Electromagnetic force compensation method and system based on virtual displacement

Abstract

The invention proposes an electromagnetic force compensation method and system based on virtual displacement, and relates to the technical field of electromagnetic force compensation, and the method comprises the steps: constructing an electromagnetic regulation and control system, calculating first electromagnetic force compensation data and second electromagnetic force compensation data, and obtaining a compensation amount ratio and a corresponding compensation amount gradient; respectively analyzing the dynamic item and the constraint condition, triggering a dynamic item gradient corresponding instruction and / or a constraint gradient corresponding instruction according to analysis information, and further obtaining a dynamic item influence ratio and / or a constraint condition influence ratio; according to the method, the compensation amount influence factors are determined through the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio, then influence data adjustment is carried out, classification adjustment can be carried out on electromagnetic force compensation when the electromagnetic force influence factors change, and the accuracy of electromagnetic force compensation is improved.

Description

Technical Field

[0001] The present invention proposes a virtual displacement-based electromagnetic force compensation method and system, which relate to the technical field of electromagnetic force compensation, and particularly to the technical field of virtual displacement-based electromagnetic force compensation. Background Art

[0002] As the system evolves towards high speed, high load and strong disturbance environment, traditional electromagnetic force control technology faces two major influencing factors: dynamic term influence and constraint boundary conflict. Existing technologies mostly deal with the above problems through fixed gain compensation or discrete constraint management, but there are defects such as contradiction between compensation accuracy and robustness, constraint priority conflict, and difficulty in determining the category of influencing factors. Summary of the Invention

[0003] The present invention provides an electromagnetic force compensation method and system based on virtual displacement to solve the above problems:

[0004] The present invention proposes a method and system for electromagnetic force compensation based on virtual displacement, the method comprising:

[0005] S1. Build an electromagnetic control system, obtain an initial electromagnetic force, and calculate first electromagnetic force compensation data;

[0006] S2. Monitoring the change data of the initial electromagnetic force, calculating the second electromagnetic force compensation data according to the change data, and obtaining the compensation amount ratio and its corresponding compensation amount gradient according to the second electromagnetic force compensation data combined with the first electromagnetic force compensation data;

[0007] S3. Analyze the dynamic item and the constraint conditions respectively, trigger the dynamic item gradient corresponding instruction and / or the constraint gradient corresponding instruction according to the analysis information, and then obtain the dynamic item influence ratio and / or the constraint condition influence ratio;

[0008] S4. Determine the compensation amount influencing factors through the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio, and then adjust the influencing data.

[0009] Furthermore, the S1 includes:

[0010] Construct an electromagnetic control system through an electromagnetic output system and an electromagnetic receiving system;

[0011] Obtaining the initial electromagnetic force of the electromagnetic control system, calculating the initial virtual work based on the initial electromagnetic force, determining the system equilibrium state of the electromagnetic control system based on the initial virtual work, and obtaining system equilibrium state determination information;

[0012] Obtain electromagnetic compensation amount according to the system equilibrium state judgment information, and obtain target virtual work according to the electromagnetic compensation amount;

[0013] The electromagnetic control system is again judged in a system equilibrium state according to the target virtual work until the system equilibrium judgment information indicates that the system is in an equilibrium state;

[0014] When the system balance state is determined to be a balance state, the current compensation amount is calculated based on the electromagnetic compensation amount combined with the Jacobian matrix, the current is adjusted by the current compensation amount, and then the electromagnetic force compensation is performed to obtain the first electromagnetic force compensation data.

[0015] Furthermore, the S2 includes:

[0016] Continuously monitor the initial electromagnetic force to obtain electromagnetic force change data;

[0017] Performing change state determination on the electromagnetic force change data to obtain electromagnetic force state determination information;

[0018] acquiring second electromagnetic force compensation data according to the electromagnetic force state determination information;

[0019] Calculating a ratio of the second electromagnetic force compensation data to the first electromagnetic force compensation data to obtain a compensation amount ratio;

[0020] A preset compensation amount ratio gradient is obtained, and the compensation amount ratio is compared with a preset compensation amount difference gradient to obtain a compensation amount gradient corresponding to the compensation amount ratio.

[0021] Furthermore, the S3 includes:

[0022] Continuously monitor the data of dynamic items and obtain the data of dynamic item changes;

[0023] Performing change status determination on dynamic item change data to obtain dynamic item status determination information;

[0024] Trigger the dynamic item gradient corresponding instruction according to the dynamic item status determination information;

[0025] Obtain the dynamic item data when the instruction corresponding to the dynamic item gradient is triggered, and obtain the dynamic item impact data;

[0026] Calculate the dynamic item impact ratio through dynamic item impact data;

[0027] Continuously monitor constraint data to obtain constraint change data;

[0028] Performing change state determination on the constraint condition change data to obtain constraint condition state determination information;

[0029] Trigger the constraint gradient corresponding instruction according to the constraint condition state judgment information;

[0030] Obtain the constraint condition data when triggering the corresponding instruction of the constraint gradient and obtain the constraint condition impact data;

[0031] The constraint influence ratio is calculated by using the constraint influence data.

[0032] Furthermore, the S4 includes:

[0033] When the dynamic item gradient corresponding instruction and the constraint gradient corresponding instruction are obtained, the compensation amount influencing factor is determined through the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio; when the compensation amount influencing factor is a dynamic item, the electromagnetic force compensation data is recalculated and adjusted to obtain the electromagnetic force compensation amount adjustment data.

[0034] When the compensation amount influencing factor is a constraint condition, the constraint condition is adjusted to obtain constraint condition adjustment data.

[0035] Furthermore, the system includes:

[0036] A first compensation calculation module is used to construct an electromagnetic control system, obtain an initial electromagnetic force, and calculate first electromagnetic force compensation data;

[0037] a comparative compensation analysis module, configured to monitor the change data of the initial electromagnetic force, calculate the second electromagnetic force compensation data based on the change data, and obtain the compensation amount ratio and its corresponding compensation amount gradient based on the second electromagnetic force compensation data combined with the first electromagnetic force compensation data;

[0038] An influencing factor analysis module is used to analyze dynamic items and constraints respectively, trigger dynamic item gradient corresponding instructions and / or constraint gradient corresponding instructions based on the analysis information, and then obtain dynamic item influence ratio and / or constraint influence ratio;

[0039] The factor determination and adjustment module is used to determine the compensation amount influencing factors through the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio, and then adjust the influence data.

[0040] Furthermore, the first compensation calculation module includes:

[0041] A system building module, used to build an electromagnetic control system through an electromagnetic output system and an electromagnetic receiving system;

[0042] A preliminary determination module is used to obtain the initial electromagnetic force of the electromagnetic control system, calculate the initial virtual work based on the initial electromagnetic force, determine the system equilibrium state of the electromagnetic control system based on the initial virtual work, and obtain system equilibrium state determination information;

[0043] A depth determination module is used to obtain electromagnetic compensation amount based on system equilibrium state determination information, and obtain target virtual work based on the electromagnetic compensation amount;

[0044] The electromagnetic control system is again judged in a system equilibrium state according to the target virtual work until the system equilibrium judgment information indicates that the system is in an equilibrium state;

[0045] The preliminary acquisition module is used to calculate the current compensation amount according to the electromagnetic compensation amount combined with the Jacobian matrix when the system equilibrium state judgment information is the equilibrium state, adjust the current through the current compensation amount, and then perform electromagnetic force compensation to obtain the first electromagnetic force compensation data.

[0046] Furthermore, the comparison compensation analysis module includes:

[0047] The second acquisition module is used to continuously monitor the initial electromagnetic force and obtain electromagnetic force change data;

[0048] Performing change state determination on the electromagnetic force change data to obtain electromagnetic force state determination information;

[0049] acquiring second electromagnetic force compensation data according to the electromagnetic force state determination information;

[0050] A comparison gradient corresponding module is used to calculate the ratio of the second electromagnetic force compensation data to the first electromagnetic force compensation data to obtain a compensation amount ratio;

[0051] A preset compensation amount ratio gradient is obtained, and the compensation amount ratio is compared with a preset compensation amount difference gradient to obtain a compensation amount gradient corresponding to the compensation amount ratio.

[0052] Furthermore, the influencing factor analysis module includes:

[0053] Dynamic item analysis module, used to continuously monitor the data of dynamic items and obtain dynamic item change data;

[0054] Performing change status determination on dynamic item change data to obtain dynamic item status determination information;

[0055] Trigger the dynamic item gradient corresponding instruction according to the dynamic item status determination information;

[0056] Obtain the dynamic item data when the instruction corresponding to the dynamic item gradient is triggered, and obtain the dynamic item impact data;

[0057] Calculate the dynamic item impact ratio through dynamic item impact data;

[0058] The constraint analysis module is used to continuously monitor the constraint data and obtain constraint change data;

[0059] Performing change state determination on the constraint condition change data to obtain constraint condition state determination information;

[0060] Trigger the constraint gradient corresponding instruction according to the constraint condition state judgment information;

[0061] Obtain the constraint condition data when triggering the corresponding instruction of the constraint gradient and obtain the constraint condition impact data;

[0062] The constraint influence ratio is calculated by using the constraint influence data.

[0063] Furthermore, the factor determination and adjustment module includes:

[0064] An influencing factor determination module is configured to determine a compensation amount influencing factor based on compensation amount gradient data, a dynamic item influence ratio, and / or a constraint condition influence ratio when obtaining a dynamic item gradient corresponding instruction and a constraint gradient corresponding instruction;

[0065] The factor adjustment module is used to recalculate and adjust the electromagnetic force compensation data when the compensation amount influencing factor is a dynamic item to obtain the electromagnetic force compensation amount adjustment data.

[0066] When the compensation amount influencing factor is a constraint condition, the constraint condition is adjusted to obtain constraint condition adjustment data.

[0067] Beneficial effects of the present invention: The electromagnetic force compensation amount is adjusted according to the analysis data to ensure that the system always meets the dynamic requirements and constraints. By continuously monitoring the electromagnetic force change data and calculating the compensation amount gradient, the compensation amount can be adjusted in real time to effectively offset dynamic interference (such as load mutation, external vibration), and improve the dynamic response speed of the system. The compensation amount gradient mechanism avoids sudden changes in the compensation amount and ensures smooth operation of the system. By monitoring the constraint condition change data and triggering the constraint gradient instruction, it can be ensured that the system always operates within the safety boundary). When the dynamic terms and constraints conflict (such as the inertial force demand compensation amount exceeds the constraint upper limit), the key constraints are preferentially satisfied through the impact ratio analysis. Taking into account the influence of dynamic terms and constraints at the same time, the system instability caused by single factor compensation is avoided (such as only compensating for inertia force and ignoring constraints may lead to over-compensation).

[0068] Using the principle of virtual displacement, we predict compensation needs in advance, enhancing the system's adaptability to complex operating conditions (such as nonlinear loads and time-varying disturbances). We adjust compensation based on actual demand to avoid energy waste caused by overcompensation. While satisfying constraints, we dynamically adjust compensation strategies to reduce energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 Schematic diagram of an electromagnetic force compensation method based on virtual displacement. DETAILED DESCRIPTION

[0070] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0071] One embodiment of the present invention provides a method and system for electromagnetic force compensation based on virtual displacement, the method comprising:

[0072] S1. Build an electromagnetic control system, obtain an initial electromagnetic force, and calculate first electromagnetic force compensation data;

[0073] S2. Monitoring the change data of the initial electromagnetic force, calculating the second electromagnetic force compensation data according to the change data, and obtaining the compensation amount ratio and its corresponding compensation amount gradient according to the second electromagnetic force compensation data combined with the first electromagnetic force compensation data;

[0074] S3. Analyze the dynamic item and the constraint conditions respectively, trigger the dynamic item gradient corresponding instruction and / or the constraint gradient corresponding instruction according to the analysis information, and then obtain the dynamic item influence ratio and / or the constraint condition influence ratio;

[0075] S4, determine the compensation amount influencing factors through the compensation amount gradient data, dynamic item influence ratio and / or constraint condition influence ratio, and then adjust the influence data, such as Figure 1 shown.

[0076] The working principle and technical effect of the above technical solution are as follows: an electromagnetic control system is constructed to generate an initial electromagnetic force through the interaction of an electromagnetic field with a target object (such as a suspended object or a driving platform). Based on the initial electromagnetic state data of the target object, first electromagnetic force compensation data is calculated to offset the initial electromagnetic force deficiency.

[0077] The force sensor continuously monitors the change in the initial electromagnetic force and calculates the second electromagnetic force compensation data based on the monitored electromagnetic force change data. The second electromagnetic force compensation data reflects the dynamic requirements of the electromagnetic force during system operation (such as load changes and external interference).

[0078] The ratio of the second compensation data to the first compensation data is calculated to obtain a compensation amount gradient.

[0079] The dynamic terms that affect the electromagnetic force (such as inertial force and damping force) are analyzed and the influence ratio of the dynamic terms is calculated.

[0080] Analyze the system operation boundary, obtain constraint change data, and calculate the constraint impact ratio.

[0081] According to the dynamic item analysis results, the corresponding instructions of the dynamic item gradient are triggered.

[0082] According to the results of constraint analysis, the corresponding instructions of the constraint gradient are triggered.

[0083] The compensation gradient data, dynamic item influence ratio and constraint condition influence ratio are integrated and analyzed to determine the main factors currently affecting the electromagnetic force compensation amount.

[0084] If the impact of dynamic items is dominant, the dynamic item compensation strategy should be adjusted first.

[0085] If the impact of the constraint conditions is significant, the compensation strategy corresponding to the constraint conditions should be adjusted first (such as lowering the upper limit of the compensation amount).

[0086] The electromagnetic force compensation amount is adjusted according to the analysis results to ensure that the system always meets the dynamic requirements and constraints.

[0087] By continuously monitoring the electromagnetic force change data and calculating the compensation gradient, the compensation amount can be adjusted in real time to effectively offset dynamic interference (such as load mutations and external vibrations) and improve the dynamic response speed of the system.

[0088] The compensation gradient mechanism avoids sudden changes in the compensation amount and ensures smooth operation of the system.

[0089] By monitoring constraint change data and triggering constraint gradient instructions, the system can be ensured to always operate within the safety boundary).

[0090] When the dynamic terms conflict with the constraints (such as the required inertia force compensation exceeds the upper limit of the constraint), the key constraints are preferentially satisfied through influence ratio analysis.

[0091] The influence of dynamic terms and constraints is considered at the same time to avoid system instability caused by single factor compensation (for example, only compensating for inertia force while ignoring constraints may lead to overcompensation).

[0092] The virtual displacement principle is used to predict compensation requirements in advance and enhance the system's adaptability to complex working conditions (such as nonlinear loads and time-varying interference).

[0093] Adjust the compensation amount according to actual needs to avoid energy waste caused by over-compensation.

[0094] Under the premise of meeting the constraints, the compensation strategy is dynamically adjusted to reduce energy consumption.

[0095] In one embodiment of the present invention, S1 includes:

[0096] Construct an electromagnetic control system through an electromagnetic output system and an electromagnetic receiving system;

[0097] Obtaining the initial electromagnetic force of the electromagnetic control system, calculating the initial virtual work based on the initial electromagnetic force, determining the system equilibrium state of the electromagnetic control system based on the initial virtual work, and obtaining system equilibrium state determination information;

[0098] Obtain electromagnetic compensation amount according to the system equilibrium state judgment information, and obtain target virtual work according to the electromagnetic compensation amount;

[0099] The electromagnetic control system is again judged in a system equilibrium state according to the target virtual work until the system equilibrium judgment information indicates that the system is in an equilibrium state;

[0100] When the system balance state is determined to be a balance state, the current compensation amount is calculated based on the electromagnetic compensation amount combined with the Jacobian matrix, the current is adjusted by the current compensation amount, and then the electromagnetic force compensation is performed to obtain the first electromagnetic force compensation data.

[0101] The working principle and technical effect of the above technical solution are: an electromagnetic control system is constructed through an electromagnetic output system and an electromagnetic receiving system; the electromagnetic output system is a device that outputs current to achieve the purpose of electromagnetic control, and the electromagnetic receiving system is a device that passively compensates for electromagnetic force.

[0102] The specific steps of the above method include:

[0103] Obtain the initial virtual work, the calculation formula of the initial virtual work is:

[0104] δW 01 =F0*δZ

[0105] Among them, δW 01 is the initial virtual work, F0 is the initial electromagnetic force, and δZ is the imaginary infinitesimal displacement (virtual displacement);

[0106] When F0 is insufficient to balance the load, a virtual displacement is generated. At this time, F0*δZ is negative and the system is unstable.

[0107] By increasing the current ΔI, the suction force ΔF is increased, and the target virtual work is obtained through ΔF;

[0108] The calculation method of ΔF includes:

[0109] First calculate the Jacobian matrix;

[0110]

[0111] Where J is the Jacobian matrix, is the partial derivative of the electromagnetic force with respect to displacement;

[0112] Calculate the electromagnetic compensation through the Jacobian matrix and virtual displacement:

[0113] ΔF=J*δZ

[0114] Wherein, ΔF is the electromagnetic compensation amount, J is the Jacobian matrix;

[0115] The calculation formula of the target virtual work is:

[0116] Make virtual work δW=(F0+ΔF)·δz=0 (equilibrium state).

[0117] δW 02 =(F0+ΔF)*δZ

[0118] At this time, (F0+ΔF)*δZ=0, and the system is in equilibrium.

[0119] Calculate the current compensation amount by combining the electromagnetic compensation amount with the Jacobian matrix;

[0120] The calculation formula of the current compensation amount is:

[0121]

[0122] Among them, ΔI is the current compensation amount.

[0123] The system's initial electromagnetic force is obtained through sensors in the electromagnetic control system (such as force sensors and Hall-effect sensors). This initial electromagnetic force reflects the strength of the electromagnetic interaction in the system's initial state. Based on the principle of virtual displacement, the initial virtual work is calculated by multiplying the initial electromagnetic force by the virtual displacement. Virtual displacement is the small displacement allowed within the system's constraints, and the virtual work reflects the energy change trend of the system under this displacement. This generates information to determine the system's equilibrium state (e.g., "unbalanced" or "balanced").

[0124] Based on the information on the system's equilibrium state, the electromagnetic compensation amount is calculated. The electromagnetic compensation amount is used to offset the unbalanced force in the system (such as increasing or decreasing the electromagnetic force).

[0125] The target virtual work is calculated based on the product of the electromagnetic compensation and the virtual displacement. The target virtual work reflects the energy change trend of the system after compensation and must meet the equilibrium condition.

[0126] When the system reaches equilibrium, the current compensation is calculated based on the electromagnetic compensation and the Jacobian matrix (a linearized model describing the relationship between electromagnetic force and current). The Jacobian matrix reflects the sensitivity of the electromagnetic force to the current.

[0127] The current in the electromagnetic control system is adjusted by the current compensation amount (such as increasing or decreasing the driving current of the electromagnet), thereby achieving accurate compensation of the electromagnetic force and obtaining the first electromagnetic force compensation data.

[0128] Through virtual work calculation and balance determination, the system equilibrium state can be accurately determined. Zero virtual work is a necessary and sufficient condition for system equilibrium, ensuring the accuracy of the determination result.

[0129] By iteratively calculating the target virtual work and adjusting the electromagnetic compensation amount, the true equilibrium state of the system is gradually approached, avoiding the local optimal problem that may exist in traditional methods.

[0130] The electromagnetic compensation is converted into current compensation through the Jacobian matrix, achieving precise control of electromagnetic force compensation. The linearization of the Jacobian matrix simplifies the control difficulty of complex nonlinear systems.

[0131] During system operation, the changes in electromagnetic force can be monitored in real time and the current compensation amount can be dynamically adjusted to ensure that the electromagnetic force always meets the balance requirements.

[0132] Through closed-loop control of virtual work balance determination and electromagnetic force compensation, the system can automatically adjust to a balanced state, effectively suppressing the impact of external interference on the system.

[0133] Under dynamic working conditions, the system can respond quickly and adjust the electromagnetic force compensation to maintain stable operation.

[0134] In one embodiment of the present invention, the S2 includes:

[0135] Continuously monitor the initial electromagnetic force to obtain electromagnetic force change data;

[0136] Performing change state determination on the electromagnetic force change data to obtain electromagnetic force state determination information;

[0137] acquiring second electromagnetic force compensation data according to the electromagnetic force state determination information;

[0138] Calculating a ratio of the second electromagnetic force compensation data to the first electromagnetic force compensation data to obtain a compensation amount ratio;

[0139] Obtain a preset compensation ratio gradient, compare the compensation ratio with a preset compensation difference gradient, and obtain a corresponding compensation gradient of the compensation ratio. The compensation gradient reflects the coefficient of influencing factors (influencing factors include dynamic terms and / or constraints, etc.).

[0140] The working principle and technical effect of the above technical solution are: real-time monitoring of the initial electromagnetic force in the electromagnetic control system to obtain a continuous data stream of the electromagnetic force changing with time.

[0141] The monitoring data is filtered (such as Kalman filtering, sliding average filtering) and denoised to eliminate noise interference and retain the true trend of electromagnetic force changes.

[0142] The state is determined based on the characteristics of the electromagnetic force change data.

[0143] When the change characteristic is greater than a preset change threshold (which can be set based on experience or industry standards), the second electromagnetic force compensation data is calculated according to the above electromagnetic force compensation data calculation steps. The compensation data reflects the deviation between the current electromagnetic force demand and the initial state.

[0144] The ratio of the second electromagnetic force compensation data to the first electromagnetic force compensation data (ie, the compensation amount ratio) is calculated.

[0145] The compensation ratio gradient is preset (such as "slow gradient", "fast gradient" and "overlimit gradient"). Each gradient corresponds to a different ratio determination range. For example:

[0146] Slow gradient: ratio <10% / s;

[0147] Fast gradient: ratio 10% to 50% / s;

[0148] Over-limit gradient: ratio >50% / s.

[0149] Compare the compensation ratio with the preset gradient to determine the compensation gradient corresponding to the current compensation ratio. For example:

[0150] If the ratio is 30%, it is judged as a "fast gradient".

[0151] The compensation gradient reflects the speed of change of electromagnetic force demand, and indirectly reflects the type and intensity of influencing factors (such as dynamic terms and constraints). For example:

[0152] Rapid gradients may be caused by sudden changes in inertial forces or sudden changes in constraints (data breaking through extreme values);

[0153] Excessive gradients may trigger system protection mechanisms (such as downgraded operation).

[0154] By continuously monitoring changes in electromagnetic force and calculating the compensation ratio, the system can perceive the dynamic changes in electromagnetic force demand in real time, quickly adjust the compensation amount, and avoid lag or overcompensation.

[0155] The compensation gradient mechanism realizes the hierarchical adjustment of the compensation amount. For example:

[0156] Under “slow gradient”, a conservative adjustment strategy is adopted (no increase in compensation amount);

[0157] Under “Fast Gradient”, an aggressive adjustment strategy is adopted (such as significantly increasing the compensation amount and starting dynamic term compensation).

[0158] The compensation gradient indirectly reflects the impact category and intensity of dynamic terms (such as inertia force, damping force) and constraints (such as current upper limit, air gap constraint). For example:

[0159] Rapid gradients may be caused by sudden changes in inertial forces (such as load acceleration);

[0160] Exceeding the limit gradient may be triggered by a constraint violation (such as exceeding the current limit).

[0161] By determining the gradient, the dominant influencing factors can be located and the coordinated control strategy can be triggered. For example:

[0162] If the gradient is dominated by inertial force, the dynamic term compensation is adjusted first;

[0163] If the gradient is dominated by the constraints, it is preferred to adjust the constraint bounds or switch the control mode.

[0164] Through the gradient comparison mechanism, the system can distinguish normal fluctuations from abnormal interference (such as sensor noise vs. load mutation) to avoid false triggering of compensation adjustments.

[0165] When the compensation gradient reaches "overlimit", the system can automatically start protection measures (such as limiting the compensation amount, switching to the backup control algorithm) to prevent the system from losing control.

[0166] Through gradient adjustment, the system increases the compensation amount only when necessary, avoiding energy waste caused by ineffective compensation. For example:

[0167] Under “slow gradient”, a low power compensation strategy is adopted;

[0168] In Fast Gradient, the compensation amount is increased only during critical stages.

[0169] In one embodiment of the present invention, S3 includes:

[0170] Continuously monitoring the data of dynamic items to obtain dynamic item change data; the dynamic items include inertia force and damping force, etc.;

[0171] Performing change status determination on dynamic item change data to obtain dynamic item status determination information;

[0172] Trigger the dynamic item gradient corresponding instruction according to the dynamic item status determination information;

[0173] Obtain the dynamic item data when the instruction corresponding to the dynamic item gradient is triggered, and obtain the dynamic item impact data;

[0174] Calculate the dynamic item influence ratio by using the dynamic item influence data, etc.; the dynamic item influence ratio is the compensation amount gradient corresponding to the dynamic item;

[0175] The calculation formula of the dynamic term influence ratio is:

[0176]

[0177] Where D is the dynamic term influence ratio, ΔGZ is the final change value of the inertia force in the dynamic term change data, ΔGS is the initial change value of the inertia force in the dynamic term change data, ΔNZ is the final change value of the damping force in the dynamic term change data, and ΔNS is the initial change value of the damping force in the dynamic term change data. The types of dynamic term calculations are not limited to inertia and damping forces. When there are n dynamic terms, 1 / 2 = 1 / n.

[0178] Constraint data is continuously monitored to obtain constraint change data; constraint change data reflects the dynamic adjustment of the system's operating boundaries, and dynamic forces such as inertia and damping force indirectly cause the electromagnetic force compensation to exceed the original calculation boundary to re-satisfy the constraints by affecting the system's response characteristics; constraints are conditions that are usually pre-set in this field based on historical experience.

[0179] Performing change state determination on the constraint condition change data to obtain constraint condition state determination information;

[0180] Trigger the constraint gradient corresponding instruction according to the constraint condition state judgment information;

[0181] Obtain the constraint condition data when triggering the corresponding instruction of the constraint gradient and obtain the constraint condition impact data;

[0182] Calculate the constraint condition influence ratio by using the constraint condition influence data, etc. The constraint condition influence ratio is the compensation amount gradient corresponding to the constraint condition;

[0183] The calculation formula of the constraint condition influence ratio is:

[0184]

[0185] Wherein, B is the constraint influence ratio, ΔAmax is the actual maximum value of the change data of the safety condition in the constraint condition, ΔAy is the safety preset threshold value of the safety condition in the constraint condition, ΔLmax is the actual maximum value of the change data of the current condition in the constraint condition, ΔLy is the current preset threshold value of the current condition in the constraint condition. The types of constraint calculation are not limited to safety conditions and current conditions. When there are n constraints, 1 / 2=1 / n.

[0186] The dynamic terms and constraints have different effects on electromagnetic force compensation, so the calculation methods are also different. The dynamic terms are directly affected by the data variables, while the constraints are indirectly affected by judging whether the actual data exceeds the threshold.

[0187] The working principle and technical effect of the above technical solution are as follows: dynamic items include inertial force, damping force, etc. The dynamic items in the system are monitored in real time through sensors (such as accelerometers, velocity sensors, force sensors) to obtain dynamic item change data.

[0188] Perform feature analysis on dynamic item change data to determine the status of the dynamic item. For example:

[0189] If the rate of change of inertial force exceeds the threshold, it is determined to be a "rapid change" state;

[0190] If the damping force oscillates at high frequencies, it is determined to be in an "oscillation" state.

[0191] Output dynamic item status judgment information (such as "rapid increase of inertia force" and "high-frequency oscillation of damping force").

[0192] According to the dynamic item status determination information, trigger the corresponding dynamic item gradient instruction. For example:

[0193] If the inertial force "rises rapidly", the "increase dynamic compensation" command is triggered;

[0194] If the damping force "oscillates", the "damping suppression" command is triggered.

[0195] At least one trigger triggers the dynamic item conditional instruction.

[0196] When the dynamic item gradient instruction is triggered, the dynamic item data at this time (such as the inertial force peak value and the damping force oscillation frequency) are recorded as the dynamic item impact data.

[0197] The constraints are the system operation boundaries. The constraints are monitored in real time through sensors (such as current sensors and displacement sensors) to obtain constraint change data.

[0198] Output constraint condition status determination information (whether constraint condition adjustment is required).

[0199] According to the constraint condition status determination information, the corresponding constraint gradient instruction is triggered.

[0200] At least one trigger is a trigger constraint instruction.

[0201] When the constrained gradient instruction is triggered, the constraint condition data (such as safety threshold and current threshold) at this time is recorded as constraint condition impact data.

[0202] By monitoring the changes in dynamic terms and constraints in real time, the system can dynamically adjust the control strategy (such as dynamic compensation amount and constraint boundary) to achieve coordinated optimization of dynamic terms and constraints.

[0203] When the influence of dynamic terms increases significantly (such as a rapid increase in inertia force), the constraint condition impact ratio analysis is used to avoid the compensation amount from exceeding the constraint boundary (such as current exceeding the limit) to ensure system safety.

[0204] The influence of dynamic terms on the system can be accurately quantified through the dynamic term impact ratio, thereby optimizing the compensation amount.

[0205] By influencing the ratio through constraint conditions, the boundary of the compensation amount is dynamically adjusted (such as lowering the upper limit of the compensation amount to adapt to the tightening of the safety threshold) to ensure that the compensation amount is always within the constraint range.

[0206] Through real-time monitoring of dynamic items and constraints and triggering of gradient instructions, the system can quickly respond to external disturbances (such as sudden load changes and changes in constraints) and maintain stable operation.

[0207] When a constraint condition is triggered (such as current exceeding the limit), the system can automatically switch to a degraded operating mode (such as reducing the compensation amount) to avoid system loss of control.

[0208] In one embodiment of the present invention, the S4 includes:

[0209] When the dynamic item gradient corresponding instruction and the constraint gradient corresponding instruction are obtained, the compensation amount influencing factor is determined by the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio; whichever triggers which data to obtain.

[0210]

[0211] Among them, YS is the coefficient of the compensation influencing factor, T is the corresponding compensation gradient range, D is the dynamic term influence ratio, and B is the constraint condition influence ratio.

[0212] When D and B do not belong to T, they are not influencing factors. When YS=1, the influencing factors are dynamic items. When YS=0, the influencing factors are constraints. When D and B both belong to T, they are both influencing factors.

[0213] When the compensation amount influencing factor is a dynamic item, the electromagnetic force compensation data is recalculated and adjusted to obtain electromagnetic force compensation amount adjustment data.

[0214] When the compensation amount influencing factor is a constraint condition, the constraint condition is adjusted to obtain constraint condition adjustment data.

[0215] When the impact does not improve after a single adjustment, a comprehensive adjustment of the two impacts can be performed.

[0216] The working principle and technical effect of the above technical solution are as follows: when the compensation amount influencing factor is a dynamic term, the system recalculates the electromagnetic force compensation data according to the dynamic term influence ratio. For example:

[0217] If the inertial force influence ratio increases, the electromagnetic force compensation amount is increased to offset the influence of the inertial force;

[0218] If the damping force influence ratio decreases, the electromagnetic force compensation amount is reduced to avoid overcompensation.

[0219] Output electromagnetic force compensation adjustment data as a new compensation reference.

[0220] When the compensation amount influencing factor is a constraint condition, the system adjusts the constraint condition according to the constraint condition influence ratio. For example:

[0221] If the safety threshold impact ratio decreases (constraints are tightened), the upper limit of the compensation amount is lowered;

[0222] If the current threshold influence ratio increases (constraints are relaxed), a higher compensation amount is allowed.

[0223] Output constraint adjustment data as the new constraint boundary.

[0224] After a single adjustment of the dynamic terms or constraints, the system evaluates whether the compensation requirements are met (e.g., whether the electromagnetic force is stable, or whether the constraints are violated).

[0225] If the impact does not improve after a single adjustment (for example, the constraint is still violated after the dynamic compensation amount is increased), a comprehensive adjustment is triggered:

[0226] At the same time, adjust the dynamic term compensation amount and constraint conditions (such as appropriately relaxing the constraint conditions to allow higher compensation amounts, while optimizing the dynamic term compensation strategy).

[0227] Co-optimization of dynamic compensation and constraints (e.g., through model predictive control (MPC)).

[0228] Hierarchical adjustment (e.g., adjusting the dynamic item compensation amount first, and if it is still not satisfied, adjusting the constraint conditions).

[0229] Through the correlation analysis of the dynamic item impact ratio and the compensation amount gradient data, the system can accurately locate the impact of the dynamic item on the compensation amount, thereby recalculating and adjusting the electromagnetic force compensation data to ensure that the compensation amount fully matches the dynamic item requirements.

[0230] Through the correlation analysis of the constraint influence ratio and the compensation gradient data, the system can dynamically adjust the constraint boundary to ensure that the compensation amount is always within a safe range.

[0231] Through the coordinated adjustment of dynamic terms and constraints, the system can quickly respond to external disturbances (such as sudden changes in load and changes in constraints) to avoid the compensation amount exceeding the boundary or being insufficient.

[0232] When a single adjustment is ineffective, a comprehensive adjustment mechanism is used to ensure that the system always operates within a safe range to avoid loss of control or failure.

[0233] In one embodiment of the present invention, the system includes:

[0234] A first compensation calculation module is used to construct an electromagnetic control system, obtain an initial electromagnetic force, and calculate first electromagnetic force compensation data;

[0235] a comparative compensation analysis module, configured to monitor the change data of the initial electromagnetic force, calculate the second electromagnetic force compensation data based on the change data, and obtain the compensation amount ratio and its corresponding compensation amount gradient based on the second electromagnetic force compensation data combined with the first electromagnetic force compensation data;

[0236] An influencing factor analysis module is used to analyze dynamic items and constraints respectively, trigger dynamic item gradient corresponding instructions and / or constraint gradient corresponding instructions based on the analysis information, and then obtain dynamic item influence ratio and / or constraint influence ratio;

[0237] The factor determination and adjustment module is used to determine the compensation amount influencing factors through the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio, and then adjust the influence data.

[0238] The working principle and technical effect of the above technical solution are as follows: an electromagnetic control system is constructed to generate an initial electromagnetic force through the interaction of an electromagnetic field with a target object (such as a suspended object or a driving platform). Based on the initial electromagnetic state data of the target object, first electromagnetic force compensation data is calculated to offset the initial electromagnetic force deficiency.

[0239] The force sensor continuously monitors the change in the initial electromagnetic force and calculates the second electromagnetic force compensation data based on the monitored electromagnetic force change data. The second electromagnetic force compensation data reflects the dynamic requirements of the electromagnetic force during system operation (such as load changes and external interference).

[0240] The ratio of the second compensation data to the first compensation data is calculated to obtain a compensation amount gradient.

[0241] The dynamic terms that affect the electromagnetic force (such as inertial force and damping force) are analyzed and the influence ratio of the dynamic terms is calculated.

[0242] Analyze the system operation boundary, obtain constraint change data, and calculate the constraint impact ratio.

[0243] According to the dynamic item analysis results, the corresponding instructions of the dynamic item gradient are triggered.

[0244] According to the results of constraint analysis, the corresponding instructions of the constraint gradient are triggered.

[0245] The compensation gradient data, dynamic item influence ratio and constraint condition influence ratio are integrated and analyzed to determine the main factors currently affecting the electromagnetic force compensation amount.

[0246] If the impact of dynamic items is dominant, the dynamic item compensation strategy should be adjusted first.

[0247] If the impact of the constraint conditions is significant, the compensation strategy corresponding to the constraint conditions should be adjusted first (such as lowering the upper limit of the compensation amount).

[0248] The electromagnetic force compensation amount is adjusted according to the analysis results to ensure that the system always meets the dynamic requirements and constraints.

[0249] By continuously monitoring the electromagnetic force change data and calculating the compensation gradient, the compensation amount can be adjusted in real time to effectively offset dynamic interference (such as load mutations and external vibrations) and improve the dynamic response speed of the system.

[0250] The compensation gradient mechanism avoids sudden changes in the compensation amount and ensures smooth operation of the system.

[0251] By monitoring constraint change data and triggering constraint gradient instructions, the system can be ensured to always operate within the safety boundary).

[0252] When the dynamic terms conflict with the constraints (such as the required inertia force compensation exceeds the upper limit of the constraint), the key constraints are preferentially satisfied through influence ratio analysis.

[0253] The influence of dynamic terms and constraints is considered at the same time to avoid system instability caused by single factor compensation (for example, only compensating for inertia force while ignoring constraints may lead to overcompensation).

[0254] The virtual displacement principle is used to predict compensation requirements in advance and enhance the system's adaptability to complex working conditions (such as nonlinear loads and time-varying interference).

[0255] Adjust the compensation amount according to actual needs to avoid energy waste caused by over-compensation.

[0256] Under the premise of meeting the constraints, the compensation strategy is dynamically adjusted to reduce energy consumption.

[0257] In one embodiment of the present invention, the first compensation calculation module includes:

[0258] A system building module, used to build an electromagnetic control system through an electromagnetic output system and an electromagnetic receiving system;

[0259] A preliminary determination module is used to obtain the initial electromagnetic force of the electromagnetic control system, calculate the initial virtual work based on the initial electromagnetic force, determine the system equilibrium state of the electromagnetic control system based on the initial virtual work, and obtain system equilibrium state determination information;

[0260] A depth determination module is used to obtain electromagnetic compensation amount based on system equilibrium state determination information, and obtain target virtual work based on the electromagnetic compensation amount;

[0261] The electromagnetic control system is again judged in a system equilibrium state according to the target virtual work until the system equilibrium judgment information indicates that the system is in an equilibrium state;

[0262] The preliminary acquisition module is used to calculate the current compensation amount according to the electromagnetic compensation amount combined with the Jacobian matrix when the system equilibrium state judgment information is the equilibrium state, adjust the current through the current compensation amount, and then perform electromagnetic force compensation to obtain the first electromagnetic force compensation data.

[0263] The working principle and technical effect of the above technical solution are: an electromagnetic control system is constructed through an electromagnetic output system and an electromagnetic receiving system; the electromagnetic output system is a device that outputs current to achieve the purpose of electromagnetic control, and the electromagnetic receiving system is a device that passively compensates for electromagnetic force.

[0264] The system's initial electromagnetic force is obtained through sensors in the electromagnetic control system (such as force sensors and Hall-effect sensors). This initial electromagnetic force reflects the strength of the electromagnetic interaction in the system's initial state. Based on the principle of virtual displacement, the initial virtual work is calculated by multiplying the initial electromagnetic force by the virtual displacement. Virtual displacement is the small displacement allowed within the system's constraints, and the virtual work reflects the energy change trend of the system under this displacement. This generates information to determine the system's equilibrium state (e.g., "unbalanced" or "balanced").

[0265] Based on the information on the system's equilibrium state, the electromagnetic compensation amount is calculated. The electromagnetic compensation amount is used to offset the unbalanced force in the system (such as increasing or decreasing the electromagnetic force).

[0266] The target virtual work is calculated based on the product of the electromagnetic compensation and the virtual displacement. The target virtual work reflects the energy change trend of the system after compensation and must meet the equilibrium condition.

[0267] When the system reaches equilibrium, the current compensation is calculated based on the electromagnetic compensation and the Jacobian matrix (a linearized model describing the relationship between electromagnetic force and current). The Jacobian matrix reflects the sensitivity of the electromagnetic force to the current.

[0268] The current in the electromagnetic control system is adjusted by the current compensation amount (such as increasing or decreasing the driving current of the electromagnet), thereby achieving accurate compensation of the electromagnetic force and obtaining the first electromagnetic force compensation data.

[0269] Through virtual work calculation and balance determination, the system equilibrium state can be accurately determined. Zero virtual work is a necessary and sufficient condition for system equilibrium, ensuring the accuracy of the determination result.

[0270] By iteratively calculating the target virtual work and adjusting the electromagnetic compensation amount, the true equilibrium state of the system is gradually approached, avoiding the local optimal problem that may exist in traditional methods.

[0271] The electromagnetic compensation is converted into current compensation through the Jacobian matrix, achieving precise control of electromagnetic force compensation. The linearization of the Jacobian matrix simplifies the control difficulty of complex nonlinear systems.

[0272] During system operation, the changes in electromagnetic force can be monitored in real time and the current compensation amount can be dynamically adjusted to ensure that the electromagnetic force always meets the balance requirements.

[0273] Through closed-loop control of virtual work balance determination and electromagnetic force compensation, the system can automatically adjust to a balanced state, effectively suppressing the impact of external interference on the system.

[0274] Under dynamic working conditions, the system can respond quickly and adjust the electromagnetic force compensation to maintain stable operation.

[0275] In one embodiment of the present invention, the contrast compensation analysis module includes:

[0276] The second acquisition module is used to continuously monitor the initial electromagnetic force and obtain electromagnetic force change data;

[0277] Performing change state determination on the electromagnetic force change data to obtain electromagnetic force state determination information;

[0278] acquiring second electromagnetic force compensation data according to the electromagnetic force state determination information;

[0279] A comparison gradient corresponding module is used to calculate the ratio of the second electromagnetic force compensation data to the first electromagnetic force compensation data to obtain a compensation amount ratio;

[0280] Obtain a preset compensation ratio gradient, compare the compensation ratio with a preset compensation difference gradient, and obtain a corresponding compensation gradient of the compensation ratio. The compensation gradient reflects the coefficient of influencing factors (influencing factors include dynamic terms and / or constraints, etc.).

[0281] The working principle and technical effect of the above technical solution are: real-time monitoring of the initial electromagnetic force in the electromagnetic control system to obtain a continuous data stream of the electromagnetic force changing with time.

[0282] The monitoring data is filtered (such as Kalman filtering, sliding average filtering) and denoised to eliminate noise interference and retain the true trend of electromagnetic force changes.

[0283] The state is determined based on the characteristics of the electromagnetic force change data.

[0284] The second electromagnetic force compensation data is calculated according to the above electromagnetic force compensation data calculation step. The compensation data reflects the deviation between the current electromagnetic force demand and the initial state.

[0285] The ratio of the second electromagnetic force compensation data to the first electromagnetic force compensation data (ie, the compensation amount ratio) is calculated.

[0286] The compensation ratio gradient is preset (such as "slow gradient", "fast gradient" and "overlimit gradient"), and each gradient corresponds to a different ratio determination range.

[0287] Compare the compensation ratio with the preset gradient to determine the compensation gradient corresponding to the current compensation ratio. For example:

[0288] If the ratio is 30% / s, it is judged as a "fast gradient".

[0289] The compensation gradient reflects the speed of change of electromagnetic force demand and indirectly reflects the intensity of influencing factors (such as dynamic terms and constraints).

[0290] By continuously monitoring changes in electromagnetic force and calculating the compensation ratio, the system can perceive the dynamic changes in electromagnetic force demand in real time, quickly adjust the compensation amount, and avoid lag or overcompensation.

[0291] The compensation amount gradient mechanism realizes the hierarchical adjustment of the compensation amount.

[0292] The compensation gradient indirectly reflects the influence category and intensity of dynamic terms (such as inertial force and damping force) and constraint conditions (such as current upper limit and air gap constraint).

[0293] By determining the gradient, the dominant influencing factors can be located and the coordinated control strategy can be triggered. For example:

[0294] If the gradient is dominated by inertial force, the dynamic term compensation is adjusted first;

[0295] If the gradient is dominated by the constraints, it is preferred to adjust the constraint bounds or switch the control mode.

[0296] Through the gradient comparison mechanism, the system can distinguish normal fluctuations from abnormal interference (such as sensor noise vs. load mutation) to avoid false triggering of compensation adjustments.

[0297] When the compensation gradient reaches "overlimit", the system can automatically start protection measures (such as limiting the compensation amount, switching to the backup control algorithm) to prevent the system from losing control.

[0298] Through gradient adjustment, the system increases the compensation amount only when necessary, avoiding energy waste caused by ineffective compensation.

[0299] In one embodiment of the present invention, the influencing factor analysis module includes:

[0300] A dynamic item analysis module is used to continuously monitor the data of dynamic items and obtain dynamic item change data; the dynamic items include inertia force and damping force, etc.;

[0301] Performing change status determination on dynamic item change data to obtain dynamic item status determination information;

[0302] Trigger the dynamic item gradient corresponding instruction according to the dynamic item status determination information;

[0303] Obtain the dynamic item data when the instruction corresponding to the dynamic item gradient is triggered, and obtain the dynamic item impact data;

[0304] Calculate the dynamic item impact ratio through dynamic item impact data;

[0305] The calculation formula of the dynamic term influence ratio is:

[0306]

[0307] Where D is the dynamic term influence ratio, ΔGZ is the final change value of the inertia force in the dynamic term change data, ΔGS is the initial change value of the inertia force in the dynamic term change data, ΔNZ is the final change value of the damping force in the dynamic term change data, and ΔNS is the initial change value of the damping force in the dynamic term change data. The types of dynamic term calculations are not limited to inertia and damping forces. When there are n dynamic terms, 1 / 2 = 1 / n.

[0308] The constraint analysis module is used to continuously monitor the constraint data and obtain constraint change data; the constraint change data reflects the dynamic adjustment of the system's operating boundaries, and dynamic forces such as inertia and damping force indirectly cause the electromagnetic force compensation to exceed the original calculation boundary to re-satisfy the constraint conditions by affecting the system response characteristics; the constraint conditions are conditions that are usually pre-set in this field based on historical experience.

[0309] Performing change state determination on the constraint condition change data to obtain constraint condition state determination information;

[0310] Trigger the constraint gradient corresponding instruction according to the constraint condition state judgment information;

[0311] Obtain the constraint condition data when triggering the corresponding instruction of the constraint gradient and obtain the constraint condition impact data;

[0312] The constraint influence ratio is calculated by using the constraint influence data.

[0313] The calculation formula of the constraint condition influence ratio is:

[0314]

[0315] Wherein, B is the constraint influence ratio, ΔAmax is the actual maximum value of the change data of the safety condition in the constraint condition, ΔAy is the safety preset threshold value of the safety condition in the constraint condition, ΔLmax is the actual maximum value of the change data of the current condition in the constraint condition, ΔLy is the current preset threshold value of the current condition in the constraint condition. The types of constraint calculation are not limited to safety conditions and current conditions. When there are n constraints, 1 / 2=1 / n.

[0316] The working principle and technical effect of the above technical solution are as follows: dynamic items include inertial force, damping force, etc. The dynamic items in the system are monitored in real time through sensors (such as accelerometers, velocity sensors, force sensors) to obtain dynamic item change data.

[0317] Perform feature analysis on dynamic item change data to determine the status of the dynamic item.

[0318] Output dynamic item status judgment information (such as "rapid increase of inertia force" and "high-frequency oscillation of damping force").

[0319] According to the dynamic item status determination information, the corresponding dynamic item gradient instruction is triggered.

[0320] At least one trigger triggers the dynamic item instruction.

[0321] When the dynamic item gradient instruction is triggered, the dynamic item data at this time (such as the inertial force peak value and the damping force oscillation frequency) are recorded as the dynamic item impact data.

[0322] The dynamic item influence ratio is obtained through the above formula.

[0323] The constraints are the system operation boundaries. The constraints are monitored in real time through sensors (such as current sensors and displacement sensors) to obtain constraint change data.

[0324] Output constraint condition status determination information (whether constraint condition adjustment is required).

[0325] According to the constraint condition status determination information, the corresponding constraint gradient instruction is triggered.

[0326] At least one trigger is a trigger constraint instruction.

[0327] When the constrained gradient instruction is triggered, the constraint condition data (such as safety threshold and current threshold) at this time is recorded as constraint condition impact data.

[0328] The constraint influence ratio is obtained through the above formula.

[0329] The constraint influence ratio reflects the impact of the constraint on the system.

[0330] By monitoring the changes in dynamic terms and constraints in real time, the system can dynamically adjust the control strategy (such as dynamic compensation amount and constraint boundary) to achieve coordinated optimization of dynamic terms and constraints.

[0331] When the influence of dynamic terms increases significantly (such as a rapid increase in inertia force), the constraint condition impact ratio analysis is used to avoid the compensation amount from exceeding the constraint boundary (such as current exceeding the limit) to ensure system safety.

[0332] The influence of dynamic terms on the system can be accurately quantified through the dynamic term impact ratio, thereby optimizing the compensation amount.

[0333] By influencing the ratio through constraint conditions, the boundary of the compensation amount is dynamically adjusted (such as lowering the upper limit of the compensation amount to adapt to the tightening of the safety threshold) to ensure that the compensation amount is always within the constraint range.

[0334] Through real-time monitoring of dynamic items and constraints and triggering of gradient instructions, the system can quickly respond to external disturbances (such as sudden load changes and changes in constraints) and maintain stable operation.

[0335] When a constraint condition is triggered (such as current exceeding the limit), the system can automatically switch to a degraded operating mode (such as reducing the compensation amount) to avoid system loss of control.

[0336] In one embodiment of the present invention, the factor determination and adjustment module includes:

[0337] The influencing factor determination module is used to determine the compensation amount influencing factor through the compensation amount gradient data, dynamic item influence ratio and / or constraint condition influence ratio when the dynamic item gradient corresponding instruction and the constraint gradient corresponding instruction are obtained; which triggers which data to obtain.

[0338]

[0339] Among them, YS is the coefficient of the compensation influencing factor, T is the corresponding compensation gradient range, D is the dynamic term influence ratio, and B is the constraint condition influence ratio.

[0340] When D and B do not belong to T, they are not influencing factors. When YS=1, the influencing factors are dynamic items. When YS=0, the influencing factors are constraints. When D and B both belong to T, they are both influencing factors.

[0341] The factor adjustment module is used to recalculate and adjust the electromagnetic force compensation data when the compensation amount influencing factor is a dynamic item to obtain the electromagnetic force compensation amount adjustment data.

[0342] When the compensation amount influencing factor is a constraint condition, the constraint condition is adjusted to obtain constraint condition adjustment data.

[0343] When the impact does not improve after a single adjustment, a comprehensive adjustment of the two impacts can be performed.

[0344] The working principle and technical effect of the above technical solution are: when the factor affecting the compensation amount is a dynamic term, the system recalculates the electromagnetic force compensation data according to the dynamic term influence ratio.

[0345] Output electromagnetic force compensation adjustment data as a new compensation reference.

[0346] When the influencing factor of the compensation amount is a constraint condition, the system adjusts the constraint condition according to the constraint condition influence ratio.

[0347] Output constraint adjustment data as the new constraint boundary.

[0348] After a single adjustment of the dynamic terms or constraints, the system evaluates whether the compensation requirements are met (e.g., whether the electromagnetic force is stable, or whether the constraints are violated).

[0349] If the impact does not improve after a single adjustment (for example, the constraint is still violated after the dynamic compensation amount is increased), a comprehensive adjustment is triggered:

[0350] At the same time, adjust the dynamic term compensation amount and constraint conditions (such as appropriately relaxing the constraint conditions to allow higher compensation amounts, while optimizing the dynamic term compensation strategy).

[0351] Co-optimization of dynamic compensation and constraints (e.g., through model predictive control (MPC)).

[0352] Hierarchical adjustment (e.g., adjusting the dynamic item compensation amount first, and if it is still not satisfied, adjusting the constraint conditions).

[0353] Through the correlation analysis of the dynamic item impact ratio and the compensation amount gradient data, the system can accurately locate the impact of the dynamic item on the compensation amount, thereby recalculating and adjusting the electromagnetic force compensation data to ensure that the compensation amount fully matches the dynamic item requirements.

[0354] Through the correlation analysis of the constraint influence ratio and the compensation gradient data, the system can dynamically adjust the constraint boundary to ensure that the compensation amount is always within a safe range.

[0355] Through the coordinated adjustment of dynamic terms and constraints, the system can quickly respond to external disturbances (such as sudden changes in load and changes in constraints) to avoid the compensation amount exceeding the boundary or being insufficient.

[0356] When a single adjustment is ineffective, a comprehensive adjustment mechanism is used to ensure that the system always operates within a safe range to avoid loss of control or failure.

[0357] Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. An electromagnetic force compensation method based on virtual displacement, characterized in that: The method comprises: S1. Build an electromagnetic control system, obtain an initial electromagnetic force, and calculate first electromagnetic force compensation data; S2. Monitoring the change data of the initial electromagnetic force, calculating the second electromagnetic force compensation data according to the change data, and obtaining the compensation amount ratio and its corresponding compensation amount gradient according to the second electromagnetic force compensation data combined with the first electromagnetic force compensation data; S3. Analyze the dynamic item and the constraint conditions respectively, trigger the dynamic item gradient corresponding instruction and / or the constraint gradient corresponding instruction according to the analysis information, and then obtain the dynamic item influence ratio and / or the constraint condition influence ratio; S4. Determine the compensation amount influencing factors through the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio, and then adjust the influencing data.

2. The electromagnetic force compensation method based on virtual displacement according to claim 1, characterized in that: Said S1 comprises: Construct an electromagnetic control system through an electromagnetic output system and an electromagnetic receiving system; Obtaining the initial electromagnetic force of the electromagnetic control system, calculating the initial virtual work based on the initial electromagnetic force, determining the system equilibrium state of the electromagnetic control system based on the initial virtual work, and obtaining system equilibrium state determination information; Obtain electromagnetic compensation amount according to the system equilibrium state judgment information, and obtain target virtual work according to the electromagnetic compensation amount; The electromagnetic control system is again judged in a system equilibrium state according to the target virtual work until the system equilibrium judgment information indicates that the system is in an equilibrium state; When the system balance state is determined to be a balance state, the current compensation amount is calculated based on the electromagnetic compensation amount combined with the Jacobian matrix, the current is adjusted by the current compensation amount, and then the electromagnetic force compensation is performed to obtain the first electromagnetic force compensation data.

3. The electromagnetic force compensation method based on virtual displacement according to claim 2, characterized in that: The S2 includes: Continuously monitor the initial electromagnetic force to obtain electromagnetic force change data; Performing change state determination on the electromagnetic force change data to obtain electromagnetic force state determination information; acquiring second electromagnetic force compensation data according to the electromagnetic force state determination information; Calculating a ratio of the second electromagnetic force compensation data to the first electromagnetic force compensation data to obtain a compensation amount ratio; A preset compensation amount ratio gradient is obtained, and the compensation amount ratio is compared with a preset compensation amount difference gradient to obtain a compensation amount gradient corresponding to the compensation amount ratio.

4. The electromagnetic force compensation method based on virtual displacement according to claim 1, characterized in that: The S3 includes: Continuously monitor the data of dynamic items and obtain the data of dynamic item changes; Performing change status determination on dynamic item change data to obtain dynamic item status determination information; Trigger the dynamic item gradient corresponding instruction according to the dynamic item status determination information; Obtain the dynamic item data when the instruction corresponding to the dynamic item gradient is triggered, and obtain the dynamic item impact data; Calculate the dynamic item impact ratio through dynamic item impact data; Continuously monitor constraint data to obtain constraint change data; Performing change state determination on the constraint condition change data to obtain constraint condition state determination information; Trigger the constraint gradient corresponding instruction according to the constraint condition state judgment information; Obtain the constraint condition data when triggering the corresponding instruction of the constraint gradient and obtain the constraint condition impact data; The constraint influence ratio is calculated by using the constraint influence data.

5. The electromagnetic force compensation method based on virtual displacement according to claim 1, characterized in that: The S4 includes: When the dynamic item gradient corresponding instruction and the constraint gradient corresponding instruction are obtained, the compensation amount influencing factor is determined by the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio; When the compensation amount influencing factor is a dynamic item, the electromagnetic force compensation data is recalculated and adjusted to obtain electromagnetic force compensation amount adjustment data; When the compensation amount influencing factor is a constraint condition, the constraint condition is adjusted to obtain constraint condition adjustment data.

6. An electromagnetic force compensation system based on virtual displacement, characterized in that: The system comprises: A first compensation calculation module is used to construct an electromagnetic control system, obtain an initial electromagnetic force, and calculate first electromagnetic force compensation data; a comparative compensation analysis module, configured to monitor the change data of the initial electromagnetic force, calculate the second electromagnetic force compensation data based on the change data, and obtain the compensation amount ratio and its corresponding compensation amount gradient based on the second electromagnetic force compensation data combined with the first electromagnetic force compensation data; An influencing factor analysis module is used to analyze dynamic items and constraints respectively, trigger dynamic item gradient corresponding instructions and / or constraint gradient corresponding instructions based on the analysis information, and then obtain dynamic item influence ratio and / or constraint influence ratio; The factor determination and adjustment module is used to determine the compensation amount influencing factors through the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio, and then adjust the influence data.

7. The electromagnetic force compensation system based on virtual displacement according to claim 6, characterized in that: The first compensation calculation module includes: A system building module, used to build an electromagnetic control system through an electromagnetic output system and an electromagnetic receiving system; A preliminary determination module is used to obtain the initial electromagnetic force of the electromagnetic control system, calculate the initial virtual work based on the initial electromagnetic force, determine the system equilibrium state of the electromagnetic control system based on the initial virtual work, and obtain system equilibrium state determination information; A depth determination module is used to obtain electromagnetic compensation amount based on system equilibrium state determination information, and obtain target virtual work based on the electromagnetic compensation amount; The electromagnetic control system is again judged in a system equilibrium state according to the target virtual work until the system equilibrium judgment information indicates that the system is in an equilibrium state; The preliminary acquisition module is used to calculate the current compensation amount according to the electromagnetic compensation amount combined with the Jacobian matrix when the system equilibrium state judgment information is the equilibrium state, adjust the current through the current compensation amount, and then perform electromagnetic force compensation to obtain the first electromagnetic force compensation data.

8. The electromagnetic force compensation system based on virtual displacement according to claim 7, characterized in that: The comparison compensation analysis module includes: The second acquisition module is used to continuously monitor the initial electromagnetic force and obtain electromagnetic force change data; Performing change state determination on the electromagnetic force change data to obtain electromagnetic force state determination information; acquiring second electromagnetic force compensation data according to the electromagnetic force state determination information; A comparison gradient corresponding module is used to calculate the ratio of the second electromagnetic force compensation data to the first electromagnetic force compensation data to obtain a compensation amount ratio; A preset compensation amount ratio gradient is obtained, and the compensation amount ratio is compared with a preset compensation amount difference gradient to obtain a compensation amount gradient corresponding to the compensation amount ratio.

9. The electromagnetic force compensation system based on virtual displacement according to claim 6, characterized in that: The influencing factor analysis module includes: Dynamic item analysis module, used to continuously monitor the data of dynamic items and obtain dynamic item change data; Performing change status determination on dynamic item change data to obtain dynamic item status determination information; Trigger the dynamic item gradient corresponding instruction according to the dynamic item status determination information; Obtain the dynamic item data when the instruction corresponding to the dynamic item gradient is triggered, and obtain the dynamic item impact data; Calculate the dynamic item impact ratio through dynamic item impact data; The constraint analysis module is used to continuously monitor the constraint data and obtain constraint change data; Performing change state determination on the constraint condition change data to obtain constraint condition state determination information; Trigger the constraint gradient corresponding instruction according to the constraint condition state judgment information; Obtain the constraint condition data when triggering the corresponding instruction of the constraint gradient and obtain the constraint condition impact data; The constraint influence ratio is calculated by using the constraint influence data.

10. The electromagnetic force compensation system based on virtual displacement according to claim 6, characterized in that: The factor determination and adjustment module includes: An influencing factor determination module is configured to determine a compensation amount influencing factor based on compensation amount gradient data, a dynamic item influence ratio, and / or a constraint condition influence ratio when obtaining a dynamic item gradient corresponding instruction and a constraint gradient corresponding instruction; A factor adjustment module is used to recalculate and adjust the electromagnetic force compensation data when the compensation amount influencing factor is a dynamic item to obtain electromagnetic force compensation amount adjustment data; When the compensation amount influencing factor is a constraint condition, the constraint condition is adjusted to obtain constraint condition adjustment data.

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