A control method, device and system for suppressing current ripple of a hollow cup brush DC motor

Abstract

This invention discloses a control method, device, and system for suppressing current ripple in a coreless brushed DC motor, belonging to the field of DC motor control. The method includes: using an H-bridge Buck converter as the driving topology to provide smooth voltage; designing a state feedback controller based on its state-space model to adjust the dynamic current response; simultaneously designing nonlinear disturbance observers to compensate for matched disturbances in the inductor branch and unmatched disturbances and their derivatives in the capacitor branch; innovatively designing a multi-channel quasi-resonant proportional-integral resonant observer to observe and compensate for the unmatched periodic disturbances caused by motor component commutation, with higher precision; and finally synthesizing a composite control law to drive the motor. The device and system correspondingly implement the above method. Compared with higher-order disturbance observers, the multi-channel quasi-resonant proportional-integral resonant observer proposed in this invention significantly improves the compensation capability for unmatched periodic disturbances, effectively suppressing current ripple in the coreless motor and improving torque stability.

Description

Technical Field

[0001] This invention relates to a control method for suppressing current pulsation in a coreless brushed DC motor, belonging to the field of DC motor control. Background Technology

[0002] HCBDCM (Hollow Cup Brushed Direct Current Motor) features a coreless stator structure, unlike ordinary DC motors. This gives it advantages such as light weight, fast response, high energy density, low mechanical losses, and no eddy current losses, making it widely used in aerospace, medical, and industrial automation fields. To meet the demands of high-performance applications, HCBDCMs need to output a stable armature current to achieve smooth torque output. Because the armature time constant of an HCBDCM is much smaller than that of a typical brushed DC motor, using an H-bridge converter as the drive topology can cause sharp pulsations in the armature current during periods of discontinuous voltage at the terminals. Changing the drive topology to an H-bridge Buck converter enables a smooth voltage output, avoiding this problem.

[0003] However, as a brushed DC motor, the HCBDCM still suffers from component commutation effects, causing periodic changes in the motor's back electromotive force during rotation, resulting in pulsations in the output current. In the H-bridge Buck circuit-HCBDCM system, the component commutation effect is a mismatched periodic disturbance. To effectively suppress the impact of this disturbance, it is necessary to observe and compensate for the disturbance and its first and second derivatives. High-order disturbance observers commonly used to observe mismatched disturbances and their derivatives can only observe disturbances with frequencies within their bandwidth; they cannot accurately observe disturbances with frequencies too high.

[0004] Quasi-resonant controllers enhance the suppression of periodic disturbances at a specific frequency by generating a large control gain at that frequency. This characteristic makes them commonly used to compensate for periodic disturbances at a certain frequency in motor systems. However, there is currently no research on using quasi-resonant controllers for compensation of unmatched periodic disturbances. In such scenarios, how to introduce quasi-resonant controllers into the control system and how to tune their control gain are unresearched issues. Summary of the Invention

[0005] The technical problem to be solved by this invention is: in order to effectively improve the ripple of the output current of a coreless motor, based on improving the drive topology from an H-bridge converter to an H-bridge buck converter, a multi-channel quasi-resonant proportional-integral observer is proposed to observe and compensate for the unmatched periodic disturbances that cause current ripples. A composite controller based on state feedback and disturbance compensation is designed. This controller can adjust the dynamic response process of the current by adjusting the state feedback coefficient. Matched or unmatched disturbances in the compensation system are observed by three disturbance observers, which has strong robustness.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] First, this invention proposes a control method for suppressing current pulsation in a hollow cup brushed DC motor, comprising the following steps:

[0008] S1. For a given reference speed, a PI controller is used as the controller for the speed loop of the motor system to generate a reference signal for the motor armature current. .

[0009] S2. For the mathematical model of the hollow cup brushed DC motor circuit driven by the H-bridge Buck converter, a state feedback control law is established by collecting the motor armature current, the inductor current and capacitor voltage of the H-bridge Buck converter, and using the current reference signal. The dynamic process of current response can be adjusted by rationally configuring the pole distribution.

[0010] S3. A nonlinear disturbance observer is used to observe and compensate for the matching disturbance in the inductor branch and the unmatching disturbance in the capacitor branch of the H-bridge Buck converter in the system, as well as their derivatives.

[0011] S4. To address the unmatched periodic disturbance—the component commutation effect—existing inside the motor in the system, a multi-channel quasi-resonant proportional-integral resonator is designed to observe the unmatched periodic disturbance and its first and second derivatives and to compensate for it.

[0012] S5. Establish a composite control law that includes state feedback and observations of various disturbances and their derivatives, and output the control quantity. .

[0013] S6, will As the PWM switching duty cycle (U dc (The value is the DC bus voltage), and the output current of the coreless motor is adjusted through unipolar PWM modulation.

[0014] As a preferred embodiment of the method of the present invention, the system controller is designed as follows:

[0015]

[0016] in, , armature current , Capacitor voltage , Inductor current ; This is a reference value for the motor output current; The state feedback gain matrix; This is the disturbance compensation gain matrix; ; For each disturbance Observed values; and They are respectively and Observed values; for The observed values.

[0017] As a preferred embodiment of the method of the present invention, the mathematical model of the hollow cup brushed DC motor circuit driven by the H-bridge Buck converter based on the state-space averaging method can be expressed as follows:

[0018] ,

[0019] in, ,

[0020] ,

[0021] ,

[0022] ,

[0023] ,

[0024] .

[0025] Among them, L a0 R a0 L m0 C0 and C1(t) represent the nominal values ​​of the motor armature inductance, the motor armature winding, and the inductance and capacitance in the Buck converter, respectively. d1(t)-d3(t) represent the disturbances present on the motor side, the capacitor branch, and the inductor branch, respectively.

[0026] The nonlinear disturbance observer 2 used to observe and compensate for the unmatched disturbances and their derivatives in the capacitor branch is:

[0027] ,

[0028] Among them, z 21 z22 S and L are intermediate variables of the observer. 21 and l 22 This is the gain of the observer.

[0029] The nonlinear disturbance observer 3 used to observe and compensate for matching disturbances present in the inductor branch is:

[0030] ,

[0031] Where z3 is the intermediate variable of the observer, and l3 is the gain of the observer.

[0032] As a preferred embodiment of the method of the present invention, the expression for a multi-channel quasi-resonant proportional-integral resonator observer used to observe and compensate for the unmatched periodic disturbances existing inside the motor—the commutation effect of components and its first and second derivatives—is as follows:

[0033] ,

[0034] The s-domain expressions for the four quasi-resonant controllers q1(t)-q4(t) are as follows:

[0035] ,

[0036] in, The gain of each channel of the multi-channel quasi-resonant proportional-integral resonator observer; for The observed value. k ri The gain to be designed for each quasi-resonant controller; ω r The resonant frequency satisfies ; ω is the maximum value of the mechanical angular frequency of the motor; bi Let ω be the resonant bandwidth of each quasi-resonant controller. b1 =ω b2 =ω b3 =ω b4 =ω b .

[0037] On the other hand, the present invention proposes a control device for suppressing current pulsation in a hollow cup brushed DC motor, comprising:

[0038] A speed loop PI regulator is used to generate a reference signal for the motor armature current. ;

[0039] A first-order nonlinear disturbance observer is used to observe and compensate for matching disturbances in inductor branches;

[0040] A second-order nonlinear disturbance observer is used to observe and compensate for unmatched disturbances and their derivatives in the capacitor branch.

[0041] A multi-channel quasi-resonant proportional-integral resonator observer is used to observe and compensate for the unmatched periodic disturbances existing inside the hollow cup motor in the system—the component commutation effect and its first and second derivatives.

[0042] The system controller u(t) includes a state feedback control law established by acquiring the motor armature current, the inductor current and capacitor voltage of the H-bridge Buck converter and using the current reference signal, as well as compensation terms for matching disturbances in the inductor branch, compensation terms for unmatched disturbances and their derivatives in the capacitor branch, and compensation terms for unmatched periodic disturbances and their first and second derivatives existing inside the coreless motor. The expression u(t) / U... dc As the PWM switching duty cycle (U dc (The value is the DC bus voltage), and the output current of the coreless motor is adjusted through unipolar PWM modulation.

[0043] Secondly, the present invention proposes a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the method described in the present invention.

[0044] Furthermore, the present invention also proposes an electronic system comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the method described in the present invention.

[0045] Finally, the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to perform the steps of the method described in the present invention.

[0046] Compared with the prior art, the present invention, employing the above technical solution, has the following technical effects:

[0047] This invention addresses the significant limitations of traditional high-order disturbance observers when used to observe unmatched periodic disturbances with high compensation frequencies, as they cannot adequately observe the derivatives of the compensation disturbances. To address these limitations, a multi-channel quasi-resonant proportional-integral resonant observer is proposed. By introducing quasi-resonant controllers in multiple state channels, the observation performance of the derivatives of the disturbances is improved, thereby enabling more adequate compensation for unmatched periodic disturbances.

[0048] Finally, this invention designs a composite control law that includes state feedback and observations of various disturbances and their derivatives, which combines dynamic performance and robustness, and can adjust the dynamic response performance of the current and compensate for matched and unmatched disturbances in the system.

[0049] In summary, compared with traditional state feedback control based on high-order disturbance observers, the present invention has a stronger ability to compensate for unmatched periodic disturbances and effectively suppresses the output current pulsation of the hollow cup motor. Attached Figure Description

[0050] Figure 1 This is a structural block diagram of the control method proposed in this invention.

[0051] Figure 2 These are motor output currents and magnified views corresponding to different disturbance compensation methods and different observations.

[0052] Figure 3 These are motor output currents and magnified views corresponding to different disturbance compensation methods and different observer parameters. Detailed Implementation

[0053] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0054] This invention proposes a control method for suppressing current ripple in a coreless brushed DC motor. For a given reference speed, a PI controller is used as the speed loop controller for the motor system to generate a reference signal for the motor armature current. .

[0055] For the mathematical model of the hollow cup brushed DC motor circuit driven by the H-bridge Buck converter, a state feedback control law is established by collecting the motor armature current, the inductor current and capacitor voltage of the H-bridge Buck converter, and using the current reference signal. The dynamic process of current response can be adjusted by rationally configuring the pole distribution.

[0056] A nonlinear disturbance observer is used to observe and compensate for the matching disturbances in the inductor branch and the unmatching disturbances in the capacitor branch of the system, as well as their derivatives.

[0057] To address the unmatched periodic disturbance within the motor of the system, namely the component commutation effect, a multi-channel quasi-resonant proportional-integral resonator observer is designed to observe the unmatched periodic disturbance and its first and second derivatives, and to compensate for it.

[0058] Establish a composite control law that includes state feedback and observations of various disturbances and their derivatives, and output the reference control quantity u(t). Then, convert u(t) / U... dc As the PWM switching duty cycle (U dc (The value is the DC bus voltage), and the output current of the coreless motor is adjusted through unipolar PWM modulation.

[0059] Example 1: The following is a specific embodiment of the present invention, proposing a control method for suppressing current ripple in a hollow cup brushed DC motor, as detailed below:

[0060] First, the state equations for the hollow cup brushed DC motor circuit driven by the H-bridge Buck converter based on the state-space averaging method are established:

[0061]

[0062] in, , , , It is a third-order identity matrix. , L a0 R a0 L m0 C0 and C1(t) represent the nominal values ​​of the motor armature inductance, motor armature resistance, and the inductance and capacitance in the Buck converter, respectively. d1(t)-d3(t) represent the disturbances present on the motor side, in the capacitor branch, and in the inductor branch, respectively. d1(t) represents the disturbance caused by the commutation effect of motor components, at the motor speed... A periodic disturbance with a frequency of 2nω(t) (where n is the number of components in the motor) is expressed as follows:

[0063] ,

[0064] in, The back electromotive force of the coreless motor. For other unmodeled disturbances. The air gap magnetic flux density of the coreless motor exhibits a sinusoidal distribution. The expression is

[0065] ,

[0066] in, The position angle of the motor rotor. is the back electromotive force coefficient of the motor.

[0067] The expression for Disturbance Observer 2, used to observe and compensate for mismatched disturbances and their derivatives in the capacitor branch, is as follows:

[0068] ,

[0069] Among them, z 21 z 22 S and L are intermediate variables of the observer. 21 and l 22 For the gain of the observer, for Observed values; for The observed values.

[0070] The expression for nonlinear disturbance observer 3, used to observe and compensate for matching disturbances present in inductive branches, is as follows:

[0071] ,

[0072] Where z3 is the intermediate variable of the observer, and l3 is the gain of the observer. For disturbance The observed values.

[0073] As a preferred embodiment of the method of the present invention, the expression for a multi-channel quasi-resonant proportional-integral resonator observer used to observe and compensate for the unmatched periodic disturbances existing inside the motor—the commutation effect of components and its first and second derivatives—is as follows:

[0074] ,

[0075] The s-domain expressions for the four quasi-resonant controllers q1(t)-q4(t) are as follows:

[0076] ,

[0077] in, This represents the gain of each channel; for Observed values; For disturbance Observed values; for Observed values; for The observed value. k ri The gain to be designed for each quasi-resonant controller; ω r ω is the resonant frequency. bi Let ω be the resonant bandwidth of each quasi-resonant controller. b1 =ω b2 =ω b3 =ω b4 =ω b .

[0078] The PI controller acts as the controller for the system speed component and generates a reference signal for the armature current. The expression for the current composite control law u(t) is:

[0079] ,

[0080] in, , , The parameters satisfy:

[0081] ,

[0082] in, These are the poles to be configured. Taking the Laplace transform yields...

[0083] .

[0084] exist , , and When accurate observation and compensation are possible, the output Able to progressively follow the reference signal .

[0085] set up The perturbation after compensation by a multi-channel quasi-resonant proportional-integral resonator can be obtained. The transfer functions of the observation errors of their first and second derivatives to their respective true values ​​are as follows:

[0086] ,

[0087] make achievable

[0088] ,

[0089] in

[0090] ,

[0091] If satisfied

[0092] ,

[0093] but and The real and imaginary parts of the molecule will theoretically be exactly equal to 0. and Full compensation can be obtained, and at the same time The expression is simplified to

[0094] .

[0095] Further settings (Based on the analysis of the pole distribution, it can be seen that...) (This could cause the observer to become unstable), then The value will vary with As it increases, it increases, thus Decrease, for The compensation effect will be improved. Therefore, the multi-channel quasi-resonant proportional-integral resonator can improve the observation and compensation performance of unmatched periodic disturbances and their first and second derivatives under the same bandwidth conditions, thereby improving the pulsation of the output current of the coreless motor.

[0096] Therefore, the design steps of the control method for suppressing current pulsation in a hollow cup brushed DC motor proposed in this invention are as follows:

[0097] Step 1: Set the proportional and integral coefficients of the speed loop PI controller to generate a reference signal for the motor armature current. Set the gain of the nonlinear disturbance observer. , , and the gain of a multi-channel quasi-resonant proportional-integral resonator observer By selecting appropriate gains and tuning the poles of each observer to be key poles, overshoot can be reduced. Increasing the observer gain can improve the observation speed of disturbances, but due to the limitation of the system control frequency, excessively large observer gains can easily cause system oscillations and amplify noise signals. Therefore, there is an upper limit to the selection of observer gains.

[0098] Step 2: Configure the poles of the state feedback control law The larger the pole, the faster the dynamic response of the current; however, an excessively large pole... It can easily cause oscillations in the dynamic response of the current, and The value of should not exceed 50% of the bandwidth of each disturbance observer in step 1, so that disturbance observation can be completed first.

[0099] Step 3: Select the resonant bandwidth of each quasi-resonant controller in the multi-channel quasi-resonant proportional-integral resonant observer. ω b A larger value can compensate for periodic disturbances over a wider frequency range, but it may also amplify noise at other frequencies within that band. ω b The smaller the value of ω, the smaller the frequency range that can compensate for periodic disturbances, and the higher the requirement for accurate acquisition of the frequency of the periodic disturbances. Therefore, ω b Choose a suitable value, i.e., ω b =0.04ω r .

[0100] Step 4: According to The gain of the three quasi-resonant controllers q1(t)-q3(t) is tuned.

[0101] Step 5: Tune the gain k of the quasi-resonant controller q4(t) of the multi-channel quasi-resonant proportional-integral resonant observer. r4 Set k r4 <-2, then follow The reduction of k will improve the compensation effect on d1(t), but k r4 Too small a value will cause the observer to lose stability. Therefore, the selection of this parameter should take into account both the compensation effect of the disturbance d1(t) and the stability of the observer.

[0102] Step 6: The digital signal processor acquires the motor armature current, the inductor current and capacitor voltage of the H-bridge Buck converter through the analog-to-digital conversion module, and the motor speed signal through the encoder. It then calculates the control quantity u(t) based on the composite control law expression, which includes state feedback and observations of various disturbances and their derivatives.

[0103] Step 7: Convert u(t) / U dc As the PWM switching duty cycle (U dc (The value is the DC bus voltage), and the output current of the coreless motor is adjusted through unipolar PWM modulation.

[0104] To further illustrate the effectiveness of the proposed control strategy, a model was built in Matlab / Simulink for simulation analysis. The main parameters of the hollow cup brushed DC motor system driven by the H-bridge Buck converter in the simulation model are shown in Table 1.

[0105] Table 1. Main parameters of the Buck converter-HCBDCM system

[0106] parameter numerical values parameter numerical values <![CDATA[C0(uF)]]> 47.7 <![CDATA[Rated armature current i a (A)]]> 1.03 <![CDATA[L m0 (uH)]]> 840 <![CDATA[Rated voltage U dc (V)]]> 36 <![CDATA[L a0 (uH)]]> 568 Rated load torque (N·m) 0.03 <![CDATA[R a0 (Oh)]]> 4.8 Number of motor components n 7

[0107] The simulation model uses a PI controller for the speed loop, with a control frequency of 4kHz. The control frequency of the current loop and the PWM switching frequency are both 40kHz. The compensation performance of a multi-channel quasi-resonant proportional-integral resonant observer (MCQRPIO) and a high-order disturbance observer (HDOB) for d1(t) is compared. Let ω... c All , l 21 =20000, l 22 = l3=10000. The parameter ω of MCQRPIO. o =9000 rad / s, ω b =0.04ω r Parameter k r1 -k r3 according to Tuning. The given motor reference speed is 8594 rpm (i.e., 900 rad / s, at which speed the current pulsation frequency is approximately 2005 Hz). No-load start-up is performed, and a load torque of 0.03 Nm is applied after the armature current stabilizes. Two sets of comparative simulations are conducted under the above reference speed and load conditions. The simulation conditions for the first set are as follows: setting the MCQRPIO parameter k... r4=-3, the pole of HDOB is 9000 rad / s. The disturbance d1(t) and its first and second derivatives are observed using two different observers. The observed values ​​of d1(t) and its first and second derivatives are then added to the control law for compensation. The waveform of the motor output current and its partially enlarged diagram are shown below. Figure 2 As shown. Figure 2 The current ripple amplitudes of each current response curve are shown in Table 2.

[0108] Table 2 Figure 2 Current ripple amplitude of each current response curve

[0109] Observer type Disturbance compensation type Current ripple amplitude (A) MCQRPIO <![CDATA[Compensate d1(t)]]> 0.0729 MCQRPIO <![CDATA[Compensate for d1(t) and its first derivative]]> 0.0434 MCQRPIO <![CDATA[Compensate for d1(t) and its first and second derivatives]]> 0.031 HDOB <![CDATA[Compensate d1(t)]]> 0.0735 HDOB <![CDATA[Compensate for d1(t) and its first derivative]]> 0.113 HDOB <![CDATA[Compensate for d1(t) and its first and second derivatives]]> 0.121

[0110] from Figure 2 As shown in Table 2, when using MCQRPIO to observe the disturbance d1(t) and its first and second derivatives, and then adding these observations sequentially to the control law for compensation, the amplitude of the motor output current ripple decreases sequentially, reflecting a sequential improvement in the compensation effect of disturbance d1(t). However, when using HDOB to observe the disturbance d1(t) and its first and second derivatives, and then adding these observations sequentially to the control law for compensation, the amplitude of the motor output current ripple increases sequentially, reflecting a sequential decrease in the compensation effect of disturbance d1(t). Therefore, MCQRPIO can more fully compensate for unmatched periodic disturbances within the same bandwidth because the frequency of disturbance d1(t) is outside the bandwidth range of HDOB used to observe the first and second derivatives of the disturbance, causing HDOB to output an incorrect compensation signal, thus increasing the amplitude of the output current ripple.

[0111] In the second set of simulations, the reference speed and load conditions are kept the same. When using MCQRPIO to compensate for the disturbance d1(t), the observed values ​​of d1(t) and its first and second derivatives are used for compensation, keeping the bandwidth constant, and changing the observer parameter k. r4 The value of d1(t) is used to examine the amplitude of the motor output current ripple. When using HDOB to compensate for the disturbance d1(t), only the observed value of d1(t) is used for compensation. By changing the poles of the observer, the motor output current and its local magnified diagram are obtained as shown in the figure. Figure 2 As shown. Figure 2 The pulsation amplitudes of the current response curves are shown in Table 2.

[0112] Table 3 Figure 3 Current ripple amplitude of each current response curve

[0113] Observer type Observer parameters / pole Current ripple amplitude (A) MCQRPIO <![CDATA[k r4 =-3]]> 0.031 MCQRPIO <![CDATA[k r4 =-5]]> 0.0259 MCQRPIO <![CDATA[k r4 =-7]]> 0.0213 HDOB 9000rad / s 0.0738 HDOB 10500rad / s 0.0731 HDOB 12000rad / s 0.072

[0114] from Figure 3 As shown in Table 3, when using MCQRPIO to compensate for disturbance d1(t), the amplitude of the motor output current ripple changes with the parameter k. r4The decrease in the value of the observer parameter k reflects the gradual improvement in the compensation effect of the disturbance d1(t). When using HDOB to compensate for the disturbance d1(t), the output current ripple amplitude remains basically unchanged as the observer pole increases, reflecting that the compensation effect of the disturbance d1(t) remains basically unchanged. Therefore, by reducing the observer parameter k... r4 The value of can enhance the compensation performance of MCQRPIO for unmatched periodic disturbances. Compared with the minimum current ripple amplitude of 0.072A obtained by using HDOB to compensate for disturbance d1(t), the minimum current ripple amplitude obtained by using MCQRPIO to compensate for disturbance d1(t) is 0.0213A, which is a decrease of about 71%.

[0115] Example 2: This example presents a control device for suppressing current ripple in a hollow cup brushed DC motor, comprising:

[0116] A speed loop PI regulator is used to generate a reference signal for the motor armature current. ;

[0117] A first-order nonlinear disturbance observer is used to observe and compensate for matching disturbances in inductor branches;

[0118] A second-order nonlinear disturbance observer is used to observe and compensate for unmatched disturbances and their derivatives in the capacitor branch.

[0119] A multi-channel quasi-resonant proportional-integral resonator observer is used to observe and compensate for the unmatched periodic disturbances existing inside the hollow cup motor in the system—the component commutation effect and its first and second derivatives.

[0120] The system controller includes a state feedback control law established by acquiring the motor armature current, the inductor current and capacitor voltage of the H-bridge Buck converter, and using the current reference signal. This law regulates the dynamic process of the current response through reasonable pole distribution configuration. It also includes compensation terms for matching disturbances in the inductor branch, compensation terms for unmatched disturbances and their derivatives in the capacitor branch, and compensation terms for unmatched periodic disturbances and their first and second derivatives existing within the coreless motor. The expression u(t) / U... dc As the PWM switching duty cycle (U dc (The value is the DC bus voltage), and the output current of the coreless motor is adjusted through unipolar PWM modulation.

[0121] The specific implementation details of each of the above units correspond one-to-one with the steps of the method proposed in Embodiment 1 of the present invention, and will not be repeated here.

[0122] Example 3: A computer program product, comprising a computer program / instructions that, when executed by a processor, implement the steps of the method described in this invention.

[0123] Example 4: This example proposes an electronic system, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method steps of the present invention.

[0124] It should be noted that the electronic system can use terminal devices such as desktop computers, laptops, or cloud servers. Furthermore, terminal devices include, but are not limited to, processors and memory. For example, terminal devices can also include input / output devices, network access devices, and buses.

[0125] Furthermore, the processor can be a central processing unit (CPU). Of course, depending on the actual use, other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. can also be used. The general-purpose processor can be a microprocessor or any conventional processor, etc., and this application does not limit it in this regard.

[0126] Furthermore, the memory can be an internal storage unit of the terminal device, such as the hard disk or RAM of the terminal device, or an external storage device of the terminal device, such as a plug-in hard disk, smart memory card (SMC), secure digital card (SD), or flash memory card (FC) equipped on the terminal device. In addition, the memory can also be a combination of the internal storage unit and the external storage device of the terminal device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or will be output. This application does not limit this.

[0127] Furthermore, through this electronic system, any one of the methods described in the above embodiments can be stored in the memory of the electronic system and loaded and executed on the processor of the terminal device for convenient use.

[0128] Example 5: This example also discloses a computer-readable storage medium, which stores a computer program, wherein when the computer program is executed by a processor, it employs the steps of the method described in the above example.

[0129] The computer program can be stored in a computer-readable medium. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or certain middleware. The computer-readable medium includes any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the computer-readable medium includes, but is not limited to, the above-mentioned components.

[0130] It should be further explained that the methods in the above embodiments are stored in the computer-readable storage medium and loaded and executed on the processor through this computer-readable storage medium, so as to facilitate the storage and application of the above methods.

[0131] While the present invention has been described above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A control method for suppressing current pulsation in a hollow cup brushed DC motor, characterized in that, Including the following steps: S1. For a given reference speed, a PI controller is used as the controller for the system speed loop to generate a motor armature current reference signal. ; S2. For the mathematical model of the hollow cup brushed DC motor circuit driven by the H-bridge Buck converter, a state feedback control law u is established by collecting the motor armature current, the H-bridge Buck converter inductor current and capacitor voltage, and combining them with the current reference signal. f (t), by configuring the pole distribution of the state feedback control law, the dynamic process of the current response is adjusted; S3. A first-order nonlinear disturbance observer is used to observe and compensate for the matching disturbance in the inductor branch of the H-bridge Buck converter in the system, and a second-order nonlinear disturbance observer is used to observe the unmatched disturbance and its derivative in the capacitor branch. S4. To address the unmatched periodic disturbance inside the motor in the system, namely the component commutation effect, a multi-channel quasi-resonant proportional-integral resonant observer is designed to observe the unmatched periodic disturbance and its first and second derivatives and to compensate for it. S5. Establish a composite control law that includes state feedback and observations of various disturbances and their derivatives, and output the control quantity u(t); S6, change u(t) / U dc As the duty cycle of the PWM switch, the output current of the coreless motor is regulated by unipolar PWM modulation. dc This represents the value of the DC bus voltage.

2. The method according to claim 1, characterized in that, The state equations for the hollow cup brushed DC motor circuit driven by the H-bridge Buck converter based on the state-space averaging method in step S2 are as follows: ， in, , ， , It is a third-order identity matrix. , , armature current , Capacitor voltage , Inductor current L a0 R a0 L m0 C0 and C1(t) represent the nominal values ​​of the motor armature inductance, motor armature resistance, and the inductance and capacitance in the Buck converter, respectively. d1(t)-d3(t) represent the disturbances present on the motor side, in the capacitor branch, and in the inductor branch, respectively. d1(t) represents the disturbance caused by the commutation effect of the motor components, which is a periodic disturbance with a frequency of 2nω(t) when the motor speed ω(t) is constant, where n is the number of motor components. The expression for d1(t) is: ， Where e(t) is the back electromotive force of the hollow cup motor, d0(t) is other unmodeled disturbances, and the expression for e(t) is: ， Where θ(t) is the position angle of the motor rotor, K e is the back electromotive force coefficient of the motor.

3. The method according to claim 1, characterized in that, State feedback control law u f The expression for (t) is: ， in, Let be the state feedback gain matrix, satisfying ,and . For the poles to be configured, The larger the value, the higher the bandwidth of the state feedback control law.

4. The method according to claim 1, characterized in that, In step S3, the expression for the second-order nonlinear disturbance observer used to observe and compensate for the mismatch disturbance and its derivative in the capacitor branch of the H-bridge Buck converter is as follows: ， Among them, z 21 z 22 S and L are intermediate variables of the observer. 21 and l 22 For the gain of the observer, for Observed values; For and Observed values; The first-order nonlinear disturbance observer used to observe and compensate for matching disturbances in inductive branches is: ， Where z3 is the intermediate variable of the observer, and l3 is the gain of the observer. For disturbance The observed values.

5. The method according to claim 1, characterized in that, In step S4, the multi-channel quasi-resonant proportional-integral resonator observer used to observe the commutation effect of the compensation element and its first and second derivatives is as follows: ， The s-domain expressions for the four quasi-resonant controllers q1(t)-q4(t) are as follows: ， in , This represents the gain of each channel; for Observed values; For disturbance Observed values; for Observed values; for The observed value, k ri The gain to be designed for each quasi-resonant controller; ω r ω is the resonant frequency. bi Let ω be the resonant bandwidth of each quasi-resonant controller. b1 =ω b2 =ω b3 =ω b4 =ω b .

6. The method according to claim 1, characterized in that, In step S5, the composite control law u(t) is: ， in, , , 。 7. A control device for suppressing current pulsation in a hollow cup brushed DC motor, characterized in that, include: A speed loop PI regulator is used to generate a reference signal for the armature current. ; A first-order nonlinear disturbance observer is used to observe and compensate for matching disturbances in inductor branches; A second-order nonlinear disturbance observer is used to observe and compensate for unmatched disturbances and their derivatives in the capacitor branch. A multi-channel quasi-resonant proportional-integral resonant observer is used to observe the unmatched periodic disturbances inside the motor in the compensation system—the commutation effect of the components and its first and second derivatives. The current controller includes a state feedback control law established using the motor armature current, the inductor current and capacitor voltage of the H-bridge Buck converter, and current reference signals. Compensation terms for matching disturbances in the inductor branch, compensation terms for unmatched disturbances and their derivatives in the capacitor branch, and compensation terms for unmatched periodic disturbances and their first and second derivatives inside the motor.

8. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1-6.

9. An electronic system comprising: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, characterized in that the instructions are executed by the at least one processor to enable the at least one processor to perform the method steps of any one of claims 1-6.

10. A computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the steps of the method according to any one of claims 1-6.

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