A speed adaptive fault-tolerant tracking control method for three-phase synchronous induction motor

Abstract

This invention discloses a speed adaptive fault-tolerant tracking control method for a three-phase synchronous induction motor, comprising: establishing a state-space model affected by lumped disturbances and measurement equations including unknown speed sensor faults; designing an adaptive fault compensation estimator, by embedding adaptive compensation terms into the feedback channel of the estimator to achieve joint estimation of system state, disturbances, and sensor faults; constructing a generalized intermittent state constraint method; and constructing a sensor fault-tolerant tracking controller based on the reconstructed speed state and disturbance estimates, as well as the generalized barrier Lyapunov function, enabling the system to accurately track a given speed command even when the speed sensor fails. This invention requires no additional hardware redundancy, effectively suppresses the impact of speed sensor faults on control performance, and has advantages such as simple structure, strong robustness, and high engineering feasibility. It is suitable for high-reliability drive control of continuous wave mud pulse generators in measurement-while-drilling instruments.

Description

Technical Field

[0001] This invention belongs to the field of fault-tolerant control of dynamic systems, and specifically relates to a speed adaptive fault-tolerant tracking control method for a three-phase synchronous induction motor. Background Technology

[0002] As oil and gas exploration and development continue to extend into deeper earth, deep sea, and complex formations, intelligent high-speed measurement-while-drilling (MWD) instruments place higher demands on the stability and real-time performance of downhole information transmission. As a key component of the MWD system, the stability and tracking accuracy of the drive motor of the continuous wave mud pulse generator directly affect the modulation quality of the mud pulse signal. However, under complex geological conditions, the components of the induction motor will be continuously subjected to external impacts, introducing uncertain dynamics into the system control model. Furthermore, these impacts can easily lead to induction motor failures, posing a significant challenge to the rotor's precise tracking control performance, which affects data transmission accuracy. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a speed adaptive fault-tolerant tracking control method for a three-phase synchronous induction motor that is easy to engineer and can compensate for speed sensor failures.

[0004] Technical solution: The speed adaptive fault-tolerant tracking control method for a three-phase synchronous induction motor described in this invention includes the following steps:

[0005] Establish a state-space model of a three-phase synchronous induction motor under the influence of lumped disturbances, and a measurement equation under the influence of speed sensor failure;

[0006] Design speed reference signal and given Shaft reference current;

[0007] An adaptive fault compensation estimator is constructed based on the sensor's measurement output. To mitigate the adverse effects of sensor faults on the system state estimation results, the sensor fault estimation results obtained from the adaptive update law of sensor faults are incorporated into the adaptive fault compensation estimator.

[0008] Based on the system state estimation results output by the adaptive fault compensation estimator, auxiliary variables and a generalized barrier Lyapunov function are constructed, and an adaptive fault-tolerant tracking controller is designed for the transformed tracking error variable.

[0009] Furthermore, the process of establishing the state-space model and measurement equations is as follows:

[0010] (1) Establish the dynamic equations of the three-phase synchronous induction motor;

[0011] (2) Combined with the equipment specifications, obtain the parameters in the dynamic equation by direct measurement or identification methods, including the stator inductance of the motor, the stator resistance of the motor, the flux linkage of the permanent magnet of the motor, the number of pole pairs of the motor, the moment of inertia of the motor, the friction coefficient of the motor and the torque constant of the motor.

[0012] (3) The dynamic equations are further converted into a state-space model. The state variables in the state-space model include the rotational speed, speed, and speed in the dynamic equations. shaft and The stator current component of the shaft, control input includes Shaft reference current, shaft and The stator voltage of the shaft; the state-space model also includes known nonlinear terms and unknown lumped disturbance terms; the upper bound of the derivative of the unknown lumped disturbance terms is identified through historical measurement data; the lower and upper bounds of the intermittent state constraints that the state variables should satisfy are identified through historical measurement data; the Lipschitz constant of the system nonlinear terms is identified through historical measurement data.

[0013] (4) Based on the sensor measurement information, establish the motor measurement equations for a motor with a faulty speed sensor; the state variables of the measurement equations include the speed in the dynamic equations, shaft and The stator current component of the shaft.

[0014] Furthermore, based on the speed reference signal and the given... Shaft reference current and The axis reference current is used to construct a set of reference signals.

[0015] Furthermore, the constructed adaptive fault compensation estimator is expressed as:

[0016] ;

[0017] in, , as well as These represent estimates of system state, lumped disturbance, and sensor fault, respectively. and They are respectively and The first derivative, and It is a positive definite estimator gain matrix; This is the parameter matrix of the state-space model; This is the input matrix of the state-space model; It is a constant column matrix; To convert the nonlinear term Medium system status Replace with system state estimation The results obtained; To control inputs, including Shaft reference current, shaft and Stator voltage of the shaft; This is the measurement output of the sensor.

[0018] Furthermore, the adaptive update law design method for sensor faults includes:

[0019] (1) Calculate the estimation errors of system state, lumped disturbance and sensor fault;

[0020] (2) Define the augmented estimation error as , and They are respectively and transpose, , Represent the estimation errors of the system state and lumped disturbance, respectively; calculate the augmented estimation error. Error dynamics;

[0021] (3) By selecting the estimator gain matrix and , making the matrix It is by Hurwitz; among them, This is the parameter matrix of the state-space model. For unit array;

[0022] (4) The adaptive update law designed for sensor faults is as follows:

[0023] ;

[0024] in, for The first derivative, This indicates an estimate of sensor failure. Indicates the system status; and It is a positive adaptive parameter; and It is a positive definite matrix submatrices; It is a constant column matrix. This is the measurement output of the sensor.

[0025] Furthermore, the steps for constructing a speed adaptive fault-tolerant tracking controller for a three-phase synchronous induction motor include:

[0026] (1) First, design a generalized intermittent state constraint method and introduce auxiliary variables. as follows:

[0027] ;

[0028] in, Indicates the switching function The constructed time-varying diagonal matrix, Indicates time, System state estimation results For unit array; ,in and The lower and upper boundaries of the system state estimation are respectively defined. ; The expression is defined as follows:

[0029] ;

[0030] Among them, parameters and Determine the switching function The rate of change; , , , , Represents the moment of state constraint transition, where positive integers are used. Indicates the number of times the switch has occurred;

[0031] (2) Based on the system state estimation results And the generalized barrier Lyapunov function, defining the state of the system after the transformation. The specific expressions for its elements are as follows:

[0032] ;

[0033] (3) Calculate auxiliary variables as well as first derivative and ;

[0034] (4) For Define variables and They are as follows:

[0035] ;

[0036] ;

[0037] in, , , , , and They are respectively and The first derivative;

[0038] (5) For the reference signal Applying the same transformation, the transformed reference signal The elements are as follows:

[0039] ;

[0040] (6) Define the tracking error variable after conversion based on the converted system state and the converted reference signal. as follows:

[0041] ;

[0042] (7) Calculate the tracking error variable after transformation Error dynamics as follows:

[0043] ;

[0044] in, It is the converted reference signal The first derivative, and They represent respectively by and The matrix formed Given a known parameter matrix, It is the coefficient of friction of the motor. It is the moment of inertia of the motor. It is the stator resistance of the motor. It is the stator inductance of the motor; Given the input matrix, It is the torque constant. for The inverse matrix, Represents a diagonal matrix; To control the input, To convert the nonlinear term Medium system status Replace with system state estimation The results obtained This represents an estimate of the lumped disturbance. The estimator gain matrix, For the sensor's measurement output, It is a constant column matrix. This indicates an estimate of sensor failure. An estimate representing the system state;

[0045] (8) Based on the error dynamics of the converted tracking error, design an adaptive fault-tolerant tracking controller. The calculation formula is as follows:

[0046] ;

[0047] in, , They are respectively , The inverse matrix.

[0048] The present invention also provides a speed adaptive fault-tolerant tracking control system for a three-phase synchronous induction motor, comprising:

[0049] The state space model and measurement equation establishment unit is used to establish the state space model of the three-phase synchronous induction motor in the intelligent high-speed drilling measurement instrument under the influence of lumped disturbance, as well as the measurement equation under the influence of speed sensor failure.

[0050] The reference signal design unit is used to design the speed reference signal and the given signal. Shaft reference current;

[0051] The fault compensation estimator construction unit is used to construct an adaptive fault compensation estimator based on the sensor's measurement output. In order to mitigate the adverse effects of sensor faults on the system state estimation results, the sensor fault estimation results obtained from the adaptive update law of sensor faults are incorporated into the adaptive fault compensation estimator.

[0052] The tracking controller design unit is used to construct auxiliary variables and a generalized barrier Lyapunov function based on the system state estimation results output by the adaptive fault compensation estimator, and to design an adaptive fault-tolerant tracking controller for the transformed tracking error variable.

[0053] The present invention also provides an electronic device, comprising:

[0054] Memory, used to store computer programs;

[0055] A processor for executing the computer program to implement the method.

[0056] The present invention also provides a non-volatile storage medium for storing a computer program, wherein the computer program implements the method when executed by a processor.

[0057] The present invention also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the method described.

[0058] Beneficial effects: Compared with the prior art, the significant technical effects of this invention are as follows: For three-phase synchronous induction motor equipment containing unknown sensor faults and lumped disturbances in intelligent high-speed drilling measurement instruments, an adaptive fault-tolerant tracking controller has been developed, which can ensure the boundedness of rotor tracking error when the speed sensor of the induction motor fails; Compared with the traditional motor control method that relies on accurate sensor measurement, the speed adaptive fault-tolerant tracking control method proposed in this invention does not require additional hardware redundancy, can effectively suppress the impact of speed sensor faults on control performance, and has the advantages of simple structure, strong robustness and high engineering feasibility. It is suitable for the high-reliability drive control of continuous wave mud pulse generators in intelligent high-speed drilling measurement instruments. Attached Figure Description

[0059] Figure 1 This is a flowchart of the method of the present invention;

[0060] Figure 2 A diagram of the experimental platform used to verify the effectiveness of the method of the present invention;

[0061] Figure 3 The following are experimental results of the speed adaptive fault-tolerant tracking controller in the embodiment of the present invention, where (a) is the rotor speed tracking result diagram and (b) is the sensor fault estimation result diagram.

[0062] Figure 4 This is a system state result diagram of the speed adaptive fault-tolerant tracking controller in an embodiment of the present invention, where (a) is the speed state result diagram and (b) is... The shaft current state result diagram, (c) is Axis current state results diagram;

[0063] Figure 5 This is a diagram showing the control input response of the speed adaptive fault-tolerant tracking controller in an embodiment of the present invention. Detailed Implementation

[0064] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0065] like Figure 1 As shown, a speed adaptive fault-tolerant tracking control method for a three-phase synchronous induction motor includes the following steps:

[0066] Step 1: Establish the state-space model of the three-phase synchronous induction motor in the intelligent high-speed drilling measurement instrument under the influence of lumped disturbances, and the measurement equations under the influence of speed sensor failure. The specific steps are as follows:

[0067] Step 1.1: The core device of the intelligent high-speed drilling measurement instrument is a three-phase synchronous induction motor, whose dynamic equation is:

[0068] (1)

[0069] in, and They are stators shaft and Current components of the shaft, and They are and The first derivative; It is the motor speed. yes The first derivative; It is the torque constant; It is the number of pole pairs of the motor; It is the magnetic flux linkage of the permanent magnet in the motor; It is the moment of inertia of the motor; It is the coefficient of friction of the motor; It is the load torque; It is the stator resistance of the motor; It is the stator inductance of the motor; and They are shaft and Stator voltage of the shaft; and They are shaft and Unmodeled dynamics of the axis;

[0070] Step 1.2: Based on the equipment specifications, obtain the parameters in the dynamic equations through direct measurement or identification methods, including... ;

[0071] Step 1.3: Definition Shaft reference current is Then define the state variables. With control input ,in, Corresponding to the rotational speed in the dynamic equation Superscript Indicates transpose; and Corresponding to the stator shaft and Current components of the shaft and ; , and Corresponding to Shaft reference current , shaft and Stator voltage of shaft and The dynamic equation of equation (1) is further modeled as a state-space model as shown in equation (2):

[0072] (2)

[0073] in, express The first derivative, correspondingly, , and They are respectively , and The first derivative; Given a known parameter matrix, Represents a diagonal matrix; Given a known input matrix; For a nonlinear term with a known structure, its Lipschitz constant is... It can be identified through historical measurement data; For an unknown lumped disturbance term, the upper bound of its derivative is... It can be identified through historical measurement data; in addition, it is relevant to state variables. Similarly, the lower bound of the intermittent state constraint that it should satisfy can be identified through historical measurement data. With the upper realm ;

[0074] Step 1.4: Based on the measurement information obtained by the sensors configured in the intelligent high-speed drilling measurement instrument, establish the motor measurement equations for a faulty speed sensor:

[0075] (3)

[0076] in, This is the measurement output of the sensor; For constant measurement matrices, when the intelligent high-speed drilling measurement instrument is equipped with a rotor angular position sensor, a speed sensor, and a stator current sensor, the state variables are... All can be measured; constant column matrix This indicates that the speed sensor has malfunctioned; This represents the fault amplitude of the speed sensor;

[0077] Step 2: Design the speed reference signal And given Shaft reference current and define ; As the reference signal vector, Corresponding to the speed reference signal, Corresponding to Shaft reference current, Corresponding to Shaft reference current.

[0078] Step 3: Construct an adaptive fault compensation estimator. The specific steps are as follows:

[0079] Step 3.1: Sensor-based measurement output The adaptive fault compensation estimator is constructed as follows:

[0080] (4)

[0081] in, , as well as These represent estimates of system state, lumped disturbance, and sensor fault, respectively. and They are respectively and The first derivative, and It is a positive definite estimator gain matrix;

[0082] Step 3.2: Define the estimation error as follows:

[0083] (5)

[0084] in, , as well as These represent the estimation errors for system state, lumped disturbance, and sensor fault, respectively.

[0085] Step 3.3: Define the nonlinear residual term caused by the estimation error as follows: ,in To be Medium system status Replace with system state estimation The result obtained; definition Let be the identity matrix; define the augmented estimation error as Define matrix as well as , for The first derivative of . Then, the augmented estimation error can be obtained. The error dynamics are as follows:

[0086] (6)

[0087] in, To broaden the estimation error Error dynamics.

[0088] Step 3.4: Select an appropriate estimator gain matrix and , making the matrix It is Hurwitz's. Accordingly, there exists a positive definite matrix. and The following equation must be satisfied:

[0089] (7)

[0090] Among them, matrix This can be specifically expressed as:

[0091] (8)

[0092] in, , , ,and All are matrices The submatrix;

[0093] Step 3.5: Design an adaptive update law for sensor faults as follows:

[0094] (9)

[0095] in, for The first derivative, and It is a positive adaptive parameter. The above adaptive fault compensation estimator (4) and the adaptive update law (9) of the sensor can make the estimation error system bounded and stable.

[0096] Step 4: Construct a speed adaptive fault-tolerant tracking controller for a three-phase synchronous induction motor. The specific steps are as follows:

[0097] Step 4.1: First, design the generalized intermittent state constraint method and introduce auxiliary variables. as follows:

[0098] (10)

[0099] in, Indicates the switching function The constructed time-varying diagonal matrix, Indicates time; ,in and These are user-defined. The lower and upper boundaries, In addition, each element The expression is defined as follows:

[0100] (11)

[0101] Among them, parameters and Determine the switching function The rate of change; , , , , Represents the moment of state constraint transition, where positive integers are used. Indicates the number of times the switch has occurred.

[0102] Step 4.2: Based on the system state estimation results And the generalized barrier Lyapunov function, defining the state of the system after the transformation. ,for The specific expressions for its elements are as follows:

[0103] (12)

[0104] Step 4.3: Definition , , as well as Then we can obtain:

[0105] (13)

[0106] as well as

[0107] (14)

[0108] in, , , , , , , They are respectively , , , , , The first derivative.

[0109] Step 4.4: For Define variables and They are as follows:

[0110] (15)

[0111] and

[0112] (16)

[0113] Step 4.5: For the reference signal Applying a similar transformation, we can obtain for The converted reference signal The elements are as follows:

[0114] (17)

[0115] Step 4.6: Based on the transformed system state formula (12) and the transformed reference signal formula (17), the transformed tracking error variable can be defined. as follows:

[0116] (18)

[0117] Step 4.7: Calculate the tracking error variable after transformation Error dynamics as follows:

[0118] (19)

[0119] in, It is the converted reference signal The first derivative, and They represent respectively by and A matrix with appropriate dimensions is constructed.

[0120] Step 4.8: Based on the error dynamics of the converted tracking error, design an adaptive fault-tolerant tracking controller. The calculation formula is as follows:

[0121] (20)

[0122] in, , They are respectively , The inverse matrix, This represents the positive definite gain matrix. The above controller enables the error system to be bounded and stabilized.

[0123] Step 4.9: Express the controller formula (20) using the variables in the original physical system, and... The shaft stator current is considered as a virtual control input to the motor, combined with the stator voltage. and As the actual control input, the tracking error system is eventually uniformly bounded, meaning the rotor speed tracking error is bounded.

[0124] Experimental research:

[0125] To demonstrate the feasibility and superiority of this invention, in such cases... Figure 2 The actual PMSM shown was used to verify the following experiments on the towing platform. The model parameters of the drive-end motor are provided as follows: , , , , , The specific procedure of the experiment is as follows:

[0126] Consider the state-space model formula (2) of the intelligent high-speed drilling measurement instrument with the three-phase synchronous induction motor as the core device in step 1; in this experiment, the parameter values ​​in formula (2) are: Given a known parameter matrix, Represents a diagonal matrix; Given a known input matrix; For nonlinear terms whose structure is known; For unknown lumped disturbance terms;

[0127] exist When a sensor fault is injected into the measurement equation, the fault amplitude is set to the following time-varying form:

[0128] (twenty one)

[0129] According to step 2, the rotor speed reference signal is set to... , where parameters Defined as: when , ;when , ;when , ;when , ;when , To maximize the torque-to-current ratio, Shaft reference current set to .

[0130] According to step 3, the parameters of the adaptive update law for sensor faults are selected as follows: The parameters of the adaptive fault compensation estimator are selected as follows: .

[0131] Based on step 4, the gain matrix parameters of the fault-tolerant tracking controller are selected as follows: In the experiment, intermittent state constraints were applied to the rotor speed state, and the relevant time parameters were set as follows: , , , , , ,right shaft and Shaft current applies full-range state constraints. The upper and lower bounds of the constraints applied to rotor speed are respectively... , , , .

[0132] The experimental results of the proposed speed adaptive fault-tolerant tracking control method are shown in Figures 3 to 5 .in, Figure 3 In the figure, (a) and (b) show the tracking control result of rotor speed and the estimation result of sensor fault under the fault-tolerant control scheme, respectively. Figure 4 In the table, (a), (b), and (c) represent the rotor speed, speed, and rotational speed, respectively. shaft current and System state results diagram including shaft current. Figure 5 The diagram shows the actual control input response results. Clearly, the proposed speed-adaptive fault-tolerant tracking control method achieves the trajectory tracking task of a three-phase synchronous induction motor even with sensor failures, and the system state satisfies user-defined constraints.

[0133] In another embodiment of the present invention, a speed adaptive fault-tolerant tracking control system for a three-phase synchronous induction motor is also provided, comprising:

[0134] The state space model and measurement equation establishment unit is used to establish the state space model of the three-phase synchronous induction motor in the intelligent high-speed drilling measurement instrument under the influence of lumped disturbance, as well as the measurement equation under the influence of speed sensor failure.

[0135] The reference signal design unit is used to design the speed reference signal and the given signal. Shaft reference current;

[0136] The fault compensation estimator construction unit is used to construct an adaptive fault compensation estimator based on the sensor's measurement output. In order to mitigate the adverse effects of sensor faults on the system state estimation results, the sensor fault estimation results obtained from the adaptive update law of sensor faults are incorporated into the adaptive fault compensation estimator.

[0137] The tracking controller design unit is used to construct auxiliary variables and a generalized barrier Lyapunov function based on the system state estimation results output by the adaptive fault compensation estimator, and to design an adaptive fault-tolerant tracking controller for the transformed tracking error variable.

[0138] In another embodiment of the present invention, an electronic device is also provided, comprising:

[0139] Memory, used to store computer programs;

[0140] A processor for executing the computer program to implement the method.

[0141] In another embodiment of the present invention, a non-volatile storage medium is also provided for storing a computer program, wherein the computer program implements the method described thereon when executed by a processor.

[0142] In another embodiment of the present invention, a computer program product is also provided, including a computer program / instructions that, when executed by a processor, implement the method described herein.

[0143] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A speed adaptive fault-tolerant tracking control method for a three-phase synchronous induction motor, characterized in that, The steps include the following: Establish a state-space model of a three-phase synchronous induction motor under the influence of lumped disturbances, and a measurement equation under the influence of speed sensor failure; Design speed reference signal and given Shaft reference current; An adaptive fault compensation estimator is constructed based on the sensor's measurement output. To mitigate the adverse effects of sensor faults on the system state estimation results, the sensor fault estimation results obtained from the adaptive update law of sensor faults are incorporated into the adaptive fault compensation estimator. Based on the system state estimation results output by the adaptive fault compensation estimator, auxiliary variables and a generalized barrier Lyapunov function are constructed, and an adaptive fault-tolerant tracking controller is designed for the transformed tracking error variable.

2. The method according to claim 1, characterized in that, The process of establishing the state-space model and measurement equations is as follows: (1) Establish the dynamic equations of the three-phase synchronous induction motor; (2) Combined with the equipment specifications, obtain the parameters in the dynamic equation by direct measurement or identification methods, including the stator inductance of the motor, the stator resistance of the motor, the flux linkage of the permanent magnet of the motor, the number of pole pairs of the motor, the moment of inertia of the motor, the friction coefficient of the motor and the torque constant. (3) The dynamic equations are further converted into a state-space model. The state variables in the state-space model include the rotational speed, speed, and speed in the dynamic equations. shaft and The stator current component of the shaft, control input includes Shaft reference current, shaft and The stator voltage of the shaft; the state-space model also includes known nonlinear terms and unknown lumped disturbance terms; the upper bound of the derivative of the unknown lumped disturbance terms is identified through historical measurement data; the lower and upper bounds of the intermittent state constraints that the state variables should satisfy are identified through historical measurement data; the Lipschitz constant of the system nonlinear terms is identified through historical measurement data. (4) Based on the sensor measurement information, establish the motor measurement equations for a motor with a faulty speed sensor; the state variables of the measurement equations include the speed in the dynamic equations, shaft and The stator current component of the shaft.

3. The method according to claim 1, characterized in that, Based on the speed reference signal and given Shaft reference current and The axis reference current is used to construct a set of reference signals.

4. The method according to claim 1, characterized in that, The constructed adaptive fault compensation estimator is represented as follows: ； in, , as well as These represent estimates of system state, lumped disturbance, and sensor fault, respectively. and They are respectively and The first derivative, and It is a positive definite estimator gain matrix; This is the parameter matrix of the state-space model; This is the input matrix of the state-space model; It is a constant column matrix; To convert the nonlinear term Medium system status Replace with system state estimation The results obtained; To control inputs, including Shaft reference current, shaft and Stator voltage of the shaft; This is the measurement output of the sensor.

5. The method according to claim 1, characterized in that, The adaptive update law design method for sensor faults includes: (1) Calculate the estimation errors of system state, lumped disturbance and sensor fault; (2) Define the augmented estimation error as , and They are respectively and transpose, , Represent the estimation errors of the system state and lumped disturbance, respectively; calculate the augmented estimation error. Error dynamics; (3) By selecting the estimator gain matrix and , making the matrix It is by Hurwitz; among them, This is the parameter matrix of the state-space model. For unit array; (4) The adaptive update law designed for sensor faults is as follows: ； in, for The first derivative, This indicates an estimate of sensor failure. Indicates the system status; and It is a positive adaptive parameter; and It is a positive definite matrix The submatrix; It is a constant column matrix. This is the measurement output of the sensor.

6. The method according to claim 1, characterized in that, The steps for constructing a speed adaptive fault-tolerant tracking controller for a three-phase synchronous induction motor include: (1) First, design a generalized intermittent state constraint method and introduce auxiliary variables. as follows: ； in, Indicates the switching function The constructed time-varying diagonal matrix, Indicates time, System state estimation results For unit array; ,in and The lower and upper boundaries of the system state estimation are respectively defined. ; The expression is defined as follows: ； Among them, parameters and Determine the switching function The rate of change; , , , , Represents the moment of state constraint transition, where positive integers are used. Indicates the number of times the switch has occurred; (2) Based on the system state estimation results And the generalized barrier Lyapunov function, defining the state of the system after the transformation. The specific expressions for its elements are as follows: ； (3) Calculate auxiliary variables as well as first derivative and ; (4) For Define variables and They are as follows: ； ； in, , , , , and They are respectively and The first derivative; (5) For the reference signal Applying the same transformation, the transformed reference signal The elements are as follows: ； (6) Define the tracking error variable after conversion based on the converted system state and the converted reference signal. as follows: ； (7) Calculate the tracking error variable after transformation Error dynamics as follows: ； in, It is the converted reference signal The first derivative, and They represent respectively by and The matrix formed Given a known parameter matrix, It is the coefficient of friction of the motor. It is the moment of inertia of the motor. It is the stator resistance of the motor. It is the stator inductance of the motor; Given the input matrix, It is the torque constant. for The inverse matrix, Represents a diagonal matrix; To control the input, To convert the nonlinear term Medium system status Replace with system state estimation The results obtained This represents an estimate of the lumped disturbance. The estimator gain matrix, For the sensor's measurement output, It is a constant column matrix. This indicates an estimate of sensor failure. An estimate representing the system state; (8) Based on the error dynamics of the converted tracking error, design an adaptive fault-tolerant tracking controller. The calculation formula is as follows: ； in, , They are respectively , The inverse matrix.

7. A speed adaptive fault-tolerant tracking control system for a three-phase synchronous induction motor, characterized in that, include: The state space model and measurement equation establishment unit is used to establish the state space model of the three-phase synchronous induction motor in the intelligent high-speed drilling measurement instrument under the influence of lumped disturbance, as well as the measurement equation under the influence of speed sensor failure. The reference signal design unit is used to design the speed reference signal and the given signal. Shaft reference current; The fault compensation estimator construction unit is used to construct an adaptive fault compensation estimator based on the sensor's measurement output. In order to mitigate the adverse effects of sensor faults on the system state estimation results, the sensor fault estimation results obtained from the adaptive update law of sensor faults are incorporated into the adaptive fault compensation estimator. The tracking controller design unit is used to construct auxiliary variables and a generalized barrier Lyapunov function based on the system state estimation results output by the adaptive fault compensation estimator, and to design an adaptive fault-tolerant tracking controller for the transformed tracking error variable.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the method as claimed in any one of claims 1 to 6.

9. A non-volatile storage medium, characterized in that, Used to store a computer program, wherein the computer program, when executed by a processor, implements the method as described in any one of claims 1 to 6.

10. 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 method described in any one of claims 1 to 6.

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