A super-spiral self-disturbance switched reluctance motor speed loop control method

Abstract

The application discloses a kind of supercoil self-disturbance opening magnetic reluctance motor speed loop control methods, comprising: according to the mathematical model of switch reluctance motor, the state equation of speed loop control system is established;According to state equation, construct linear extended state observer, the total disturbance of system is estimated in real time;According to the output of linear extended state observer, design linear state error feedback control law;According to supercoil sliding mode control algorithm, construct sliding surface and design sliding mode control law;Hyperbolic tangent function is replaced by sign function, and the continuous processing of sliding mode control law is carried out;According to linear state error feedback control law and the sliding mode control law after continuous processing, construct compound control law;According to compound control law, speed control is carried out to switch reluctance motor.The application can better realize the speed regulation of switch reluctance motor, effectively improve the response speed of system, inhibit the torque ripple of system, improve the anti-interference ability of system.

Description

Technical Field

[0001] This invention belongs to the field of motor control, and particularly relates to a speed loop control method for a super-spiral self-disturbance-rejecting switched reluctance motor. Background Technology

[0002] Switched reluctance motors (SRMs), as a novel type of motor, have demonstrated unique competitiveness in industrial fields due to their advantages such as simple structure, low manufacturing cost, no dependence on permanent magnets, and high fault tolerance. However, the inherent nonlinear flux linkage characteristics of SRMs make it difficult to establish ideal mathematical models, resulting in significant torque ripple during actual operation, which limits the further promotion of SRMs in high-precision applications. While traditional PID control strategies are simple in structure and easy to implement, their actual performance is affected by parameters and cannot provide ideal disturbance rejection performance. These shortcomings have prompted researchers to explore more robust and adaptive intelligent control algorithms.

[0003] With the deepening research of modern control theory, the application of some nonlinear control methods has improved the dynamic performance of SRM control systems from different aspects. Currently, feedforward intelligent control strategies applied to SRM speed regulation systems include Active Disturbance Rejection Control (ADRC), Model Predictive Control (MPC), and Sliding Mode Control (SMC). ADRC, based on the analysis and improvement of the PID controller, achieves real-time compensation for internal and external disturbances by introducing an extended state observer, thus improving robustness and gaining widespread application in the field of motors. However, its controller parameter tuning process is very complex. Among them, Linear Active Disturbance Rejection Control (LADRC) has a relatively simple parameter tuning problem and is easy to implement digitally, thus gaining more applications. However, it is insufficient in compensating for strong nonlinearity and high-frequency disturbances, and its parameter robustness is limited. MPC predicts the future state of the system and adjusts the control input in advance, but it depends on the accuracy of the model. SMC designs a sliding surface and forces the system state to converge to the sliding surface through the control law, and slides to the equilibrium point on the sliding surface. It has a fast response speed and good robustness, but the chattering problem requires improvement of its sliding surface or combination with other control methods. Therefore, there is an urgent need to propose a new method to achieve precise control of switched reluctance motors. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a speed loop control strategy based on linear active disturbance rejection control (ADR) and superhelical sliding mode control (SLM). This strategy utilizes real-time observation and compensation of internal and external disturbances to achieve adaptive adjustment of the control system. Furthermore, SLM eliminates the nonlinearity and uncertainty of the motor through SLM. The obtained parameters are input into an optimal robust controller with inequality constraints, limiting the motor's trajectory within a specified range and significantly improving its control accuracy. Specifically, this invention provides a speed loop control method for a superhelical ADR switched reluctance motor, comprising:

[0005] Based on the mathematical model of the switched reluctance motor, the state equations of the speed loop control system are established.

[0006] Based on the state equation, a linear extended state observer is constructed to estimate the total disturbance of the system in real time;

[0007] Based on the output of the linear extended state observer, design a linear state error feedback control law;

[0008] Based on the superspiral sliding mode control algorithm, a sliding surface is constructed and a sliding mode control law is designed.

[0009] The hyperbolic tangent function is replaced with the sign function to make the sliding mode control law continuous.

[0010] Based on the linear state error feedback control law and the continuous sliding mode control law, a composite control law is constructed.

[0011] The speed of the switched reluctance motor is controlled according to the composite control law.

[0012] Preferably, the process of establishing the state equations of the speed loop control system includes:

[0013] The rate of change of motor speed is obtained based on the mechanical motion equation of the switched reluctance motor.

[0014] Define the system's input and output quantities based on the motor speed change rate;

[0015] Based on the input and output quantities, establish a first-order state equation.

[0016] Preferably, the process of constructing a linearly extended state observer includes:

[0017] Design the observer feedback gain based on the error between the system output and the observer output;

[0018] Based on the observer feedback gain, construct the state equation of the linear extended state observer;

[0019] Based on the state equation, the total disturbance of the system is estimated in real time.

[0020] Preferably, the observer bandwidth of the linear extended state observer is used to determine the observer feedback gain. Preferably, the process of designing the linear state error feedback control law includes:

[0021] Based on the error between the reference speed and the speed estimate output by the observer, a speed error signal is obtained; based on the speed error signal, a proportional gain coefficient is designed.

[0022] Based on the proportional gain coefficient, a linear state error feedback control law is constructed.

[0023] Preferably, the proportional gain coefficient is used to adjust the convergence speed of the sliding surface.

[0024] Preferably, the process of constructing the sliding surface and designing the sliding control law includes:

[0025] Define the sliding surface function based on the system state error;

[0026] Based on the aforementioned sliding surface function, a super-spiral sliding mode control law is designed;

[0027] Continuous control signals are obtained based on the superspiral sliding mode control law.

[0028] Preferably, the process of making the sliding mode control law continuous includes:

[0029] Based on the properties of the hyperbolic tangent function, it replaces the traditional sign function;

[0030] Based on the hyperbolic tangent function, a continuous sliding mode control law is constructed.

[0031] Preferably, the process of constructing a composite control law includes:

[0032] The first control component is obtained based on the linear state error feedback control law;

[0033] The second control component is obtained based on the continuous sliding mode control law;

[0034] A composite control law is constructed based on the first control component and the second control component.

[0035] Preferably, the process of speed control for the switched reluctance motor includes:

[0036] Based on the composite control law, a control signal is generated;

[0037] Adjust the input voltage of the switched reluctance motor according to the control signal;

[0038] The motor speed is controlled based on the input voltage.

[0039] Compared with the prior art, the present invention has the following advantages and technical effects:

[0040] This invention proposes a composite control strategy (STA-LADRC) that integrates superspiral sliding mode control (STA) and linear active disturbance rejection control (LADRC). By introducing the second-order sliding mode characteristics of STA to enhance the robustness against nonlinear disturbances, a linear extended state observer is constructed to estimate and compensate for internal and external combined disturbances in real time. Furthermore, a hyperbolic tangent function is used instead of the traditional sign function to eliminate chattering caused by sliding surface switching. Through the synergistic effect of the sliding surface dynamic compensation mechanism and nonlinear disturbance observation, STA-LADRC effectively improves the dynamic response speed and anti-interference capability of the SRM speed control system.

[0041] This invention optimizes the active disturbance rejection controller (ADRC) based on traditional sliding mode control and introduces a super-helical algorithm to improve the controller structure. Through simulation verification, compared with traditional PID control and linear ADRC, the proposed super-helical ADRC strategy (STA-LADRC) can better achieve speed regulation of switched reluctance motors, effectively improve the system response speed, suppress torque ripple, and enhance the system's anti-interference capability. Attached Figure Description

[0042] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0043] Figure 1 This is a schematic diagram of the method flow according to an embodiment of the present invention;

[0044] Figure 2 This is a structural diagram of the linear active disturbance rejection control principle according to an embodiment of the present invention;

[0045] Figure 3 This is a design diagram of a linear active disturbance rejection speed controller according to an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the sign function in the hyperbolic tangent function of an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the saturation function in the hyperbolic tangent function according to an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the design of the superspiral self-disturbance rejection speed controller according to an embodiment of the present invention;

[0049] Figure 7The following are simulation results of speed and torque for a reference speed of 600 r / min and a load torque of 5 N·m in this embodiment of the invention; wherein, (a) is the simulation result of PID control strategy; (b) is the simulation result of LADRC control strategy; and (c) is the simulation result of STA-LADRC control strategy.

[0050] Figure 8 The following are simulation results of the SRM speed and torque under disturbance conditions according to embodiments of the present invention: (a) is the simulation result of the PID control strategy; (b) is the simulation result of the LADRC control strategy; and (c) is the simulation result of the STA-LADRC control strategy.

[0051] Figure 9 The following are simulation results of rotational speed during sudden changes in rotational speed according to an embodiment of the present invention: (a) is the simulation result of PID control strategy; (b) is the simulation result of LADRC control strategy; and (c) is the simulation result of STA-LADRC control strategy. Detailed Implementation

[0052] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0053] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0054] like Figure 1 As shown, to address the problems of strong nonlinearity, significant torque ripple, and insufficient disturbance rejection capability of switched reluctance motors (SRMs) due to their doubly salient pole structure, this embodiment provides a super-spiral self-disturbance rejection speed loop control method for switched reluctance motors, including:

[0055] Based on the mathematical model of the switched reluctance motor, the state equations of the speed loop control system are established.

[0056] Based on the state equation, a linear extended state observer is constructed to estimate the total disturbance of the system in real time;

[0057] Design a linear state error feedback control law based on the output of the linear extended state observer;

[0058] Based on the superspiral sliding mode control algorithm, a sliding surface is constructed and a sliding mode control law is designed.

[0059] The sign function is replaced by the hyperbolic tangent function to make the sliding mode control law continuous.

[0060] A composite control law is constructed based on the linear state error feedback control law and the continuous sliding mode control law;

[0061] Speed ​​control of the switched reluctance motor is performed based on the composite control law.

[0062] Furthermore, the process of establishing the state equations for the speed loop control system includes:

[0063] The rate of change of motor speed is obtained based on the mechanical motion equation of the switched reluctance motor.

[0064] Define the system's input and output quantities based on the motor's speed change rate;

[0065] Based on the input and output quantities, establish the first-order state equation.

[0066] Specifically, since each phase of a switched reluctance motor is independent, the voltage equation for each phase winding of the SRM can be obtained from basic circuit laws:

[0067]

[0068] In the formula: u k Let i be the voltage at the k-th phase terminal (V); k R is the phase current value of the k-th phase (A); k Let ψ be the resistance value of the k-th phase (Ω); k Δu is the flux linkage value of the k-th phase (wb); Δu is the voltage drop across the switching transistor (V).

[0069] Since Δu is very small and can be approximated as negligible, we can obtain:

[0070]

[0071] When a switched reluctance motor (SRM) is running, the dynamic characteristics of the motor speed are determined by the balance between the electromagnetic torque and the load torque. The mechanical equation of an SRM under load is expressed as follows:

[0072]

[0073] In the formula: T e T is the electromagnetic torque of the SRM (N·m); L J is the load torque (N·m); J is the SRM moment of inertia (kg·m) 2 ); D is the SRM damping coefficient (N·s / m); θ is the rotor position angle (degrees).

[0074] In the ideal linear model, neglecting the effects of magnetic circuit saturation, the electromagnetic torque equation of the SRM is:

[0075]

[0076] Furthermore, the process of constructing a linearly extended state observer includes:

[0077] Design the observer feedback gain based on the error between the system output and the observer output;

[0078] Based on the observer feedback gain, construct the state equation of the linear extended state observer;

[0079] Based on the state equation, the total disturbance of the system is estimated in real time.

[0080] Furthermore, the observer bandwidth of the linearly extended state observer is used to determine the observer feedback gain.

[0081] Specifically, LADRC control is an improvement on PID control. By observing and compensating for internal and external disturbances in real time, it achieves adaptive adjustment and optimized control of the control system. However, due to the strong nonlinearity of switched reluctance motors, LADRC cannot fully adapt to the nonlinear dynamic characteristics of the system, resulting in a significant reduction in system response speed and limited robustness.

[0082] This embodiment proposes a Linear Active Disturbance Rejection Control (LADRC), which simplifies parameter setting and stability analysis through linearization design. It consists of a Linear Tracking Differentiator (LTD), a Linear State Error Feedback (LSEF), and a Linear Extended State Observer (LESO). The basic schematic diagram is shown below. Figure 2 As shown.

[0083] The design of a linear active disturbance rejection controller includes:

[0084] The self-disturbance rejection controller for the speed loop is designed based on the SRM mechanical motion equation. From equation (3), the SRM speed change rate can be obtained as follows:

[0085]

[0086] In the formula: T e For electromagnetic torque, T L Where is the load torque, and B is the viscous friction coefficient.

[0087] The total disturbance of the SRM system can be expressed as f(t):

[0088]

[0089] In the formula: g(t) represents the unknown disturbance in the system.

[0090] Let the input quantity u = T e Let the output quantity y = ω. The speed loop control system of the switched reluctance motor can then be represented as:

[0091]

[0092] The mathematical models of each part of the SRM control system speed loop controller LADRC are as follows:

[0093] Considering that the SRM is a first-order system with no differential signal output and only needs to generate a given velocity signal, the tracking differentiator is cancelled.

[0094] The Linear Extended Observer (LESO) is represented as follows:

[0095]

[0096] In the formula: z1 and z2 are the actual rotational speed ω tracking signal and the system disturbance f(t) observations; b0 is the control compensation gain coefficient; β1 and β2 are the observer feedback gain, the magnitude of which directly affects the LESO convergence speed.

[0097] LADRC simplifies the parameter tuning problem of ADRC by utilizing bandwidth. Introducing the observer bandwidth ω0, it can be taken as:

[0098]

[0099] The linear state error feedback controller is designed as follows:

[0100] u0 = K p (ω ref -z1) (10)

[0101] In the formula: K p ω is the proportional gain coefficient; the larger its value, the faster the system's rotational speed response, but an excessively large value will affect system stability. ref For reference speed.

[0102] By compensating the estimated disturbance z2 to the system, we can obtain:

[0103]

[0104] From the above equations, the final form of LADRC can be obtained:

[0105]

[0106] SRM first-order speed loop Figure 3 As shown.

[0107] Furthermore, the process of designing a linear state error feedback control law includes:

[0108] The speed error signal is obtained based on the error between the reference speed and the speed estimate output by the observer;

[0109] Design the proportional gain coefficient based on the speed error signal;

[0110] Based on the proportional gain coefficient, a linear state error feedback control law is constructed.

[0111] Furthermore, the proportional gain coefficient is used to adjust the convergence speed of the sliding surface.

[0112] Furthermore, the process of constructing the sliding surface and designing the sliding control law includes:

[0113] Define the sliding surface function based on the system state error;

[0114] Design a super-spiral sliding mode control law based on the sliding surface function;

[0115] Based on the superspiral sliding mode control law, a continuous control signal is obtained.

[0116] Specifically, due to the strong nonlinearity of switched reluctance motors, linear active disturbance rejection (ALDRC) cannot fully adapt to the dynamic characteristics of nonlinear systems, resulting in a significant reduction in system response speed and limited robustness. To improve the dynamic performance and disturbance rejection capability of the switched reluctance motor speed loop control system, this embodiment combines super-helical sliding mode control (STA) with linear active disturbance rejection control (LADRC) to construct a super-helical active disturbance rejection controller (STA-LADRC). The high-order sliding mode properties of STA suppress the chattering problem of traditional sliding mode control, improving control smoothness and achieving robust control of the nonlinear system.

[0117] Superspiral sliding mode control is a second-order sliding mode algorithm. Its core lies in using integral action to ensure continuous control signal operation, thereby effectively reducing chattering. The sliding surface is defined as a linear combination of system state errors. For a first-order system, the sliding surface is designed as follows:

[0118] s=e=ω ref -ω (13)

[0119] The superspiral sliding mode controller can be represented as:

[0120]

[0121] In the formula: k1 and k2 are gain coefficients; sign(s) is the sign function; γ is the design coefficient, usually taken as 0.5. Compared with traditional sliding mode control, STA introduces an integral term v to make the control signal u s Continuous, significantly reducing high-frequency jitter.

[0122] Furthermore, the process of making the sliding mode control law continuous includes:

[0123] Based on the properties of the hyperbolic tangent function, it replaces the traditional sign function;

[0124] Based on the hyperbolic tangent function, a continuous sliding mode control law is constructed.

[0125] Specifically, although the traditional superspiral control algorithm has high robustness and fast response speed, its sign function is discontinuous at zeros, causing system oscillations during convergence. To improve this problem, the sign function can be replaced by a smooth double tangent function without introducing parameters. Its expression is as follows:

[0126]

[0127] The hyperbolic tangent function used is as follows: Figure 4 and Figure 5 As shown, where, Figure 4 A schematic diagram of the sign function; Figure 5 This is a schematic diagram of a saturation function; from Figure 4 and Figure 5 As can be seen, compared with the sign function, the saturation function is continuous, without discontinuities or infinite gradients. Furthermore, after reaching the saturation region, the rate of change of the function value slows down, effectively suppressing chattering. The value of the saturation function remains constant within a certain range, reducing overshoot and oscillation of the control signal.

[0128] Combining equations (14) and (15), we get:

[0129]

[0130] Furthermore, the process of constructing a composite control law includes:

[0131] The first control component is obtained based on the linear state error feedback control law;

[0132] The second control component is obtained based on the continuous sliding mode control law;

[0133] A composite control law is constructed based on the first and second control components.

[0134] Furthermore, the process of speed control for a switched reluctance motor includes:

[0135] Generate control signals based on the composite control law;

[0136] Adjust the input voltage of the switched reluctance motor according to the control signal;

[0137] The motor speed is controlled based on the input voltage.

[0138] Specifically, based on the superspiral sliding mode control algorithm, the velocity loop of the first-order LADRC control is redesigned: the superspiral sliding mode linear expansion state observer is expressed as:

[0139]

[0140] The superspiral state error feedback rate is expressed as:

[0141]

[0142] The structure of the super-spiral self-disturbance rejection velocity loop controller is as follows: Figure 6 As shown.

[0143] Furthermore, it also includes a simulation verification process, which includes:

[0144] A three-phase 6 / 4 type switched reluctance motor was selected, and a direct instantaneous torque control strategy was adopted, with an outer speed loop and an inner torque loop to achieve speed and torque tracking. Simulation models of the switched reluctance motor based on PID control, LARDC, and STA-LARDC control methods were built in Matlab / Simulink simulation software. Simulation experiments were conducted on the three different control methods under startup and variable load conditions, and their control effects were compared and analyzed to verify the superiority of the STA-LARDC control method proposed in this embodiment.

[0145] Steady-state simulation: Under steady-state conditions with a reference speed of 600 r / min and a load torque of 5 N·m, the simulation time was set to 0.4 s. The speed waveform and torque waveform of the SRM are shown in Figure 7. Among them, (a) is the simulation result of the PID control strategy; (b) is the simulation result of the LADRC control strategy; and (c) is the simulation result of the STA-LADRC control strategy.

[0146] Depend on Figure 7 Simulation results show that during the startup phase of the switched reluctance motor, the super-spiral active disturbance rejection speed control exhibits no overshoot, significantly outperforming both the PID control strategy and the LADRC strategy. The obtained performance indicators are shown in Tables 1 and 2.

[0147] Table 1

[0148]

[0149] Table 2

[0150]

[0151] It can be seen that, compared with PID and LADRC strategies, SRM using the SAT-LADRC strategy has a faster speed response time, smaller overshoot, and significantly suppressed torque ripple under steady-state conditions, demonstrating a clear advantage in control performance.

[0152] Furthermore, the speed and torque waveforms under different control strategies during a sudden load application in dynamic simulation are shown below:

[0153] To evaluate the disturbance rejection performance of the proposed control strategy, a 2 N·m disturbance load was applied at 0.2 s. In the dynamic simulation experiment, the initial given SRM reference speed was 600 r / min, the load was 5 N·m, and the simulation time was set to 0.6 s. The simulation results of speed and torque under the three control strategies are as follows: Figure 8 As shown, (a) is the simulation result diagram of the PID control strategy; (b) is the simulation result diagram of the LADRC control strategy; and (c) is the simulation result diagram of the STA-LADRC control strategy.

[0154] Figure 8 The simulation results of three algorithms for SRM speed and torque under disturbance conditions are shown in Tables 3 and 4. The results of the three algorithms are quantitatively analyzed and the resulting performance indicators are shown in Tables 3 and 4.

[0155] Table 3

[0156]

[0157] Table 4

[0158]

[0159] It can be seen that under the condition of sudden load, the system under the three control strategies can return to the given reference speed. However, as can be seen from Tables 3 and 4, the motor controlled by the STA-LADRC strategy proposed in this embodiment can recover its original state in a faster time and can more accurately track the target torque and make stable torque output.

[0160] Furthermore, the speed and torque waveforms under different control strategies during a sudden load application in dynamic simulation are shown below:

[0161] To verify the dynamic response characteristics under different control strategies, the speed was adjusted from 600 r / min to 1000 r / min at 0.2 s, and from 1000 r / min to 800 r / min at 0.4 s. The speed waveforms under the three control strategies are as follows: Figure 9 As shown, (a) is the simulation result diagram of the PID control strategy; (b) is the simulation result diagram of the LADRC control strategy; and (c) is the simulation result diagram of the STA-LADRC control strategy.

[0162] Depend on Figure 9 As can be seen, under sudden changes in rotational speed, the systems under all three control strategies can return to the set rotational speed. Although traditional PID control has a faster response speed, it has significant overshoot and cannot maintain the rotational speed stably at the set speed. LADRC control has no significant overshoot and can maintain the given rotational speed well. Compared with traditional LADRC control, STA-LADRC has a faster response speed, almost no overshoot, and achieves zero-error control.

[0163] This embodiment builds a three-phase 6 / 4 type SRM speed control system model based on the Matlab / Simulink platform, and compares and analyzes the control performance of PID, LADRC and STA-LADRC under steady-state and dynamic conditions. Simulation results show that the proposed method achieves zero overshoot under steady-state conditions of 600 r / min, and the torque ripple is reduced by 42.2% and 47.7% compared with PID and LADRC, respectively; when the load changes by 2 N·m, the torque response time is shortened to 0.0022s, which is 66.7% better than the traditional LADRC.

[0164] This embodiment proposes a speed loop design for a switched reluctance motor (SRM) based on a superspiral linear active disturbance rejection control (STA-LADRC) strategy, thereby improving the speed regulation performance and suppressing torque ripple. Considering the nonlinearity of the SRM's mathematical model, a superspiral sliding mode control is introduced. To address the system oscillation problem during the convergence process of traditional superspiral sliding mode control, a smooth double tangent function is selected to replace the sign function. By designing motor simulation models under three different control strategies, comparative experiments are conducted under steady-state and dynamic conditions to verify the effectiveness of the proposed STA-LADRC strategy.

[0165] The above are merely preferred embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A speed loop control method for a superspiral self-disturbance rejection switched reluctance motor, characterized in that, include: Based on the mathematical model of the switched reluctance motor, the state equations of the speed loop control system are established. Based on the state equation, a linear extended state observer is constructed to estimate the total disturbance of the system in real time; Based on the output of the linear extended state observer, design a linear state error feedback control law; The process of designing a linear state error feedback control law includes: The speed error signal is obtained based on the error between the reference speed and the speed estimate output by the observer; Based on the aforementioned speed error signal, design the proportional gain coefficient; Based on the proportional gain coefficient, a linear state error feedback control law is constructed; The linearly extended observer is represented as: (8) In the formula: , Actual rotational speed Tracking signals and system disturbances Observations; To control the compensation gain coefficient; , For observer feedback gain; Introducing observer bandwidth Pick: (9) The linear state error feedback controller is designed as follows: (10) In the formula: This is the proportional gain coefficient. For reference speed; Estimating the disturbance The compensation given to the system is as follows: (11) From the above equations, we finally obtain the final form of LADRC: (12) Based on the superspiral sliding mode control algorithm, a sliding surface is constructed and a sliding mode control law is designed. The hyperbolic tangent function is replaced with the sign function to make the sliding mode control law continuous. Based on the linear state error feedback control law and the continuous sliding mode control law, a composite control law is constructed. Speed ​​control of the switched reluctance motor is performed according to the composite control law. The process of constructing the sliding surface and designing the sliding control law includes: Based on the system state error, define the sliding surface function; the sliding surface is designed as follows: (13) Based on the aforementioned sliding surface function, a superspiral sliding mode control law is designed; the superspiral sliding mode controller can be expressed as: (14) In the formula: , This is the gain coefficient; It is a symbolic function; The design factor is set to 0.

5. According to the superspiral sliding mode control law, a continuous control signal is obtained; The process of making the sliding mode control law continuous includes: Based on the properties of the hyperbolic tangent function, it replaces the traditional sign function; Based on the hyperbolic tangent function, a continuous sliding mode control law is constructed. The hyperbolic tangent function is expressed as: (15) Combining equations (14) and (15), we get: (16) The process of constructing a composite control law includes: The first control component is obtained based on the linear state error feedback control law; The second control component is obtained based on the continuous sliding mode control law; Based on the first control component and the second control component, a composite control law is constructed; Based on the superspiral sliding mode control algorithm, the velocity loop of the first-order LADRC control is redesigned: The superspiral sliding mode linear expansion state observer is represented as: (17) The superspiral state error feedback rate is expressed as: (18)。 2. The method according to claim 1, characterized in that, The process of establishing the state equations of a speed loop control system includes: The rate of change of motor speed is obtained based on the mechanical motion equation of the switched reluctance motor. Define the system's input and output quantities based on the motor speed change rate; Based on the input and output quantities, establish a first-order state equation.

3. The method according to claim 1, characterized in that, The process of constructing a linearly extended state observer includes: Design the observer feedback gain based on the error between the system output and the observer output; Based on the observer feedback gain, construct the state equation of the linear extended state observer; Based on the state equation, the total disturbance of the system is estimated in real time.

4. The method according to claim 1, characterized in that, The observer bandwidth of the linearly extended state observer is used to determine the observer feedback gain.

5. The method according to claim 1, characterized in that, The proportional gain coefficient is used to adjust the convergence speed of the sliding surface.

6. The method according to claim 1, characterized in that, The process of speed control for a switched reluctance motor includes: Based on the composite control law, a control signal is generated; Adjust the input voltage of the switched reluctance motor according to the control signal; The motor speed is controlled based on the input voltage.

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