Device and method for improving performance of euphausia superba husking machine

Abstract

The invention belongs to the technical field of automatic control of euphausia superba husking, and discloses a device and a method for improving the performance of an euphausia superba husking machine. The device comprises a power supply part, a detection circuit, a DSP processor part, an IPM isolation protection drive circuit, an upper computer and a plurality of permanent magnet synchronous motors. A preset performance cross coupling controller is used to realize synchronization control among multiple shafts, and a synchronization error is constrained; the lumped disturbance of the system is estimated through a disturbance observer and introduced into a PID controller, so that the constraint of the disturbance upper bound on the conservative property of the control design is avoided; according to the disturbance observer, a sign function is hidden in an integral term, so that high-frequency buffeting can be weakened essentially, and the stability and continuity of a control signal are ensured. Therefore, the disturbance tracking precision is improved, a stable control signal can be generated, the control performance of the system is obviously improved, the tracking error is reduced, high-frequency oscillation is avoided, and the control precision of the multi-axis servo system of the euphausia superba husking machine is further improved.

Description

Technical Field

[0001] This invention belongs to the field of automatic control technology for Antarctic krill peeling, and relates to a device and method for improving the performance of Antarctic krill peeling machines. Background Technology

[0002] With the industrialization of Antarctic krill resource development and the transformation of the aquatic product processing industry towards "high efficiency and high quality," precise synchronous drive in Antarctic krill peeling has become a core factor determining processing efficiency and product value. The multi-axis synchronous performance of Antarctic krill peeling machines directly impacts the quality of the final product. When the synchronization error of multiple motors, including the feeding motor, peeling roller motor, and grading transmission motor, is ≤0.1 r / min, the intact peeling rate of Antarctic krill reaches 92%, 30% higher than products with a synchronization loss error exceeding 0.3 r / min. The shrimp meat breakage rate decreases from 22% to 7%, and raw material utilization increases by 25%. These demands are driving "multi-axis precise synchronous drive" to become the core development direction for high-end Antarctic krill peeling equipment.

[0003] However, the driving methods of traditional Antarctic krill peeling machines are gradually hindering industry upgrades. In the past, most peeling machines relied on rigid connection structures with single-motor linkage, gear meshing, or belt drive: continuous peeling lines in krill processing plants use drive shafts to link multiple motors for feeding, peeling, and grading. Gear gaps cause synchronization errors of more than 0.3 r / min among the multiple motors. About 15% of each batch of Antarctic krill are not peeled cleanly due to "synchronization of motors in multiple stages such as feeding, peeling, and grading," resulting in residual shells or pinched shrimp meat. Ocean-going shipboard peeling machines use belt drives, which are prone to slippage under long-term turbulent conditions. The synchronization accuracy of multiple motors drifts by more than 0.5 r / min, wasting about 80 kg of raw materials per day. More importantly, the gaps in traditional transmission components are prone to entanglement of krill shell residue and residual body fluids. Each cleaning requires disassembling 15 components, including the feeding roller, peeling roller, grading roller, and transmission gears, which takes 1.5 hours. This not only affects the continuity of production but also poses a food safety hazard due to the growth of microorganisms. In addition, Antarctic krill vary in size from 1 to 5 cm, and juvenile and adult krill are mixed in the catch batches. Traditional equipment requires manual calibration to adjust the synchronous parameters of multiple motors, and the cycle of switching to processing modes to adapt to different krill sizes exceeds 30 minutes, making it difficult to meet the flexible production needs of "multiple sizes and small batches".

[0004] Therefore, high speed (60kg / hour processing capacity per unit), high precision (multi-motor synchronization error ≤0.1r / min), and high reliability (1500 hours of continuous operation without failure) are the main development trends of Antarctic krill peeling machines. Among them, "multi-motor synchronization stability" is the lifeline of peeling processing: if the speeds of multiple motors for feeding, peeling, and grading are not synchronized, some motors running too fast may crush the shrimp meat, while others running too slow will result in incomplete peeling or misgrading, wasting raw materials and requiring additional manual sorting. If wear of transmission components causes a shift in the synchronization precision of multiple motors, it may also generate metal debris that contaminates the product. In actual production, fluctuations in the characteristics of Antarctic krill materials, such as changes in the coefficient of friction due to differences in water content, load fluctuations caused by uneven individual size, or the impact of high-frequency seawater washing on the precision of the motor shaft system, such as salt spray corrosion causing a 0.015mm shift in the multi-axis linkage clearance, may all lead to instability in the synchronization parameters of multiple motors. Ensuring the synchronous tracking accuracy of multiple motors in an Antarctic krill peeling machine, reducing shrimp meat breakage rate, and extending equipment maintenance cycles under these complex operating conditions presents higher technical requirements for its multi-motor synchronous drive control method. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a device and method for improving the performance of an Antarctic krill peeling machine, so as to achieve multi-axis high-precision positioning of the target in the Antarctic krill peeling machine.

[0006] The technical solution of the present invention:

[0007] A device for improving the performance of an Antarctic krill peeling machine includes a power supply section, a detection circuit, a DSP processor section, an IPM isolation protection drive circuit, a host computer, and multiple permanent magnet synchronous motors.

[0008] The power supply section includes a rectifier circuit and an IPM inverter circuit;

[0009] The rectifier circuit is connected to the three-phase AC power supply to convert AC power into DC power; the IPM inverter circuit inverts the DC power output from the rectifier circuit into AC power and connects its output terminal to the permanent magnet synchronous motor to supply power to the permanent magnet synchronous motor.

[0010] The detection circuit includes a current detection circuit, a Hall sensor, a position and speed detection circuit, and an incremental encoder;

[0011] The input of the current detection circuit is connected to the output of the IPM inverter circuit through a Hall sensor. The output of the current detection circuit is connected to one signal input of the DSP processor. This is used to collect the current of the permanent magnet synchronous motor rotor through the Hall sensor and convert the collected analog current into a digital quantity that the DSP processor can recognize.

[0012] The input of the position and speed detection circuit is connected to the output of the permanent magnet synchronous motor through an incremental encoder. The output of the position and speed detection circuit is connected to another signal input of the DSP processor, which is used to acquire the position and speed signals of the permanent magnet synchronous motor rotor through the incremental encoder and convert them into digital quantities that the DSP processor can recognize.

[0013] The DSP processor section includes a DSP processor and its peripheral circuits. It calculates the difference between the speed signal of the permanent magnet synchronous motor in the Antarctic krill shelling machine detected by the incremental encoder to obtain the synchronization error of the multi-axis synchronous servo system. A preset performance cross-coupling controller is used to solve the multi-axis coupling problem. It also calculates the difference between the reference speed signal and the speed signal of the permanent magnet synchronous motor detected by the incremental encoder to obtain the tracking error of the multi-axis synchronous servo system, which is used as the input to the PID controller. A disturbance observer estimates the lumped disturbance of the multi-axis synchronous servo system in real time. The PID controller then suppresses the lumped disturbance, improving the robustness of the multi-axis synchronous servo system. The output signal of the PID controller is combined with the output signal of the preset performance cross-coupling controller to ensure the continuity and stability of the multi-axis synchronous servo system. Finally, the control signal for the motor is calculated, generating a PWM signal to drive the permanent magnet synchronous motor in the multi-axis synchronous servo system. The PWM port of the DSP processor is connected to another input of the IPM inverter circuit via an IPM isolation protection drive circuit.

[0014] The IPM isolation protection drive circuit is used for opto-isolation and to drive the six IGBTs in the IPM inverter circuit.

[0015] The control program in the host computer first processes the motor rotor speed data collected by the detection circuit. Then, it calculates the synchronization error by subtracting the processed data and inputs it to the preset performance cross-coupled controller. Next, it calculates the tracking error by subtracting the collected data from the reference command signal and uses it as the input variable of the PID controller. The PID control algorithm is then executed. The actual current and actual speed of the permanent magnet synchronous motor are collected by the disturbance observer to estimate the lumped disturbance of the multi-axis synchronous servo system of the Antarctic krill peeling machine. Finally, the program, which is based on the preset performance cross-coupled control and PID control algorithm, is downloaded to the DSP processor through the SCI serial port bus and connected to the SCI serial port pin of the DSP processor to drive the servo system.

[0016] The DSP processor uses a TMS320F28379D chip. The peripheral circuitry of the DSP processor includes a level conversion circuit, a fault signal acquisition circuit, a DSP crystal oscillator circuit, a JTAG circuit, and a DSP reset circuit. The level conversion circuit converts the 5V power supply voltage to the 3.3V operating voltage for the DSP processor. The fault signal acquisition circuit is connected to the external interrupt pin of the DSP processor, and the DSP processor's interrupt program handles the fault. The DSP crystal oscillator circuit provides a 30MHz operating frequency for the DSP processor, and pins 1 and 4 of the DSP crystal oscillator circuit are connected to the X1 and X2 interfaces of the DSP processor, respectively. The JTAG circuit is used to test the electrical characteristics of the chip and detect any problems. Pins 1, 2, 3, 7, 9, 11, 13, and 14 of the JTAG circuit are connected to pins 79, 78, 76, 77, 87, 87, 85, and 86 of the DSP processor, respectively. The reset circuit is used to restore the DSP processor's circuitry to its initial state; pin 1 of the DSP reset circuit is connected to pin 80 of the DSP processor.

[0017] A method for improving the performance of an Antarctic krill peeling machine includes the following steps:

[0018] Step 1: Input the given rotation speed signal, and the permanent magnet synchronous motor in the multi-axis synchronous servo system of the Antarctic krill peeling machine will receive the rotation speed signal and start moving;

[0019] Step 2: Determine the actual rotational speed and current of the permanent magnet synchronous motor rotor in the multi-axis synchronous servo system of the Antarctic krill peeling machine;

[0020] After the multi-axis synchronous servo system of the Antarctic krill shelling machine starts working, the detection circuit begins operation. The incremental encoder outputs two-phase quadrature square wave pulse signals and a zero-position pulse signal through the position and speed detection circuit, for a total of three pulse signals. All three pulse signals are sent to the quadrature encoder pulse input unit EQEP built into the DSP processor. Through quadruple frequency multiplication, the equivalent resolution of the detection stage is increased to four times the resolution of the original motor hardware encoder. That is, EQEP will simultaneously identify the "rising edge + falling edge" of the A and B phase pulses of the incremental encoder (originally only one edge is counted), and convert one original pulse into four counting pulses. This is equivalent to increasing the "equivalent resolution" of the encoder by four times in the signal detection stage. At the same time, the general-purpose timer built into the DSP processor is set to directional increment / decrement counting mode. The position offset of the permanent magnet synchronous motor rotor is obtained from the number of pulses of the two-phase quadrature square wave pulse signal, and the direction of rotation of the rotor is obtained from the lead relationship of the two-phase quadrature square wave pulse signal, thus obtaining the position and speed of the permanent magnet synchronous motor rotor. The current of the permanent magnet synchronous motor rotor is collected using a Hall sensor.

[0021] Step 3: Using the speed data of the permanent magnet synchronous motor rotor collected in Step 2, the synchronization error and tracking error are first calculated in the DSP processor. The coupling problem of the two axes is solved by a preset performance cross-coupling controller. The lumped disturbance of the Antarctic krill peeling machine multi-axis synchronous servo system is estimated in real time using a disturbance observer. Then, a PID controller is used to suppress the lumped disturbance of the system, improving the robustness of the Antarctic krill peeling machine multi-axis synchronous servo system. The output signal of the PID controller is combined with the output signal of the preset performance cross-coupling controller to ensure the continuity and stability of the Antarctic krill peeling machine multi-axis synchronous servo system. Finally, the control signal of the permanent magnet synchronous motor, i.e., the control current of the permanent magnet synchronous motor, is calculated. The specific steps are as follows:

[0022] Step 3.1: Establish the electromagnetic torque equation and mechanical motion equation of the permanent magnet synchronous motor in the Antarctic krill peeling machine;

[0023] Establishing the dq axis model: For permanent magnet synchronous motors, field-oriented control is adopted. The axis of the permanent magnet pole is taken as the d axis, and the q axis is taken as the 90° electrical degree angle leading the d axis in the rotor rotation direction. In this way, a dq coordinate system that rotates synchronously with the rotor is established.

[0024] Let the d-axis current component of the inner current loop be i d If the ratio = 0, making the stator current vector and the permanent magnet magnetic field orthogonal in space, then the electromagnetic torque equation of the permanent magnet synchronous motor is:

[0025] (1)

[0026] In the formula, Electromagnetic torque; It is the extreme logarithm; The nominal flux linkage of a permanent magnet; i di i qi L di L qi Here, i represents the current and inductance along the d-axis and q-axis, respectively; i=1,2 represent permanent magnet synchronous motor 1 and permanent magnet synchronous motor 2, respectively; to facilitate the subsequent design process of preset performance cross-coupling control and PID controller, the subscript i is omitted; i is used. d =0 control, rotor current and stator current are spatially orthogonal, the permanent magnet synchronous motor type is surface-mounted permanent magnet synchronous motor. , For the stator inductance, the electromagnetic torque equation simplifies to:

[0027] (2)

[0028] The mechanical motion equations of a permanent magnet synchronous motor are:

[0029] (3)

[0030] In the formula, ω m T is the mechanical angular velocity of the motor. L Where J0 is the load torque, J0 is the nominal moment of inertia of the rotor, and B0 is the nominal viscous friction coefficient of the motor.

[0031] The equation of motion for a permanent magnet synchronous motor considering variations in motor parameters and load torque is as follows:

[0032] (4)

[0033] In the formula, , , , The actual rotor nominal moment of inertia, motor nominal coefficient of viscous friction, and permanent magnet nominal flux of the permanent magnet synchronous motor;

[0034] Rearranging equation (4), we get:

[0035] (5)

[0036] In the formula, , , The lumped disturbance of the multi-axis synchronous servo system of the Antarctic krill peeling machine is represented as:

[0037] (6)

[0038] Step 3.2: Based on the position of the permanent magnet synchronous motor rotor detected in Step 2, define the synchronization error as:

[0039] (7)

[0040] In the formula, Let be the coupling coefficient of permanent magnet synchronous motor 1. Let be the coupling coefficient of permanent magnet synchronous motor 2. The mechanical angular velocity of permanent magnet synchronous motor 1 The mechanical angular velocity of the permanent magnet synchronous motor 2; when At the same time, it can realize the synchronous operation of the multi-axis servo system of the Antarctic krill peeling machine;

[0041] Based on the performance requirements of the multi-axis synchronous servo system of the Antarctic krill peeling machine, the following definition is made: yes The performance function on is:

[0042] (8)

[0043] In the formula, This is the initial value of the performance function, used to control the error tolerance in the initial stage and optimize the dynamic response; This is the steady-state value of the performance function, which can constrain the synchronization error in steady state and ensure the final accuracy; It is always positive and monotonically decreasing in the time domain, that is... ; The convergence rate of the synchronization error. Representing time; the boundary function is constructed using the performance function as follows:

[0044] (9)

[0045] In the formula, This represents the initial value of the speed synchronization error of the dual permanent magnet synchronous motor. and The scaling factor is used to adjust the asymmetry of the boundary based on the initial conditions, controlling the relaxation of the upper and lower boundaries. To ensure that the synchronization error is always constrained within the range defined by the boundary function, it is necessary to satisfy... ;

[0046] To achieve the control objective of synchronous motion, satisfy the convergence performance of the synchronization error, and meet the constraint conditions of equation (9), the initial synchronization error is... Converted to an unconstrained equivalent form, it can be expressed as:

[0047] (10)

[0048] In the formula, For strictly increasing transformation functions, satisfying , ; For transformation error; according to the function Properties and The monotonicity of the property gives:

[0049] (11)

[0050] For any initial synchronization error If selected , making ,and Bounded, then Therefore, equation (9) is valid;

[0051] To facilitate control scheme design, a strictly increasing transformation function is designed as follows:

[0052] (12)

[0053] Transformation error Represented as:

[0054] (13)

[0055] Step 3.3: Based on the actual rotational speed detected in Step 2, define the tracking error as:

[0056] (14)

[0057] In the formula, This is the reference speed for the motor rotor. To determine the actual rotor speed of the motor, design the PID controller as follows:

[0058] (15)

[0059] In the formula, For the output of the PID controller, This is the proportionality coefficient. The coefficient of the integral term, These are the coefficients of the differential term;

[0060] A novel perturbation observation-based perturbation feedforward compensation method is designed, as follows:

[0061] (16)

[0062] In the formula, This is the robustness term gain of the rotational speed estimation error. The gain for lumped perturbation estimation. This is the upper bound of the rate of change of the disturbance. For symbolic functions, and These are the estimated values ​​of the actual speed of the permanent magnet synchronous motor and the estimated value of the lumped disturbance, respectively.

[0063] The observed lumped disturbance Feedforward compensation to the control input:

[0064] (17)

[0065] Step 4: The DSP processor generates six corresponding PWM pulse signals to drive the permanent magnet synchronous motors respectively;

[0066] The PWM signal output by the DSP processor is converted into a drive signal by the IPM isolation protection drive circuit. The fixed 220V three-phase AC power is rectified into stable DC power and sent to the IPM inverter circuit. The IPM inverter circuit controls the conduction and cutoff of the six IGBTs in the IPM inverter circuit according to the six PWM pulse signals generated by the DSP processor to obtain the required three-phase AC power to drive the permanent magnet synchronous motor, realize the control of the permanent magnet synchronous motor servo system, and then drive the multi-axis synchronous servo system of the Antarctic krill peeling machine to achieve high-efficiency peeling.

[0067] The beneficial effects of adopting the above technical solution are as follows: The device and method for improving the efficiency of Antarctic krill peeling machines provided by this invention utilize a preset performance cross-coupled controller to achieve synchronous control between multiple axes, constraining the synchronization error; by estimating the system's lumped disturbance through a disturbance observer and introducing it into the PID controller, the constraint of the upper bound of the disturbance on the conservative nature of the control design is avoided; the disturbance observer, by hiding the sign function within an integral term, helps to fundamentally weaken high-frequency chattering, ensuring the stability and continuity of the control signal. This not only improves the disturbance tracking accuracy but also generates a stable control signal, significantly improving the system's control performance, reducing tracking errors, avoiding high-frequency oscillations, and thus improving the control accuracy of the multi-axis servo system of the Antarctic krill peeling machine. Furthermore, the use of high-performance Hall sensors and incremental encoders improves the accuracy of the acquired signals, and the use of the TMS320F28379D chip as the core processor improves the servo system's data processing capability, thereby increasing the efficiency of the Antarctic krill peeling machine. Attached Figure Description

[0068] Figure 1 This is a structural diagram of a multi-axis servo system for an Antarctic krill peeling machine provided in an embodiment of the present invention;

[0069] Figure 2 A schematic diagram of the main circuit of a permanent magnet synchronous motor provided in an embodiment of the present invention;

[0070] Figure 3 The circuit diagram of the current detection circuit provided in the embodiment of the present invention;

[0071] Figure 4 A circuit diagram of the position and velocity detection circuit provided in an embodiment of the present invention;

[0072] Figure 5 This is a schematic diagram of the peripheral circuit connection of the DSP processor provided in an embodiment of the present invention;

[0073] Figure 6 A circuit schematic diagram of a DSP power supply level conversion circuit provided in an embodiment of the present invention;

[0074] Figure 7 A circuit schematic diagram of the Fault signal acquisition circuit provided in an embodiment of the present invention;

[0075] Figure 8 The circuit schematic diagram of the DSP crystal oscillator circuit provided in the embodiment of the present invention;

[0076] Figure 9 The circuit schematic diagram of the JTAG circuit provided in the embodiments of the present invention;

[0077] Figure 10 The circuit schematic diagram of the DSP reset circuit provided in the embodiment of the present invention;

[0078] Figure 11 The circuit schematic diagram of the IPM protection isolation drive circuit provided in the embodiment of the present invention;

[0079] Figure 12 This is a flowchart of a method for improving the efficiency of an Antarctic krill shelling machine according to an embodiment of the present invention;

[0080] Figure 13 A schematic diagram of the algorithm for improving the synchronous tracking accuracy of a multi-axis servo system in an Antarctic krill peeling machine, provided in an embodiment of the present invention;

[0081] Figure 14 Synchronization error curve of the multi-axis servo system of the Antarctic krill peeling machine based on PID controller provided in the embodiments of the present invention;

[0082] Figure 15 Synchronization error curve of a multi-axis servo system for an Antarctic krill peeling machine based on preset performance cross-coupling and a PID controller, provided as an embodiment of the present invention. Detailed Implementation

[0083] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and technical solutions.

[0084] A device for improving the synchronous tracking accuracy of a multi-axis servo system in an Antarctic krill peeling machine, the structure of which is as follows: Figure 1 As shown, it includes a power supply section, a detection circuit, a DSP processor section, an IPM isolation protection drive circuit, a host computer, and a permanent magnet synchronous motor.

[0085] The schematic diagram of the main circuit of the permanent magnet synchronous motor is as follows: Figure 2 As shown.

[0086] The power supply section includes a rectifier circuit and an IPM inverter circuit;

[0087] The rectifier circuit, serving as the input to the entire control device, receives the signal indicating the final operating speed of the permanent magnet synchronous motor, as given by the user. The input of the rectifier circuit is connected to a three-phase AC power supply, converting the changing AC power into stable DC power. Its output is connected to the IPM inverter circuit. The IPM inverter circuit converts the DC power output from the rectifier circuit back into AC power, and its output is connected to the permanent magnet synchronous motor to supply power to it.

[0088] In the rectifier circuit, the anode of the rectifier bridge is connected to the N terminal of the IPM inverter circuit, and its cathode is connected to the P terminal of the IPM inverter circuit. The three-phase current output by the IPM inverter circuit is connected to the permanent magnet synchronous motor through the output terminals U, V, and W. P and N are the input terminals of the IPM inverter circuit after rectification, smoothing, and filtering by the frequency converter; P is the positive terminal, and N is the negative terminal. The rectifier unit adopts a bridge uncontrolled rectification method with large capacitor filtering, which can obtain a constant voltage suitable for IPM operation.

[0089] In this embodiment, the motor's start and stop are controlled by normally open contact switch A and normally closed contact switch B, respectively. During circuit operation, the three-phase AC power is converted from 220V to a three-phase AC power with an effective value approximately equal to the input voltage of the IPM inverter circuit via a transformer. This is then passed through a rectifier bridge transistor circuit to obtain a pulsating DC voltage. Next, the DC voltage is smoothed by capacitor filtering, and a stable voltage is applied across the PN terminals of the IPM inverter circuit. The converted DC power is then inverted into frequency-converted three-phase AC power by the IPM inverter circuit, thereby driving the permanent magnet synchronous motor. The IGBTs in the IPM inverter circuit are controlled by a PWM pulse sequence output from the control circuit to achieve the required amplitude and phase of the three-phase AC power.

[0090] The detection circuit includes a current detection circuit, a Hall sensor, a position and speed detection circuit, and an incremental encoder.

[0091] The input of the current detection circuit is connected to the output of the IPM inverter circuit via a Hall sensor. The output of the current detection circuit is connected to the ADC port of the DSP processor. This circuit is used to acquire the rotor current of the permanent magnet synchronous motor via the Hall sensor and convert the acquired analog current into a digital quantity that the DSP processor can recognize. The current detection circuit is as follows: Figure 3 As shown, the current detection circuit converts the three-phase rotor current of the permanent magnet synchronous motor into digital form via a sensor and then into a series of transformations by the DSP processor. Since the system in this embodiment is a three-phase balanced system, meaning the vector sum of the three-phase currents is zero, it is only necessary to detect two phases to obtain the three-phase current. This embodiment uses an LTS25-NP type sensor to detect the current.

[0092] The input of the position and speed detection circuit is connected to the output of the permanent magnet synchronous motor via an incremental encoder. The output of the position and speed detection circuit is connected to the EQEP port of the DSP processor. This circuit is used to acquire the position and speed signals of the permanent magnet synchronous motor rotor via the incremental encoder and convert them into digital quantities that the DSP processor can recognize. The position and speed detection circuit is as follows: Figure 4 As shown, two orthogonal square wave pulse signals A and B are sent to two capture units EQEP1 (pin 90) and EQEP2 (pin 91) of the DSP processor via a high-speed optocoupler LTV-341W. The capture units inside the DSP processor can be defined by software as orthogonal encoded pulse input units, and then the pulses can be counted. Based on the pulse sequence, the direction, position, and speed of the permanent magnet synchronous motor can be determined.

[0093] During motor operation, an incremental encoder detects the motor's actual speed and position, while a Hall sensor detects the actual current. These three measured values—speed, position, and current—are fed into a DSP processor via a detection circuit.

[0094] The DSP processor receives output signals from the current detection circuit and the position and speed detection circuit. After processing these two signals, the DSP processor outputs the resulting signal to the IPM inverter circuit via the IPM protection and isolation drive circuit. The DSP processor section includes the DSP processor and its peripheral circuits. It calculates the difference between the speed signals of the permanent magnet synchronous motor in the Antarctic krill shelling machine detected by the incremental encoder to obtain the synchronization error of the multi-axis synchronous servo system of the Antarctic krill shelling machine. The multi-axis coupling problem is solved using a preset performance cross-coupling controller. The difference between the reference speed signal and the permanent magnet synchronous motor speed signal detected by the incremental encoder is used to obtain the tracking error of the multi-axis synchronous servo system of the Antarctic krill peeling machine. This error is used as the input of the PID controller. The system lumped disturbance is estimated in real time by a disturbance observer. Then, the PID control suppresses the system lumped disturbance, improving the system's robustness. The output signal of the PID controller is combined with the output signal of the preset performance cross-coupled controller to ensure the continuity and stability of the system. Finally, the control signal of the motor is calculated, generating a PWM signal to drive the motor in the multi-axis synchronous servo system of the Antarctic krill peeling machine. The PWM port of the DSP processor is connected to another input of the IPM inverter circuit through the IPM isolation protection drive circuit. In this embodiment, the DSP processor is a TMS320F28379D, and its peripheral circuit connection structure schematic diagram is shown below. Figure 5 As shown. The peripheral circuitry of the DSP processor includes a level conversion circuit, a fault signal acquisition circuit, a DSP crystal oscillator circuit, a JTAG circuit, and a DSP reset circuit, as shown below. Figures 6-10As shown, the level conversion circuit converts the 5V power supply voltage to the 3.3V operating voltage supplied to the DSP processor. The fault signal acquisition circuit is connected to the external interrupt pin of the DSP processor, and the fault is handled by the DSP processor's interrupt program. The DSP crystal oscillator circuit provides the DSP processor with a 30MHz operating frequency. Pins 1 and 4 of the DSP crystal oscillator circuit are connected to the X1 (pin 104) interface and X2 (pin 102) interface of the DSP processor, respectively. The JTAG circuit is used to test the electrical characteristics of the chip and detect whether there is a problem with the chip. Pins 1, 2, 3, 7, 9, 11, 13, and 14 of the JTAG interface circuit are connected to pins 79, 78, 76, 77, 87, 87, 85, and 86 of the DSP processor, respectively. The DSP reset circuit is used to restore the entire circuit to its initial state. Pin 1 of the DSP reset circuit is connected to pin 80 of the DSP processor.

[0095] The IPM isolation protection drive circuit is used for opto-isolation and to drive the six IGBTs in the IPM inverter circuit. The IPM isolation protection drive circuit, such as... Figure 11 As shown, an IPM (Insulation Power Module) protection drive circuit is used instead of a power device as the power supply device. After being processed by the IPM, the current is supplied to the permanent magnet synchronous motor, enabling the motor to move.

[0096] The control program, written in C language, was written using Code Composer Studio 12.2.0 software and stored on the host computer. The program first processes the data collected by the detection circuit. Then, it calculates the synchronization error by subtracting the collected data and inputs it to the preset performance cross-coupled controller. Next, it calculates the tracking error by subtracting the collected data from the reference command signal, using this error as the input variable for the PID controller. The PID control algorithm is then executed. The actual motor current and speed are collected by the disturbance observer to estimate the system's lumped disturbance. Finally, the C language program, based on the preset performance cross-coupled control and PID control algorithm, is downloaded to the DSP processor via the SCI serial port bus and run to drive the servo system.

[0097] This embodiment also provides a method for improving the synchronous tracking accuracy of a multi-axis servo system in an Antarctic krill peeling machine, which is implemented using the aforementioned PID control algorithm based on preset performance cross-coupling. Figure 13 As shown, the specific steps include:

[0098] Step 1: Input the reference speed signal. The permanent magnet synchronous motor in the multi-axis synchronous servo system of the Antarctic krill peeling machine receives the speed signal and starts to move.

[0099] Step 2: Determine the actual rotational speed and current of the permanent magnet synchronous motor rotor in the multi-axis synchronous servo system of the Antarctic krill peeling machine;

[0100] After the multi-axis synchronous servo system of the Antarctic krill shelling machine starts working, the detection circuit starts working. The incremental encoder outputs orthogonal square wave pulse signals and zero-position pulse signals through the position and speed detection circuit, for a total of three pulse signals. All three pulse signals are sent to the orthogonal encoder pulse input unit EQEP of the DSP processor. The encoder resolution is improved by quadrupling the frequency. At the same time, the general-purpose timer is set to directional increment / decrement counting mode. The rotor position offset is obtained from the number of pulses of the two-phase orthogonal square wave pulse signals, and the rotor direction is obtained from the lead relationship of the two-phase orthogonal square wave pulse signals, thus obtaining the rotor position and speed. The rotor current is collected by the Hall sensor.

[0101] Step 3: Using the data collected in Step 2, the synchronization error and tracking error are first calculated in the DSP processor. The coupling problem of the two axes is solved by a preset performance cross-coupling controller. The system lumped disturbance is estimated in real time using a disturbance observer. Then, a PID controller is used to suppress the system lumped disturbance and improve the system robustness. The output signal of the PID controller is combined with the output signal of the preset performance cross-coupling controller to ensure the continuity and stability of the system. Finally, the control signal of the motor, i.e., the control current of the permanent magnet synchronous motor, is calculated. The specific steps are as follows:

[0102] Step 3.1: Establish the electromagnetic torque equation and mechanical motion equation of the permanent magnet synchronous motor in the Antarctic krill peeling machine;

[0103] Establishing the dq axis model: For permanent magnet synchronous motors, field-oriented control is adopted. The axis of the permanent magnet pole is taken as the d axis, and the rotor rotation direction is advanced by 90° electrical angles ahead of the d axis as the q axis. In this way, a dq coordinate system that rotates synchronously with the rotor is established.

[0104] Let the d-axis current component of the inner current loop be i d If the ratio = 0, making the stator current vector and the permanent magnet magnetic field orthogonal in space, then the electromagnetic torque equation of the permanent magnet synchronous motor is:

[0105] (1)

[0106] In the formula, Electromagnetic torque; It is the extreme logarithm; The nominal flux linkage of a permanent magnet; i di i qi L di L qi Let i be the current and inductance along the d and q axes, respectively; i = 1, 2 represent motor 1 and motor 2, respectively; for the convenience of subsequent controller design, the subscript i will be omitted; i = 1 will be used. d=0 control, rotor current and stator current are spatially orthogonal, motor type is surface-mounted permanent magnet synchronous motor. , For the stator inductance, the electromagnetic torque equation simplifies to:

[0107] (2)

[0108] The mechanical motion equation of a permanent magnet synchronous motor is:

[0109] (3)

[0110] In the formula, ω m T is the mechanical angular velocity of the motor. L J0 is the load torque, J0 is the nominal moment of inertia of the rotor, and B0 is the nominal viscous friction coefficient of the motor.

[0111] In actual production, the krill shelling machine for Antarctic krill is susceptible to instability in motor parameters due to fluctuations in the characteristics of the krill material, such as changes in the coefficient of friction caused by differences in moisture content and load fluctuations caused by uneven individual size, as well as the complex interaction of the internal magnetic field of the motor and dynamic changes in the external load. Therefore, the motion equation of the permanent magnet synchronous motor considering the changes in motor parameters and load torque is as follows:

[0112] (4)

[0113] In the formula, , , , These are the actual parameter values ​​of the motor.

[0114] Rearranging equation (4), we get

[0115] (5)

[0116] In the formula, , , For the lumped disturbance of the system, it is represented as

[0117] (6)

[0118] Step 3.2: Based on the actual position detected in Step 2, define the synchronization error as...

[0119] (7)

[0120] In the formula, , It is the coupling coefficient. The mechanical angular velocity of permanent magnet synchronous motor 1 This is the mechanical angular velocity of the permanent magnet synchronous motor 2. Therefore, when... It can realize the synchronous operation of the multi-axis servo system of the Antarctic krill peeling machine;

[0121] While cross-coupling control can promptly respond to speed changes between permanent magnet synchronous motors (PMSMs), it struggles to strictly constrain synchronization errors, making it difficult to balance system response speed and steady-state accuracy. Preset performance control, on the other hand, can precisely limit the range of synchronization errors. Combining it with cross-coupling control helps control the synchronization errors of the two PMSMs, ensuring high-precision and rapid system operation. Based on system performance requirements, the following is defined: yes The performance function on is

[0122] (8)

[0123] In the formula, This is the initial value of the performance function, used to control the error tolerance in the initial stage and optimize the dynamic response. This is the steady-state value of the performance function, which can constrain the synchronization error in steady state and ensure the final accuracy. It is always positive and monotonically decreasing in the time domain, that is... . The convergence rate of the synchronization error. Representing time. The boundary function is constructed using the performance function as follows:

[0124] (9)

[0125] In the formula, This represents the initial value of the speed synchronization error of the dual permanent magnet synchronous motor. and The scaling factor is used to adjust the asymmetry of the boundary based on the initial conditions, controlling the relaxation of the upper and lower boundaries. To ensure that the synchronization error is always constrained within the range defined by the boundary function, the following conditions must be met: .

[0126] To achieve the control objective of synchronous motion, satisfy the convergence performance of synchronization error, and meet the constraint conditions of equation (9), the synchronization error is... Converted to an unconstrained equivalent form, it is expressed as:

[0127] (10)

[0128] In the formula, For strictly increasing transformation functions, satisfying , . This represents the transformation error. According to the function... Properties and The monotony,

[0129] (11)

[0130] For any initial synchronization error If selected , making ,and Bounded, then Therefore, equation (9) is established.

[0131] To facilitate control scheme design, a strictly increasing transformation function is designed as follows:

[0132] (12)

[0133] Transformation error Represented as

[0134] (13)

[0135] Construct the Lyapunov function as follows

[0136] (14)

[0137] Differentiating the above equation and combining it with equation (13), we get

[0138] (15)

[0139] Rearranging equation (15), we get

[0140] (16)

[0141] In the formula, , Because two permanent magnet synchronous motors with identical nominal parameters were selected, , , The system lumped disturbance for permanent magnet synchronous motor 1. For the lumped disturbance of the permanent magnet synchronous motor 2 system. Adjustment and The value of makes ,when When large enough, it satisfies [ M 2 ρ ( t ) − ρ ˙ ( t ) c ( t ) ] δ ( t ) ≤ 0 From equation (10), it can be seen that... Therefore, equation (16) can be derived as follows: The stability of the synchronous control system has been proven.

[0142] Step 3.3: Based on the actual rotational speed detected in Step 2, define the tracking error as...

[0143] (17)

[0144] In the formula, This is the reference speed for the motor rotor. Design a PID controller to determine the actual rotor speed of the motor.

[0145] (18)

[0146] In the formula, For controller output, This is the proportionality coefficient. The coefficient of the integral term, The coefficient is the differential term. Due to fluctuations in the properties of Antarctic krill material during actual production, such as changes in friction coefficient caused by variations in moisture content, load fluctuations caused by uneven individual size, or the impact of high-frequency seawater washing on the accuracy of the motor shaft system (e.g., salt spray corrosion causing a 0.015mm offset in the multi-axis linkage clearance), the synchronization parameters of multiple motors may become unstable. Therefore, a novel disturbance observation and disturbance feedforward compensation method was designed. Its design is as follows:

[0147] (19)

[0148] In the formula, , and For perturbation observer gain, This is the upper bound of the rate of change of the disturbance. For symbolic functions, and These are the estimated values ​​of the actual motor speed and the estimated value of the lumped disturbance, respectively. This is for velocity estimation error. The observer can accurately estimate lumped disturbances and, through the second-order sliding mode property, hides the sign function that causes chattering in the integral action, thereby essentially suppressing system chattering and avoiding the introduction of additional noise in disturbance estimation.

[0149] The observed lumped disturbance Feedforward compensation to control input

[0150] (20)

[0151] The observation error of lumped disturbance is defined as

[0152] (twenty one)

[0153] Taking the derivative of the velocity estimation error, we get

[0154] (twenty two)

[0155] Taking the derivative of the disturbance estimation error, we get

[0156] (twenty three)

[0157] In actual operation, the rate of change of the disturbance is bounded: .

[0158] Construct Lyapunov functions as

[0159] (twenty four)

[0160] The function satisfies: for all non-zero states If and only if , , , hour .

[0161] Differentiating equation (24), we get

[0162] (25)

[0163] Performing inequality scaling, we get

[0164] (26)

[0165] Substituting equation (26) into equation (25), we get

[0166] (27)

[0167] In the formula, It is a bounded constant.

[0168] Adjust the parameters to make Mechanical damping Perturbation observer gain , At that time, it can be guaranteed Therefore, the system stability is proven, and the speed error is... Speed ​​estimation error and disturbance estimation error It will approach zero, ensuring stable operation of the system in the presence of disturbances.

[0169] Step 4: The DSP processor generates six corresponding PWM pulse signals to drive the two permanent magnet synchronous motors respectively;

[0170] The PWM signal output by the DSP processor is converted into a drive signal by the IPM isolation protection drive circuit. The fixed 220V three-phase AC power is rectified into stable DC power and sent to the IPM inverter circuit. The IPM inverter circuit controls the conduction and cutoff of the six IGBTs in the IPM inverter circuit according to the six PWM pulse signals generated by the DSP processor, so as to obtain the required three-phase AC power to drive two permanent magnet synchronous motors, realize the synchronous control of the multi-axis servo system of the Antarctic krill peeling machine, and realize the high-efficiency operation of the peeling machine.

[0171] To verify the effectiveness of the algorithm, the parameters of the permanent magnet synchronous motor of the Antarctic krill peeling machine were selected as follows: permanent magnet flux linkage. Rotor moment of inertia viscous friction coefficient polar number Simulation was performed using MATLAB.

[0172] Based on the provided motor parameters and the PID controller designed in this embodiment with preset performance cross-coupling, the optimal effect was achieved through repeated debugging with MATLAB. The parameter selections are as follows: , , , , . , , , , The system is subjected to a sinusoidal load disturbance with an input amplitude of 2 N•m and a frequency of 10 Hz. The synchronization error curve of the multi-axis servo system for the Antarctic krill shelling machine based on a traditional PID controller is shown below. Figure 14 As shown, the synchronization error curve of the multi-axis servo system of the Antarctic krill peeling machine based on a PID controller with preset performance cross-coupling and a disturbance observer is as follows: Figure 15As shown in the simulation diagram, the traditional PID control exhibits poor tracking performance, with the synchronization error failing to converge to zero. The maximum synchronization error at startup ranges from approximately -2 to 4.6 r / min, with a convergence time of about 0.2 s. In steady state, the synchronization error remains between -1 and 1.2 r / min. In contrast, the PID controller based on preset performance cross-coupling and a disturbance observer produces a more stable synchronization error. Its maximum synchronization error at startup ranges from approximately -0.4 to 3.5 r / min, with a convergence time of about 0.05 s. In steady state, the synchronization error remains between -0.2 and 0.2 r / min, completely converging within the preset range. This indicates that the PID controller based on preset performance cross-coupling and a disturbance observer produces better control performance with a smaller synchronization error. Therefore, the PID control based on preset performance cross-coupling and a disturbance observer has significant advantages over traditional PID control, generating a more stable and continuous control signal, thereby reducing the system's synchronization error and verifying the effectiveness of this control method.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of the present invention.

Claims

1. A device for improving the performance of an Antarctic krill peeling machine, characterized in that, The device for improving the performance of the Antarctic krill peeling machine includes a power supply section, a detection circuit, a DSP processor section, an IPM isolation protection drive circuit, a host computer, and multiple permanent magnet synchronous motors. The power supply section includes a rectifier circuit and an IPM inverter circuit; The rectifier circuit is connected to the three-phase AC power supply to convert AC power into DC power; the IPM inverter circuit inverts the DC power output from the rectifier circuit into AC power and connects its output terminal to the permanent magnet synchronous motor to supply power to the permanent magnet synchronous motor. The detection circuit includes a current detection circuit, a Hall sensor, a position and speed detection circuit, and an incremental encoder; The input of the current detection circuit is connected to the output of the IPM inverter circuit through a Hall sensor. The output of the current detection circuit is connected to one signal input of the DSP processor. This is used to collect the current of the permanent magnet synchronous motor rotor through the Hall sensor and convert the collected analog current into a digital quantity that the DSP processor can recognize. The input of the position and speed detection circuit is connected to the output of the permanent magnet synchronous motor through an incremental encoder. The output of the position and speed detection circuit is connected to another signal input of the DSP processor, which is used to acquire the position and speed signals of the permanent magnet synchronous motor rotor through the incremental encoder and convert them into digital quantities that the DSP processor can recognize. The DSP processor section includes a DSP processor and its peripheral circuits. It calculates the difference between the speed signal of the permanent magnet synchronous motor in the Antarctic krill shelling machine detected by the incremental encoder to obtain the synchronization error of the multi-axis synchronous servo system. A preset performance cross-coupling controller is used to solve the multi-axis coupling problem. It also calculates the difference between the reference speed signal and the speed signal of the permanent magnet synchronous motor detected by the incremental encoder to obtain the tracking error of the multi-axis synchronous servo system, which is used as the input to the PID controller. A disturbance observer estimates the lumped disturbance of the multi-axis synchronous servo system in real time. The PID controller then suppresses the lumped disturbance, improving the robustness of the multi-axis synchronous servo system. The output signal of the PID controller is combined with the output signal of the preset performance cross-coupling controller to ensure the continuity and stability of the multi-axis synchronous servo system. Finally, the control signal for the motor is calculated, generating a PWM signal to drive the permanent magnet synchronous motor in the multi-axis synchronous servo system. The PWM port of the DSP processor is connected to another input of the IPM inverter circuit via an IPM isolation protection drive circuit. The IPM isolation protection drive circuit is used for opto-isolation and to drive the six IGBTs in the IPM inverter circuit. The control program in the host computer first processes the motor rotor speed data collected by the detection circuit. Then, it calculates the synchronization error by subtracting the processed data and inputs it to the preset performance cross-coupled controller. Next, it calculates the tracking error by subtracting the collected data from the reference command signal and uses it as the input variable of the PID controller. The PID control algorithm is then executed. The actual current and actual speed of the permanent magnet synchronous motor are collected by the disturbance observer to estimate the lumped disturbance of the multi-axis synchronous servo system of the Antarctic krill peeling machine. Finally, the program, which is based on the preset performance cross-coupled control and PID control algorithm, is downloaded to the DSP processor through the SCI serial port bus and connected to the SCI serial port pin of the DSP processor to drive the servo system.

2. The device for improving the performance of an Antarctic krill peeling machine according to claim 1, characterized in that, The DSP processor uses a TMS320F28379D chip. The peripheral circuitry of the DSP processor includes a level conversion circuit, a fault signal acquisition circuit, a DSP crystal oscillator circuit, a JTAG circuit, and a DSP reset circuit. The level conversion circuit converts the 5V power supply voltage to the 3.3V operating voltage for the DSP processor. The fault signal acquisition circuit is connected to the external interrupt pin of the DSP processor, and the DSP processor's interrupt program handles the fault. The DSP crystal oscillator circuit provides a 30MHz operating frequency for the DSP processor, and pins 1 and 4 of the DSP crystal oscillator circuit are connected to the X1 and X2 interfaces of the DSP processor, respectively. The JTAG circuit is used to test the electrical characteristics of the chip and detect any problems. Pins 1, 2, 3, 7, 9, 11, 13, and 14 of the JTAG circuit are connected to pins 79, 78, 76, 77, 87, 87, 85, and 86 of the DSP processor, respectively. The reset circuit is used to restore the DSP processor's circuitry to its initial state; pin 1 of the DSP reset circuit is connected to pin 80 of the DSP processor.

3. A method using the apparatus for improving the performance of an Antarctic krill peeling machine as described in claim 1 or 2, characterized in that, Includes the following steps: Step 1: Input the given rotation speed signal, and the permanent magnet synchronous motor in the multi-axis synchronous servo system of the Antarctic krill peeling machine will receive the rotation speed signal and start moving; Step 2: Determine the actual rotational speed and current of the permanent magnet synchronous motor rotor in the multi-axis synchronous servo system of the Antarctic krill peeling machine; After the multi-axis synchronous servo system of the Antarctic krill shelling machine starts working, the detection circuit begins to operate. The incremental encoder outputs two-phase quadrature square wave pulse signals and a zero-position pulse signal through the position and speed detection circuit, for a total of three pulse signals. All three pulse signals are sent to the quadrature encoder pulse input unit EQEP built into the DSP processor. Through quadruple frequency multiplication, the resolution of the permanent magnet synchronous motor hardware encoder is improved. At the same time, the general-purpose timer built into the DSP processor is set to directional increment / decrement counting mode. The position offset of the permanent magnet synchronous motor rotor is obtained from the number of pulses of the two-phase quadrature square wave pulse signals, and the direction of rotation of the rotor is obtained from the lead relationship of the two-phase quadrature square wave pulse signals, thus obtaining the position and speed of the permanent magnet synchronous motor rotor. The current of the permanent magnet synchronous motor rotor is collected using a Hall sensor. Step 3: Using the speed data of the permanent magnet synchronous motor rotor collected in Step 2, the synchronization error and tracking error are first calculated in the DSP processor. The coupling problem of the two axes is solved by the preset performance cross-coupling controller. The lumped disturbance of the Antarctic krill peeling machine multi-axis synchronous servo system is estimated in real time by the disturbance observer. Then, the lumped disturbance of the system is suppressed by the PID controller to improve the robustness of the Antarctic krill peeling machine multi-axis synchronous servo system. The output signal of the PID controller is combined with the output signal of the preset performance cross-coupling controller to ensure the continuity and stability of the Antarctic krill peeling machine multi-axis synchronous servo system. Finally, the control signal of the permanent magnet synchronous motor, that is, the control current of the permanent magnet synchronous motor, is calculated. Step 4: The DSP processor generates six corresponding PWM pulse signals to drive the permanent magnet synchronous motors respectively; The PWM signal output by the DSP processor is converted into a drive signal by the IPM isolation protection drive circuit. The fixed 220V three-phase AC power is rectified into stable DC power and sent to the IPM inverter circuit. The IPM inverter circuit controls the conduction and cutoff of the six IGBTs in the IPM inverter circuit according to the six PWM pulse signals generated by the DSP processor, so as to obtain the required three-phase AC power to drive the permanent magnet synchronous motor, realize the control of the permanent magnet synchronous motor servo system, and then drive the multi-axis synchronous servo system of the Antarctic krill peeling machine.

4. The method according to claim 3, characterized in that, The specific steps for step 3 are as follows: Step 3.1: Establish the electromagnetic torque equation and mechanical motion equation of the permanent magnet synchronous motor in the Antarctic krill peeling machine; Establishing the dq axis model: For permanent magnet synchronous motors, field-oriented control is adopted. The axis of the permanent magnet pole is taken as the d axis, and the q axis is taken as the 90° electrical degree angle leading the d axis in the direction of rotor rotation. In this way, a dq coordinate system that rotates synchronously with the rotor is established. Let the d-axis current component of the inner current loop be i d If the ratio = 0, making the stator current vector and the permanent magnet magnetic field orthogonal in space, then the electromagnetic torque equation of the permanent magnet synchronous motor is: (1) ； In the formula, Electromagnetic torque; It is the extreme logarithm; The nominal flux linkage of a permanent magnet; i di i qi L di L qi These represent the current and inductance along the d-axis and q-axis, respectively; i=1,2 represent permanent magnet synchronous motor 1 and permanent magnet synchronous motor 2, respectively; the subscript i is omitted, and i is used instead. d =0 control, rotor current and stator current are spatially orthogonal, the permanent magnet synchronous motor type is surface-mounted permanent magnet synchronous motor. , For the stator inductance, the electromagnetic torque equation simplifies to: (2) ； The mechanical motion equations of a permanent magnet synchronous motor are: (3) ； In the formula, ω m T is the mechanical angular velocity of the motor. L Where J0 is the load torque, J0 is the nominal moment of inertia of the rotor, and B0 is the nominal viscous friction coefficient of the motor. The equation of motion for a permanent magnet synchronous motor considering variations in motor parameters and load torque is as follows: (4) ； In the formula, , , , The actual rotor nominal moment of inertia, motor nominal coefficient of viscous friction, and permanent magnet nominal flux of the permanent magnet synchronous motor; Rearranging equation (4), we get: (5) ； In the formula, , , The lumped disturbance of the multi-axis synchronous servo system of the Antarctic krill peeling machine is represented as: (6) ； Step 3.2: Based on the position of the permanent magnet synchronous motor rotor detected in Step 2, define the synchronization error as: (7) ； In the formula, Let be the coupling coefficient of permanent magnet synchronous motor 1. Let be the coupling coefficient of permanent magnet synchronous motor 2. The mechanical angular velocity of permanent magnet synchronous motor 1 The mechanical angular velocity of the permanent magnet synchronous motor 2; when At the same time, it can realize the synchronous operation of the multi-axis servo system of the Antarctic krill peeling machine; Based on the performance requirements of the multi-axis synchronous servo system of the Antarctic krill peeling machine, the following definition is made: yes The performance function on is: (8) ； In the formula, This is the initial value of the performance function, used to control the error tolerance in the initial stage and optimize the dynamic response; This is the steady-state value of the performance function, which can constrain the synchronization error in steady state and ensure the final accuracy; It is always positive and monotonically decreasing in the time domain, that is... ; The convergence rate of the synchronization error, Representing time; the boundary function is constructed using the performance function as follows: (9) ； In the formula, This represents the initial value of the speed synchronization error of the dual permanent magnet synchronous motor. and The scaling factor is used to adjust the asymmetry of the boundary based on the initial conditions, controlling the relaxation of the upper and lower boundaries. To ensure that the synchronization error is always constrained within the range defined by the boundary function, it is necessary to satisfy... ; To achieve the control objective of synchronous motion, satisfy the convergence performance of the synchronization error, and meet the constraint conditions of equation (9), the initial synchronization error is... Converted to an unconstrained equivalent form, it can be expressed as: (10) ； In the formula, For strictly increasing transformation functions, satisfying , ; For transformation error; according to the function Properties and The monotonicity of the property gives: (11) ； For any initial synchronization error If selected , making ,and Bounded, then Therefore, equation (9) is valid; To facilitate control scheme design, a strictly increasing transformation function is designed as follows: (12) ； Transformation error Represented as: (13) ； Step 3.3: Based on the actual rotational speed detected in Step 2, define the tracking error as: (14) ； In the formula, This is the reference speed for the motor rotor. To determine the actual rotor speed of the motor, design the PID controller as follows: (15) ； In the formula, For the output of the PID controller, This is the proportionality coefficient. The coefficient of the integral term, These are the coefficients of the differential term; A novel perturbation observation-based perturbation feedforward compensation method is designed, as follows: (16) ； In the formula, This is the robustness term gain of the rotational speed estimation error. The gain for lumped perturbation estimation. This is the upper bound of the rate of change of the disturbance. For symbolic functions, and These are the estimated values ​​of the actual speed of the permanent magnet synchronous motor and the estimated value of the lumped disturbance, respectively. The observed lumped disturbance Feedforward compensation to the control input: (17)。

Images