Motor speed control method and device based on speed error, medium and equipment

Abstract

The motor speed control method and device based on speed error provided by the application, after receiving a speed control request, obtains observation speed data through a linear extended state observer in an interference suppression basic model, and synchronously calculates first error data between the observation speed data and actual speed data, and second error data between the observation speed data and given speed data in combination with the given speed data and the actual speed data. Based on the two types of error data, the real-time update of the bandwidth-related parameter is driven. Through this double speed error design, the speed instantaneous deviation and the speed error change rate are captured, the first speed error can quickly respond to the speed deviation to ensure the dynamic response capability and the anti-load disturbance performance at high speed, and the second speed error can suppress the noise amplification at low speed to improve the low-speed steady-state stability, and the stability and response performance in the whole speed range are synergistically optimized.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a motor speed control method, device, medium and equipment based on speed error. Background Technology

[0002] With the widespread application of permanent magnet synchronous motors in industrial drives, new energy equipment, and other fields, the stability, dynamic response, and full-speed adaptability of their speed control have become core performance requirements. Although existing linear active disturbance suppression control methods have the advantage of not relying on precise mathematical models, they adopt a fixed bandwidth design, making it difficult to adapt to the full-speed operation scenarios of the motor.

[0003] To address the aforementioned issues, while some bandwidth optimization solutions have emerged in the existing technology, most of them only involve simple bandwidth adjustment based on the speed, resulting in insufficient control accuracy under complex operating conditions such as sudden speed changes or load disturbances, making it difficult to balance low-speed stability and high-speed response performance. Summary of the Invention

[0004] The purpose of this application is to at least solve one of the above-mentioned technical defects, especially the technical defect in the prior art that only makes simple bandwidth adjustment based on the speed, resulting in insufficient control accuracy under complex working conditions such as sudden speed changes or load disturbances, and making it difficult to take into account both low speed stability and high speed response performance.

[0005] In a first aspect, this application provides a motor speed control method based on rotational speed error, the method comprising:

[0006] When a speed control request for a permanent magnet synchronous motor is received, the given rotational speed data is extracted from the speed control request;

[0007] The basic model for interference suppression of the permanent magnet synchronous motor is determined, and the observed speed data of the permanent magnet synchronous motor is obtained based on the output of the linear extended state observer in the basic model for interference suppression.

[0008] The actual rotational speed data of the permanent magnet synchronous motor is obtained, and a first error data is calculated based on the observed rotational speed data and the actual rotational speed data, and a second error data is calculated based on the observed rotational speed data and the given rotational speed data.

[0009] Based on the first error data and the second error data, the bandwidth correlation parameters in the interference suppression basic model are updated, and the target control quantity of the permanent magnet synchronous motor is determined according to the updated interference suppression basic model.

[0010] In one embodiment, the modeling process of the interference suppression basic model includes:

[0011] Obtain the mechanical motion equations and control parameters of the permanent magnet synchronous motor;

[0012] Based on the mechanical motion equations, determine the speed differential equation of the permanent magnet synchronous motor;

[0013] Construct a basic model that includes a linear tracking differentiator, a linear extended state observer, and a linear state error feedback controller;

[0014] Based on the speed differential equation and the control parameters, the discrete equation expression of the linear extended state observer and the control quantity expression of the linear state error feedback controller are set, and the basic model after the setting is determined as the basic model for interference suppression of the permanent magnet synchronous motor.

[0015] In one embodiment, obtaining the observed rotational speed data of the permanent magnet synchronous motor based on the output of the linearly extended state observer in the interference suppression basic model includes:

[0016] Obtain the current operating data of the permanent magnet synchronous motor;

[0017] The running data is input into the basic model of interference suppression to obtain the output of the linear expansion state observer in the basic model of interference suppression under the running data;

[0018] Extract the observed rotational speed data from the output of the linearly extended state observer.

[0019] In one embodiment, the step of calculating a first error data based on the observed rotational speed data and the actual rotational speed data, and calculating a second error data based on the observed rotational speed data and the given rotational speed data, includes:

[0020] Obtain the preset sampling step size;

[0021] The difference between the observed rotational speed data and the actual rotational speed data at times corresponding to the sampling step size is calculated to obtain the first error data;

[0022] Furthermore, the difference between the observed rotational speed data and the given rotational speed data at times corresponding to the sampling step length is calculated to obtain the second error data.

[0023] In one embodiment, based on the first error data and the second error data, the bandwidth correlation parameter in the interference suppression basic model is updated according to the following expression:

[0024]

[0025] In the formula, express Bandwidth correlation parameters at time, express Bandwidth correlation parameters at time, Indicates the regulating factor. This represents the first error data. This represents the second error data. Indicates the coefficient of the denominator to prevent zero. Represents a symbolic function. express The difference between the observed rotational speed and the actual rotational speed at a given time.

[0026] In one embodiment, the disturbance suppression basic model includes a linear extended state observer and a linear state error feedback controller; determining the target control quantity of the permanent magnet synchronous motor based on the updated disturbance suppression basic model includes:

[0027] Calculate the observer bandwidth based on the updated bandwidth correlation parameters;

[0028] The gain coefficient of the linearly extended state observer is updated according to the observer bandwidth to complete the update of the basic model for interference suppression;

[0029] Obtain the target control quantity from the linear state error feedback controller in the updated disturbance suppression basic model, which is currently outputting the target control quantity.

[0030] In one embodiment, the method further includes:

[0031] The stability of the speed control process of the permanent magnet synchronous motor is verified using Lyapunov functions, and a stability report is generated based on the verification results.

[0032] Secondly, this application provides a motor speed control device based on rotational speed error, the device comprising:

[0033] The request receiving module is used to extract given speed data from the speed control request when a speed control request for a permanent magnet synchronous motor is received.

[0034] The speed observation module is used to determine the basic model of interference suppression of the permanent magnet synchronous motor, and obtain the observed speed data of the permanent magnet synchronous motor based on the output of the linear extended state observer in the basic model of interference suppression.

[0035] An error calculation module is used to acquire the actual speed data of the permanent magnet synchronous motor, calculate the first error data based on the observed speed data and the actual speed data, and calculate the second error data based on the observed speed data and the given speed data.

[0036] The motor control module is used to update the bandwidth correlation parameters in the interference suppression basic model based on the first error data and the second error data, and to determine the target control quantity of the permanent magnet synchronous motor according to the updated interference suppression basic model.

[0037] Thirdly, this application provides a storage medium storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps of the motor speed control method based on rotational speed error as described in any of the above embodiments.

[0038] Fourthly, this application provides a computer device, including: one or more processors, and a memory;

[0039] The memory stores computer-readable instructions, and when the one or more processors execute the computer-readable instructions, they perform the steps of the motor speed control method based on rotational speed error as described in any of the above embodiments.

[0040] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0041] The motor speed control method, device, medium, and equipment based on speed error provided in this application achieve more precise dynamic response by introducing a bandwidth adaptive adjustment mechanism based on dual speed errors. Specifically, upon receiving a speed control request, the observed speed data is acquired through the linear expansion state observer in the disturbance suppression basic model. Combined with the given speed data and the actual speed data, the first error data between the observed speed data and the actual speed data, and the second error data between the observed speed data and the given speed data are calculated simultaneously. These two types of error data jointly drive the real-time update of the bandwidth correlation parameters. This dual speed error design can simultaneously capture instantaneous speed deviation and the rate of change of speed error. It can quickly respond to speed deviations through the first level of speed error, ensuring dynamic response capability and anti-load disturbance performance at high speeds, meeting the high-speed robustness requirements of the motor. Simultaneously, it can suppress noise amplification at low speeds through the second level of speed error, avoiding operational jitter and improving low-speed steady-state stability, achieving synergistic optimization of stability and response performance across the entire speed range. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart illustrating a motor speed control method based on rotational speed error provided in an embodiment of this application;

[0044] Figure 2 A schematic diagram of a motor speed control device based on rotational speed error provided in an embodiment of this application;

[0045] Figure 3 This is an internal structural diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] In one embodiment, this application provides a motor speed control method based on rotational speed error. The following embodiments illustrate the application of this method to a linear active disturbance suppression control system. Hereinafter referred to as the system. It is understood that the system can be deployed in a computer device to execute the motor speed control method based on rotational speed error provided in this application.

[0048] like Figure 1 As shown, this application provides a motor speed control method based on rotational speed error, the method comprising:

[0049] S101: When a speed control request for a permanent magnet synchronous motor is received, extract the given speed data from the speed control request.

[0050] A permanent magnet synchronous motor is an AC motor that uses permanent magnets to generate a magnetic field, and whose rotor speed is synchronized with the rotating magnetic field of the stator. The given speed data refers to the target speed value that the permanent magnet synchronous motor is required to achieve in the speed control request.

[0051] In this step, when speed control of a permanent magnet synchronous motor is required, a speed control request for that motor can be sent to the system. Upon receiving the speed control request, the system can parse and extract the signal data, separating the given rotational speed data. For example, in a servo drive scenario of an industrial automation production line, if a speed control request is received for a permanent magnet synchronous motor to operate at 1500 r / min, the system can extract 1500 r / min as the given rotational speed data.

[0052] Specifically, a speed control request refers to an instruction for stable control of the rotor mechanical speed of a permanent magnet synchronous motor. It can be understood that the goal of motor speed control is to ensure that the actual rotor speed tracks the given speed while suppressing interference such as load disturbances and noise.

[0053] S102: Determine the basic model for interference suppression of the permanent magnet synchronous motor, and obtain the observed speed data of the permanent magnet synchronous motor based on the output of the linear extended state observer in the basic model for interference suppression.

[0054] The basic disturbance suppression model refers to a speed loop control model built around linear active disturbance suppression control, comprising a linear tracking differentiator, a linear extended state observer, and a linear state error feedback controller. Specifically, the linear tracking differentiator generates a smooth input signal and an external differential signal. The linear extended state observer estimates the motor system state and the total disturbance consisting of internal and external disturbances. The linear state error feedback controller generates a virtual control quantity based on the observed state and the given speed signal. Furthermore, the observed speed data refers to the speed estimate output by the linear extended state observer, which reflects the observer's real-time estimation of the current actual speed of the permanent magnet synchronous motor.

[0055] In this step, on the one hand, when a basic model for interference suppression of the permanent magnet synchronous motor (PMSM) has been pre-modeled, this basic model can be directly obtained. The current operating data of the PMSM is then input into it, and a linear extended state observer is run. Through internal iterative calculations, the corresponding observed speed values, i.e., the observed speed data, are extracted from its state vector. This yields the observed speed data output by the linear extended state observer, which reflects the current operating condition of the PMSM. On the other hand, when a corresponding basic model for interference suppression does not exist for the PMSM, a model can be created based on the PMSM's operating data, control parameters, and other information. After obtaining the corresponding basic model, the subsequent process of acquiring the observed speed data can then proceed.

[0056] S103: Obtain the actual speed data of the permanent magnet synchronous motor, and calculate the first error data based on the observed speed data and the actual speed data, and calculate the second error data based on the observed speed data and the given speed data.

[0057] The actual rotational speed data refers to the real-time output rotational speed of the motor rotor, collected by sensors. The first error data is the difference between the observed rotational speed data and the actual rotational speed data, reflecting the deviation of the observed value from the actual motor rotational speed. The second error data is the difference between the observed rotational speed data and the given rotational speed data, reflecting the deviation of the observed value from the target rotational speed for motor speed control.

[0058] In this step, the actual rotor speed during motor operation is first acquired and extracted in real time using a speed sensor matched with the permanent magnet synchronous motor, thus obtaining the actual speed data of the motor. Then, based on the previously acquired observed speed data and given speed data, the error between the observed speed data and the actual speed data is calculated to obtain the first error data, and the error between the observed speed data and the given speed data is calculated to obtain the second error data.

[0059] Specifically, by simultaneously calculating these two types of error data, the system obtains deviation information in two dimensions: the first error data reflects the observer's own estimation accuracy, used to ensure dynamic response capability and anti-load disturbance performance at high speeds; the second error data reflects the system's ability to track the target speed, used to suppress noise amplification at low speeds. These two types of error data together constitute the core input basis for bandwidth adaptive adjustment, enabling subsequent bandwidth adjustments to simultaneously consider both observer performance and system tracking performance.

[0060] S104: Based on the first error data and the second error data, update the bandwidth correlation parameters in the interference suppression basic model to determine the target control quantity of the permanent magnet synchronous motor according to the updated interference suppression basic model.

[0061] Among them, the bandwidth correlation parameter refers to the intermediate adjustment parameter that connects the error data and the observer bandwidth. The target control quantity refers to the control command calculated and output based on the disturbance suppression basic model after updating the bandwidth correlation parameter, which can be directly input into the motor current loop. It is the core control signal that drives the permanent magnet synchronous motor to adjust its speed to track the given speed and suppress system disturbances.

[0062] In this step, the calculated first and second error data are first used as inputs and substituted into the preset bandwidth correlation parameter update formula to update the bandwidth correlation parameters. Then, based on the updated bandwidth correlation parameters, adaptive observer bandwidth parameters are calculated to replace the original observer bandwidth parameters in the basic disturbance suppression model, thus completing the update of the model bandwidth parameters. After the observer bandwidth parameters of the basic disturbance suppression model are updated, the model will readjust the gain coefficient of the linear extended state observer according to the new observer bandwidth parameters. Combining the processed signal of the linear tracking differentiator, the state of the observer, and the disturbance estimation results, the linear state error feedback control module completes the calculation and finally determines the target control quantity of the permanent magnet synchronous motor.

[0063] It is understandable that updating the bandwidth correlation parameters based on the first and second error data allows the observer bandwidth of the interference suppression basic model to dynamically change with the motor speed deviation, enabling the model's observation performance to adapt to the current operating conditions of the motor and avoiding the problem that fixed bandwidth parameters cannot meet the control requirements of different operating conditions.

[0064] In the above embodiments, a more accurate dynamic response is achieved by introducing a bandwidth adaptive adjustment mechanism based on dual speed errors. Specifically, upon receiving a speed control request, the observed speed data is acquired through the linear expansion state observer in the disturbance suppression basic model. Combined with the given speed data and the actual speed data, the first error data between the observed speed data and the actual speed data, and the second error data between the observed speed data and the given speed data are calculated simultaneously. These two types of error data jointly drive the real-time update of the bandwidth correlation parameters. This dual speed error design simultaneously captures instantaneous speed deviation and the rate of change of speed error. It can quickly respond to speed deviations through the first level of speed error, ensuring dynamic response capability and anti-load disturbance performance at high speeds, meeting the high-speed robustness requirements of the motor. Simultaneously, it can suppress noise amplification at low speeds through the second level of speed error, avoiding operational jitter and improving low-speed steady-state stability, achieving synergistic optimization of stability and response performance across the entire speed range.

[0065] In one embodiment, the modeling process for the basic interference suppression model includes:

[0066] S1: Obtain the mechanical motion equations and control parameters of the permanent magnet synchronous motor.

[0067] S2: Determine the speed differential equation of the permanent magnet synchronous motor based on the mechanical motion equation.

[0068] S3: Construct a basic model that includes a linear tracking differentiator, a linear extended state observer, and a linear state error feedback controller.

[0069] S4: Based on the speed differential equation and control parameters, set the discrete equation expression of the linear extended state observer and the control quantity expression of the linear state error feedback controller, and determine the basic model after setting as the basic model for interference suppression of permanent magnet synchronous motor.

[0070] Among them, the mechanical motion equation refers to the dynamic equation describing the relationship between the mechanical motion state of the permanent magnet synchronous motor rotor and the forces such as electromagnetic torque, load torque, and frictional resistance. The control parameters refer to the fixed or initial parameters used to construct the disturbance suppression control model, which include, but are not limited to, friction coefficient, moment of inertia, torque coefficient, adjustment factor, sampling step size, zero-prevention denominator coefficient, and initial bandwidth correlation parameters.

[0071] In this embodiment, the inherent mechanical motion equations and preset control parameters of the permanent magnet synchronous motor are obtained. Then, the mechanical motion equations are mathematically processed, including electromagnetic torque substitution and formula rearrangement, to extract the time-varying rate of rotational speed and determine the motor's speed differential equation. Subsequently, following the framework of linear active disturbance suppression control, a linear tracking differentiator for signal smoothing, a linear extended state observer for estimating motor state and total disturbance, and a linear state error feedback controller for generating control quantities are sequentially constructed, forming the basic model.

[0072] Subsequently, using the speed differential equation as the dynamic basis, and combining it with parameters such as the sampling step size and torque coefficient in the control parameters, the continuous equation of the linear extended state observer is determined. This continuous equation is then discretized using methods such as the forward Euler method to set the corresponding discrete equation expression. Simultaneously, based on the speed differential equation and the control parameters, the operational parameters of the linear state error feedback controller are configured, and its control quantity expression is set. Finally, the basic model after completing the discrete equation expression and control quantity expression settings is determined as the basic model for interference suppression of the permanent magnet synchronous motor.

[0073] Furthermore, the speed differential equation refers to the differential expression reflecting the rate of change of the motor rotor speed with time, obtained by rearranging and substituting the mechanical motion equations of the permanent magnet synchronous motor. The discrete equation expression refers to the mathematical expression obtained by discretizing the continuous form equations of the linear extended state observer. The control quantity expression refers to the mathematical formula for the linear state error feedback controller to generate the target control quantity of the permanent magnet synchronous motor.

[0074] In one example, the process of performing state modeling on a permanent magnet synchronous motor to obtain a basic model for disturbance suppression can be represented as follows:

[0075] (1) Define the total system disturbance and input coefficients based on the mechanical motion equations. First, the mechanical motion equations of the permanent magnet synchronous motor can be expressed as:

[0076]

[0077] In the formula, Represents electromagnetic torque (satisfying) , (for torque coefficient) Indicates load torque. Indicates the coefficient of friction. Indicates the rotor's mechanical speed. It represents the moment of inertia.

[0078] Substituting the electromagnetic torque into the equation and rearranging, we can obtain the differential expression for the rotational speed:

[0079]

[0080] In the formula, Indicates rotational speed. Let the stator q-axis current be and the total system disturbance be . (Including comprehensive disturbances such as load disturbance and frictional resistance), the input coefficient is (Reflecting the driving effect of the q-axis current on the rotational speed), the differential expression for the rotational speed can be simplified to: .

[0081] (2) The process of constructing a basic model including a linear tracking differentiator, a linear extended state observer, and a linear state error feedback controller, and setting the discrete equation expression of the linear extended state observer and the control quantity expression of the linear state error feedback controller:

[0082] Define state variables: Let (Speed ​​status) (Total disturbance state), then the state-space expression of the motor system is:

[0083]

[0084] Its matrix form can be expressed as:

[0085]

[0086] In the formula, the state vector System matrix Input matrix Output matrix Perturbation matrix .

[0087] 1. For the above motor system, construct a linear extended state observer to estimate the state. The expression for this state observer is:

[0088]

[0089] In the formula, for The observed values, for The observed values, For observation error, , is the observer gain coefficient.

[0090] The matrix form of the expression for this state observer is:

[0091]

[0092] In the formula, the observation vector Gain matrix .

[0093] Define the observation error vector as Taking its derivative yields the error dynamics equation:

[0094]

[0095] In the formula, Its characteristic equation is:

[0096]

[0097] Furthermore, to address the need for discretized computation in digital controllers, the linear extended state observer can be discretized, transforming it into its discrete equation expression to suit the sampling characteristics of the digital controller. The discrete equation expression can be represented as:

[0098]

[0099] In the formula, h is the sampling step size, which can take the value 0.0001, and u is the control input. This discrete equation expression solves the problem that linear extended state observers in continuous time cannot be directly run in digital controllers (such as DSPs and MCUs). By discretizing the continuous system through the forward Euler method, it ensures that the observer can estimate the rotational speed and total disturbance in real time in actual hardware.

[0100] Based on the bandwidth parameter tuning method of the active interference suppression control architecture, the characteristic equation is configured as follows: ( The observer bandwidth is typically three to five times the controller bandwidth; therefore, the observer gain coefficient is:

[0101]

[0102] 2. The linear state error feedback controller is used to generate control input based on the observed state and the given signal. Considering the velocity loop as a first-order system, a proportional element combined with disturbance compensation is used. The expression for the control input is:

[0103]

[0104] In the formula, For the given speed transition signal output by the linear tracking differentiator, The proportional gain (determined by the controller bandwidth). The total disturbance observation value is used to suppress the disturbance through feedback compensation.

[0105] It is understandable that determining the speed differential equation based on the mechanical motion equation simplifies the complex multivariable physical relationship into a standard form that includes the total disturbance and input coefficients. This transformation converts the originally difficult-to-handle system dynamics problem into a mathematical problem that is easier to design a controller. Subsequently, a basic model containing three core modules is constructed, the control architecture is defined, and relevant expressions are set to obtain a basic disturbance suppression model. This model can accurately match the dynamic characteristics of the motor with the control requirements of practical applications.

[0106] In one embodiment, the observed rotational speed data of the permanent magnet synchronous motor is obtained based on the output of the linearly extended state observer in the interference suppression basic model, including:

[0107] S1: Obtain the current operating data of the permanent magnet synchronous motor.

[0108] S2: Input the running data into the interference suppression base model to obtain the output of the linearly extended state observer in the interference suppression base model under the running data.

[0109] S3: Extract the observed rotational speed data from the output of the linearly extended state observer.

[0110] Among them, operating data refers to the set of parameters reflecting the state of the permanent magnet synchronous motor during operation, including but not limited to rotor mechanical speed, stator q-axis current, load torque, actual output speed, and given speed.

[0111] In this embodiment, various operating parameters of the motor at the current moment are obtained. Specifically, the actual speed of the motor can be obtained through an encoder or resolver, the stator q-axis current can be obtained through a current sensor, and the current load torque information can be obtained through an observer or estimation algorithm to obtain operating data. This operating data is input into the basic disturbance suppression model, enabling the model to perform calculations based on the current actual operating conditions. The output of the linearly extended state observer in the basic disturbance suppression model is then obtained based on the operating data. Specifically, the linearly extended state observer iteratively calculates using its internal state equations and observer gain, outputting the system state vector and the estimated total disturbance at the current moment. Finally, the observed speed data can be extracted from the output system state vector.

[0112] Understandably, dynamic calculations are performed based on the current actual operating conditions. On this basis, a linear extended state observer is run to extract observed rotational speed data, providing a reliable data foundation for subsequent control decisions.

[0113] In one embodiment, a first error data is calculated based on the observed rotational speed data and the actual rotational speed data, and a second error data is calculated based on the observed rotational speed data and the given rotational speed data, including:

[0114] S1: Obtain the preset sampling step size.

[0115] S2: Subtract the observed rotational speed data from the actual rotational speed data at the time corresponding to the interval sampling step to obtain the first error data.

[0116] S3: Subtract the observed rotational speed data from the given rotational speed data at the time corresponding to the interval sampling step size to obtain the second error data.

[0117] The sampling step size refers to the time interval between two adjacent samplings or calculations when the digital control system performs discretization calculations.

[0118] In this embodiment, a pre-set fixed time interval parameter is read from the memory. This parameter is typically configured during system initialization based on the controller hardware performance and motor dynamic characteristics. Then, the difference between the observed speed data and the actual speed data at the time corresponding to the interval sampling step is used to obtain first error data, which calculates the instantaneous deviation between the two. Similarly, the difference between the observed speed data and the given speed data at the time corresponding to the interval sampling step is used to obtain second error data, which calculates the instantaneous deviation between the current estimated speed and the target speed. These two types of errors accurately reflect the system's deviation state in different dimensions at the same moment. The first error data precisely quantifies the instantaneous deviation between the observer's estimated value and the true value, providing a real-time indicator for evaluating the observer's performance; the second error data accurately reflects the instantaneous difference between the system's current estimated state and the target state, providing a real-time basis for measuring tracking performance. This approach achieves both dynamic response capability and anti-load disturbance performance at high speeds, while suppressing noise amplification at low speeds and avoiding operational jitter.

[0119] It is understandable that the difference between the observed rotational speed at time t+h and the actual rotational speed / given rotational speed at time t is used to match the state update timing of the linear extended state observer in the discrete domain and the real-time adaptive adjustment requirements of the digital controller.

[0120] In one example, the expressions for calculating the first error data and the second error data can be expressed as follows:

[0121]

[0122]

[0123] In the formula, This represents the first error data. This indicates the observed rotational speed data. This represents the actual rotational speed data. This represents the second error data. This represents the given rotational speed data. Indicates the sampling step size.

[0124] In one embodiment, based on the first error data and the second error data, the bandwidth correlation parameter in the interference suppression basic model is updated according to the following expression:

[0125]

[0126] In the formula, express Bandwidth correlation parameters at time, express Bandwidth correlation parameters at time, Indicates the regulating factor. This represents the first error data. This represents the second error data. Indicates the coefficient of the denominator to prevent zero. Represents a symbolic function. express The difference between the observed rotational speed and the actual rotational speed at a given time.

[0127] Specifically, regulatory factors Treated as an integer, the adjustment factor is a parameter that controls the speed and magnitude of the adaptive adjustment of the observer's bandwidth. On one hand, the magnitude of the adjustment factor directly determines the update step size of the bandwidth-related parameters, and thus the adjustment speed of the observer's bandwidth. On the other hand, as a multiplication coefficient, the adjustment factor amplifies or reduces the influence of the rotational speed error on the bandwidth adjustment.

[0128] Furthermore, in this embodiment, Specifically, it represents the first error data at time t, i.e. Similarly, Specifically, it represents the second error data at time t, i.e. .

[0129] In one embodiment, the disturbance suppression basic model includes a linear extended state observer and a linear state error feedback controller; the target control quantity of the permanent magnet synchronous motor is determined based on the updated disturbance suppression basic model, including:

[0130] S1: Calculate the observer bandwidth based on the updated bandwidth correlation parameters.

[0131] S2: Update the gain coefficient of the linearly extended state observer based on the observer bandwidth to complete the update of the basic model for interference suppression.

[0132] S3: Obtain the target control quantity of the current output from the linear state error feedback controller in the updated disturbance suppression basic model.

[0133] The observer bandwidth determines the observer's estimation speed of system state and disturbances, as well as its ability to suppress measurement noise. A larger bandwidth results in a faster observer response but weaker noise suppression, and vice versa. The gain coefficient is a weighting parameter used in a linearly extended state observer to feed the observation error back into the state estimation rate.

[0134] In this embodiment, the observer bandwidth is calculated based on the updated bandwidth correlation parameters, transforming the results of the preceding error analysis into specific performance parameter adjustments. Then, the gain coefficient of the linear extended state observer is updated according to the observer bandwidth, ensuring that the observer's dynamic characteristics match the current operating conditions. Finally, the observed values ​​output from the linear extended state observer are input into the linear state error feedback controller, and the target control quantity is obtained through its expression calculation. This target control quantity can be input into the motor current loop to achieve closed-loop control of the speed. These two actions update the basic disturbance suppression model, enabling the updated model to dynamically evolve with changes in operating conditions, always maintaining control characteristics adapted to the current operating state of the motor.

[0135] In one example, the observer bandwidth is calculated based on the updated bandwidth correlation parameters. The process can be represented as:

[0136]

[0137] Substitute the observer bandwidth into the gain formula to update the gain coefficient. , :

[0138]

[0139] It should be noted that when the motor system is in a stable state, , Smaller, observer bandwidth This reduces noise and improves operational smoothness; when the system is under dynamic conditions (such as sudden speed changes or load disturbances), , Increase the observer bandwidth Increase the size, thereby speeding up the response and enhancing robustness.

[0140] In one embodiment, the motor speed control method based on rotational speed error further includes:

[0141] The stability of the speed control process of a permanent magnet synchronous motor is verified using Lyapunov functions, and a stability report is generated based on the verification results.

[0142] The Lyapunov function is a scalar energy function used to determine the stability of a control system. In this scheme, the Lyapunov function is constructed as a quadratic form with respect to observation error and control error. Its magnitude reflects the degree to which the system deviates from the equilibrium point, and its rate of change over time indicates whether the motor system tends towards stability.

[0143] In this embodiment, a Lyapunov function is constructed to demonstrate the stability of the control method provided in this application. The constructed Lyapunov function can be expressed as:

[0144]

[0145] At this point, the criterion for Lyapunov stability is: And only if hour ; ( (when); hour, .

[0146] Differentiating the Lyapunov function:

[0147]

[0148] Will , derivative , Substitute the values ​​and combine them with the observer bandwidth adjustment formula and the discrete equation expression of the linearly extended state observer. From the derivation, we can obtain:

[0149]

[0150] because All are positive numbers, and the denominator is positive. ,therefore This satisfies the second condition of Lyapunov stability. Combining the first two conditions, it can be concluded that the speed control method proposed in this invention is convergent and the control process is stable.

[0151] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0152] The motor speed control device based on rotational speed error provided in the embodiments of this application will be described below. The motor speed control device based on rotational speed error described below can be referred to in correspondence with the motor speed control method based on rotational speed error described above.

[0153] like Figure 2 As shown, this application provides a motor speed control device 200 based on rotational speed error, the device comprising:

[0154] The request receiving module 201 is used to extract given speed data from the speed control request when it receives a speed control request for a permanent magnet synchronous motor.

[0155] The speed observation module 202 is used to determine the basic model of interference suppression of the permanent magnet synchronous motor and obtain the observed speed data of the permanent magnet synchronous motor based on the output of the linear extended state observer in the basic model of interference suppression.

[0156] The error calculation module 203 is used to acquire the actual speed data of the permanent magnet synchronous motor, and calculate the first error data based on the observed speed data and the actual speed data, and calculate the second error data based on the observed speed data and the given speed data.

[0157] The motor control module 204 is used to update the bandwidth correlation parameters in the interference suppression basic model based on the first error data and the second error data, and to determine the target control quantity of the permanent magnet synchronous motor according to the updated interference suppression basic model.

[0158] In the above embodiments, a more accurate dynamic response is achieved by introducing a bandwidth adaptive adjustment mechanism based on dual speed errors. Specifically, upon receiving a speed control request, the observed speed data is acquired through the linear expansion state observer in the disturbance suppression basic model. Combined with the given speed data and the actual speed data, the first error data between the observed speed data and the actual speed data, and the second error data between the observed speed data and the given speed data are calculated simultaneously. These two types of error data jointly drive the real-time update of the bandwidth correlation parameters. This dual speed error design simultaneously captures instantaneous speed deviation and the rate of change of speed error. It can quickly respond to speed deviations through the first level of speed error, ensuring dynamic response capability and anti-load disturbance performance at high speeds, meeting the high-speed robustness requirements of the motor. Simultaneously, it can suppress noise amplification at low speeds through the second level of speed error, avoiding operational jitter and improving low-speed steady-state stability, achieving synergistic optimization of stability and response performance across the entire speed range.

[0159] In one embodiment, the rotational speed observation module includes:

[0160] The parameter acquisition submodule is used to acquire the mechanical motion equations and control parameters of the permanent magnet synchronous motor.

[0161] The equation determination submodule is used to determine the speed differential equation of the permanent magnet synchronous motor based on the mechanical motion equation;

[0162] The model building submodule is used to build a basic model that includes a linear tracking differentiator, a linear extended state observer, and a linear state error feedback controller.

[0163] The model setting submodule is used to set the discrete equation expression of the linear extended state observer and the control quantity expression of the linear state error feedback controller based on the speed differential equation and control parameters, and to determine the basic model after setting as the basic model for interference suppression of permanent magnet synchronous motor.

[0164] In one embodiment, the rotational speed observation module includes:

[0165] The data acquisition submodule is used to acquire the current operating data of the permanent magnet synchronous motor;

[0166] The state observation submodule is used to input the running data into the interference suppression basic model in order to obtain the output of the linearly extended state observer in the interference suppression basic model under the running data.

[0167] The data forming submodule is used to extract observed rotational speed data from the output of the linearly extended state observer.

[0168] In one embodiment, the error calculation module includes:

[0169] The step size acquisition submodule is used to acquire the preset sampling step size;

[0170] The first calculation submodule is used to calculate the difference between the observed rotational speed data and the actual rotational speed data at the time corresponding to the interval sampling step size to obtain the first error data.

[0171] The second calculation submodule is used to subtract the observed rotational speed data and the given rotational speed data at the time corresponding to the interval sampling step size to obtain the second error data.

[0172] In one embodiment, the motor control module includes:

[0173]

[0174] In the formula, express Bandwidth correlation parameters at time, express Bandwidth correlation parameters at time, Indicates the regulating factor. This represents the first error data. This represents the second error data. Indicates the coefficient of the denominator to prevent zero. Represents a symbolic function. express The difference between the observed rotational speed and the actual rotational speed at a given time.

[0175] In one embodiment, the basic model for disturbance suppression includes a linear extended state observer and a linear state error feedback controller; the motor control module includes:

[0176] The bandwidth calculation submodule is used to calculate the observer bandwidth based on the updated bandwidth correlation parameters;

[0177] The model update submodule is used to update the gain coefficients of the linearly extended state observer based on the observer bandwidth in order to complete the update of the basic model for interference suppression.

[0178] The control quantity determination submodule is used to obtain the target control quantity of the current output from the linear state error feedback controller in the updated disturbance suppression basic model.

[0179] In one embodiment, the motor speed control device based on rotational speed error further includes:

[0180] The stability verification module is used to verify the stability of the speed control process of a permanent magnet synchronous motor using Lyapunov functions, and generates a stability report based on the verification results.

[0181] The division of modules in the above-described motor speed control device based on speed error is merely illustrative. In other embodiments, the motor speed control device based on speed error can be divided into different modules as needed to complete all or part of its functions. Each module in the above-described motor speed control device based on speed error can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0182] In one embodiment, this application also provides a storage medium storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the motor speed control method based on rotational speed error as described in any of the above embodiments.

[0183] In one embodiment, this application also provides a computer device storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the motor speed control method based on rotational speed error as described in any of the above embodiments.

[0184] Indicatively, such as Figure 3 As shown, Figure 3 This is a schematic diagram of the internal structure of a computer device 300 provided in an embodiment of this application. The computer device 300 can be provided as a server. (Refer to...) Figure 3 The computer device 300 includes a processing component 302, which further includes one or more processors, and memory resources represented by memory 301 for storing instructions, such as application programs, that can be executed by the processing component 302. The application programs stored in memory 301 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 302 is configured to execute instructions to perform the motor speed control method based on rotational speed error of any of the above embodiments.

[0185] The computer device 300 may also include a power supply component 303 configured to perform power management of the computer device 300, a wired or wireless network interface 304 configured to connect the computer device 300 to a network, and an input / output (I / O) interface 305. The computer device 300 may operate on an operating system stored in memory 301, such as Windows Server™, Mac OS X™, Unix™, Linux™, Free BSD™, or similar.

[0186] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0187] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a…" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. In this document, the singular forms "a," "an," and "the" may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having” specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0188] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0189] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motor speed control method based on rotational speed error, characterized in that, The method includes: When a speed control request for a permanent magnet synchronous motor is received, the given rotational speed data is extracted from the speed control request; The basic model for interference suppression of the permanent magnet synchronous motor is determined, and the observed speed data of the permanent magnet synchronous motor is obtained based on the output of the linear extended state observer in the basic model for interference suppression. The actual rotational speed data of the permanent magnet synchronous motor is obtained, and a first error data is calculated based on the observed rotational speed data and the actual rotational speed data, and a second error data is calculated based on the observed rotational speed data and the given rotational speed data. Based on the first error data and the second error data, the bandwidth correlation parameters in the interference suppression basic model are updated, and the target control quantity of the permanent magnet synchronous motor is determined according to the updated interference suppression basic model.

2. The motor speed control method based on rotational speed error according to claim 1, characterized in that, The modeling process of the basic model for interference suppression includes: Obtain the mechanical motion equations and control parameters of the permanent magnet synchronous motor; Based on the mechanical motion equations, determine the speed differential equation of the permanent magnet synchronous motor; Construct a basic model that includes a linear tracking differentiator, a linear extended state observer, and a linear state error feedback controller; Based on the speed differential equation and the control parameters, the discrete equation expression of the linear extended state observer and the control quantity expression of the linear state error feedback controller are set, and the basic model after the setting is determined as the basic model for interference suppression of the permanent magnet synchronous motor.

3. The motor speed control method based on rotational speed error according to claim 1, characterized in that, The step of obtaining the observed rotational speed data of the permanent magnet synchronous motor based on the output of the linear extended state observer in the interference suppression basic model includes: Obtain the current operating data of the permanent magnet synchronous motor; The running data is input into the basic model of interference suppression to obtain the output of the linear expansion state observer in the basic model of interference suppression under the running data; Extract the observed rotational speed data from the output of the linearly extended state observer.

4. The motor speed control method based on rotational speed error according to claim 1, characterized in that, The step of calculating a first error data based on the observed rotational speed data and the actual rotational speed data, and calculating a second error data based on the observed rotational speed data and the given rotational speed data, includes: Obtain the preset sampling step size; The difference between the observed rotational speed data and the actual rotational speed data at times corresponding to the sampling step size is calculated to obtain the first error data; Furthermore, the difference between the observed rotational speed data and the given rotational speed data at times corresponding to the sampling step length is calculated to obtain the second error data.

5. The motor speed control method based on rotational speed error according to claim 1, characterized in that, Based on the first error data and the second error data, the bandwidth correlation parameter in the interference suppression basic model is updated according to the following expression: In the formula, express Bandwidth correlation parameters at time, express Bandwidth correlation parameters at time, Indicates the regulating factor. This represents the first error data. This represents the second error data. Indicates the coefficient of the denominator to prevent zero. Represents a symbolic function. express The difference between the observed rotational speed and the actual rotational speed at a given time.

6. The motor speed control method based on rotational speed error according to claim 1, characterized in that, The basic model for interference suppression includes a linear extended state observer and a linear state error feedback controller; determining the target control quantity of the permanent magnet synchronous motor based on the updated basic model for interference suppression includes: Calculate the observer bandwidth based on the updated bandwidth correlation parameters; The gain coefficient of the linearly extended state observer is updated according to the observer bandwidth to complete the update of the basic model for interference suppression; Obtain the target control quantity from the linear state error feedback controller in the updated disturbance suppression basic model, which is currently outputting the target control quantity.

7. The motor speed control method based on rotational speed error according to any one of claims 1 to 6, characterized in that, The method further includes: The stability of the speed control process of the permanent magnet synchronous motor is verified using Lyapunov functions, and a stability report is generated based on the verification results.

8. A motor speed control device based on rotational speed error, characterized in that, The device includes: The request receiving module is used to extract given speed data from the speed control request when a speed control request for a permanent magnet synchronous motor is received. The speed observation module is used to determine the basic model of interference suppression of the permanent magnet synchronous motor, and obtain the observed speed data of the permanent magnet synchronous motor based on the output of the linear extended state observer in the basic model of interference suppression. An error calculation module is used to acquire the actual speed data of the permanent magnet synchronous motor, calculate the first error data based on the observed speed data and the actual speed data, and calculate the second error data based on the observed speed data and the given speed data. The motor control module is used to update the bandwidth correlation parameters in the interference suppression basic model based on the first error data and the second error data, and to determine the target control quantity of the permanent magnet synchronous motor according to the updated interference suppression basic model.

9. A storage medium, characterized in that: The storage medium stores computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the motor speed control method based on rotational speed error as described in any one of claims 1 to 7.

10. A computer device, characterized in that, include: One or more processors, and memory; The memory stores computer-readable instructions, which, when executed by the one or more processors, perform the steps of the motor speed control method based on rotational speed error as described in any one of claims 1 to 7.

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