1210; the memory 1220 is configured to store a computer program; the processor 1210 is configured to implement the motor speed regulation control method as described above when executing the computer program.

[0123] Or, an electronic device 1200 includes a memory 1220 and a processor 1210 coupled to the memory 1220; the memory 1220 is configured to store a computer program; the processor 1210 is configured to perform the following operations when executing the computer program:

[0124] Determine the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term;

[0125] Determine the rotor position and rotor speed of the motor according to the back electromotive force;

[0126] Perform speed regulation control on the motor according to the rotor position and the rotor speed.

[0127] A computer-readable storage medium provided by an embodiment of the present invention has a computer program stored thereon, and when the computer program is executed by a processor, the motor speed regulation control method as described above is implemented.

[0128] Or, a non-volatile computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the processor is caused to perform the following operations:

[0129] Determine the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term;

[0130] Determine the rotor position and rotor speed of the motor according to the back electromotive force;

[0131] Perform speed regulation control on the motor according to the rotor position and the rotor speed.

[0132] Now, an electronic device 1200 that can be a server or a client of the present invention will be described. It is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 1200 is intended to represent various forms of digital electronic computer devices, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 1200 can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0133] The electronic device 1200 includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, the ROM, and the RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0134] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The 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 methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention. In addition, the functional units in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0135] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. A motor speed control method, characterized in that, Comprising: Determining the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term; Determining the rotor position and rotor speed of the motor according to the back electromotive force; Performing speed regulation control on the motor according to the rotor position and the rotor speed.

2. The motor speed regulation control method according to claim 1, characterized in that, The determining the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term includes: Constructing the fuzzy super-twisting sliding mode observer; Determining the back electromotive force according to the fuzzy super-twisting sliding mode observer and the mathematical model of the motor.

3. The motor speed control method according to claim 2, wherein The constructing the fuzzy super-twisting sliding mode observer includes: Constructing a super-twisting sliding mode observer, wherein the super-twisting sliding mode observer uses a hyperbolic tangent function as a switching function; Optimizing the super-twisting sliding mode observer based on the fuzzy control principle to construct the fuzzy super-twisting sliding mode observer.

4. The motor speed control method according to claim 3, characterized in that, The constructing the super-twisting sliding mode observer includes: Applying a super-twisting sliding mode control algorithm to the sliding mode observer to construct the super-twisting sliding mode observer, wherein the super-twisting sliding mode control algorithm is constructed based on the sliding mode gain, sign function and external disturbance of the super-twisting sliding mode observer.

5. The motor speed regulation control method according to claim 3, wherein The optimizing the super-twisting sliding mode observer based on the fuzzy control principle includes: Optimizing the super-twisting sliding mode observer through a fuzzy controller, wherein the inputs of the fuzzy controller include the current error and the rate of change of the current error of the motor, and the output of the fuzzy controller includes an intermediate gain, and the intermediate gain is related to the sliding mode gain of the super-twisting sliding mode observer.

6. The motor speed control method according to claim 1, characterized in that The determining the rotor position and rotor speed of the motor according to the back electromotive force includes: Determining the rotor angle of the motor according to the back electromotive force, wherein the rotor angle is used to characterize the rotor position; Determining the rotor speed of the motor according to the rotor angle.

7. The motor speed control method according to claim 1, characterized in that, The performing speed regulation control on the motor according to the rotor position and the rotor speed includes: Correcting the PID parameters based on a fuzzy PID controller, wherein the inputs of the fuzzy PID controller include the speed error and the rate of change of the speed error of the motor, and the output of the fuzzy PID controller includes the correction value of the PID parameters; Performing speed regulation control on the motor based on the correction value of the PID parameters.

8. A motor speed control device, characterized in that, Comprising: A first module for determining the back electromotive force of the motor based on a fuzzy super-twisting sliding mode observer with an integral term; A second module for determining the rotor position and rotor speed of the motor according to the back electromotive force; A third module for performing speed regulation control on the motor according to the rotor position and the rotor speed.

9. An electronic device, characterized in that, Including a memory and a processor; The memory is used for storing a computer program; The processor is used for, when executing the computer program, implementing the motor speed regulation control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by the processor, the motor speed regulation control method according to any one of claims 1 to 7 is implemented.

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