Motor control method, device and vehicle

Abstract

The application relates to the technical field of vehicles, in particular to the technical field of vehicle control, and specifically relates to a motor control method and device and a vehicle, which aims to perform more effective motor speed control. The method comprises the following steps: obtaining mechanical dynamics parameters of a target electromagnetic motor; determining disturbance observation values of the target electromagnetic motor according to the mechanical dynamics parameters and an observation equation of the target electromagnetic motor; the observation equation is used to quantify the influence of speed observation values and disturbance change rate observation values under the mechanical dynamics parameters on the disturbance observation values; and performing speed control on the target electromagnetic motor according to the disturbance observation values and a speed observation deviation between speed observation values and actual values of the target electromagnetic motor, so as to improve the speed control performance of the electromagnetic motor under the disturbance.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to the field of vehicle control technology, specifically to a motor control method, device, and vehicle. Background Technology

[0002] Currently, with the rapid development of the new energy vehicle industry, automatic parking systems, as one of the key manifestations of the integration of new energy vehicles and intelligent driving technology, have become an important part of people's intelligent vehicle experience. The precise control of the motor during automatic parking has become a key focus of people's attention to vehicle performance, and the stability and accuracy of the motor speed directly affect the motor control performance.

[0003] While numerous methods exist for controlling motor speed, in actual operation, motors are susceptible to disturbances such as load changes, leading to deviations in speed control. Therefore, a more effective motor control method is urgently needed to manage vehicle motor speed. Summary of the Invention

[0004] This application provides a motor control method, device, and vehicle to at least solve the technical problems in related technologies, such as insufficient precision in motor speed control and susceptibility to overshoot. The technical solution adopted in this application is as follows: In a first aspect, this application provides a motor control method, comprising: acquiring the mechanical dynamic parameters of a target electromagnetic motor; determining the disturbance observation value of the target electromagnetic motor based on the mechanical dynamic parameters and the observation equation of the target electromagnetic motor; the observation equation being used to quantify the influence of the observed speed value and the observed disturbance rate of change value on the disturbance observation value under the mechanical dynamic parameters; and performing speed control on the target electromagnetic motor based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor.

[0005] Based on the aforementioned technical means, this application inputs the mechanical dynamic parameters of the target electromagnetic motor into the observation equation. By combining the observed values ​​of the target electromagnetic motor's rotational speed and the observed value of the disturbance change rate, the disturbance observation value of the target electromagnetic motor is observed. This allows for a more accurate determination of the disturbance observation value by combining the observed values ​​of rotational speed and the observed value of the disturbance change rate. Based on this, the target electromagnetic motor's rotational speed is controlled by combining the rotational speed observation deviation between the observed value and the actual value. This enables timely adjustment of the rotational speed control strategy based on the observation deviation, effectively compensating for the disturbance interference of the target electromagnetic motor and reducing rotational speed fluctuations.

[0006] In one possible implementation, the process of constructing the observation equations includes: constructing the mechanical motion equations of the target electromagnetic motor; wherein the mechanical motion equations are used to represent the correspondence between the rotor's mechanical angular acceleration and the electromagnetic driving force, damping resistance, and disturbance; the disturbance satisfies the constraint that the rate of change of disturbance is equal to 0; the disturbance is the sum of the load resistance and the unknown resistance; the rate of change of disturbance is the derivative of the disturbance; and using the mechanical motion equations, generating the observation equations; wherein the observation equations are used to observe the disturbance and the mechanical angular acceleration.

[0007] Based on the above-mentioned technical means, this application generates observation equations by means of the mechanical motion equations of the target electromagnetic motor. This not only makes the generated observation equations more consistent with the actual operating conditions by utilizing the mechanical characteristics of the motor itself, thus improving the observation accuracy, but also updates the observation values ​​according to the actual mechanical motion state, capturing the dynamic changes of disturbances and mechanical angular acceleration more quickly and effectively suppressing the influence of disturbances.

[0008] In one possible implementation, the observation equations are generated using the mechanical motion equations, including: generating a rotational speed change rate observation equation based on the mechanical motion equations; wherein, the rotational speed change rate observation equation is used to represent the correspondence between the rotational speed change rate and the observed values ​​of electromagnetic driving force, damping drag, disturbance, and rotational speed observation correction value; the rotational speed observation correction value is used to correct rotational speed observation deviation; the rotational speed change rate is determined based on the mechanical angular acceleration; generating a disturbance observation equation; wherein, the disturbance observation equation is used to represent the observed disturbance value and the disturbance change rate observation corresponding to the disturbance change rate. The system generates observation equations for the rate of change of speed and the actual rate of change of speed. It also generates observation equations for the observed rate of change of speed, the observed rate of change of speed, the observed rate of change of speed, and the observed rate of change of speed.

[0009] Based on the above technical means, this application generates observation equations for the rate of change of rotational speed, disturbance, and rate of change of disturbance through mechanical motion equations, and generates observation equations for the target electromagnetic motor based on the above three observation equations. This enables the observation equations to more comprehensively and accurately reflect the motor's operating state, and improves the accuracy and completeness of disturbance observations by combining the rate of change of rotational speed and the rate of change of disturbance.

[0010] In one possible implementation, the process of determining the speed observation correction value includes: determining the speed observation correction value by multiplying the speed observation deviation by a first observation gain; wherein the first observation gain is the difference between a first value and a second value; the first value is the product of 3 and the observer bandwidth; and the second value is the negative value of the ratio between the damping coefficient and the moment of inertia.

[0011] Based on the above-mentioned technical means, this application determines the speed observation correction value by combining the speed observation deviation and the first observation gain. It can determine the observation correction value based on parameters such as the observer bandwidth, damping coefficient and moment of inertia, thereby improving the response capability of the speed observation correction value to different working conditions, effectively compensating for speed observation errors, and improving the accuracy of the speed observation correction value.

[0012] In one possible implementation, the process of determining the disturbance observation correction value includes: determining the disturbance observation correction value as the product of the rotational speed observation deviation and the second observation gain; wherein the second observation gain is the product of 3 and the square of the observer bandwidth.

[0013] Based on the above technical means, this application determines the disturbance observation correction value by combining the speed observation deviation and the second observation gain. It can determine the observation correction value according to the observer bandwidth, improve the response capability of the disturbance observation correction value to different operating conditions, and thus improve the accuracy of the disturbance observation correction value.

[0014] In one possible implementation, the process of determining the disturbance rate of change observation correction value includes: determining the disturbance rate of change observation correction value by multiplying the rotational speed observation deviation by the third observation gain; wherein the third observation gain is the product of the cube of the observer bandwidth.

[0015] Based on the above technical means, this application determines the disturbance change rate observation correction value by means of the speed observation deviation and the third observation gain. It can determine the observation correction value according to the observer's credit, improve the response capability of the disturbance change rate observation correction value to different operating conditions, and improve the accuracy of the disturbance change rate observation correction value.

[0016] In one possible implementation, speed control of the target electromagnetic motor is performed based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor, including: determining a first load torque of the target electromagnetic motor based on the disturbance observation value; determining a second load torque of the target electromagnetic motor based on the speed observation deviation; and performing speed control of the target electromagnetic motor based on the first load torque and the second load torque.

[0017] Based on the above technical means, this application determines the first load torque affected by the disturbance in the target electromagnetic motor by disturbance observation value, and then combines it with the second load torque determined by speed observation deviation to control the speed of the target electromagnetic motor. This can improve the speed control accuracy and stability of the target electromagnetic motor and improve the operating performance of the target electromagnetic motor under different disturbance conditions.

[0018] In one possible implementation, determining the second load torque of the target electromagnetic motor based on the speed observation deviation includes: determining the rate of change of the speed observation deviation compared to the previous moment; determining the proportional coefficient and integral coefficient corresponding to the fuzzy control based on the rate of change of the deviation and the speed observation deviation; and performing speed control on the target electromagnetic motor based on the proportional coefficient, integral coefficient, first load torque, and second load torque.

[0019] Based on the aforementioned technical means, this application determines the proportional coefficient and integral coefficient of fuzzy control by observing the speed deviation and the rate of change of deviation, thereby intuitively quantifying the control of parameters such as current and voltage output by the target electromagnetic motor, so as to indirectly control the motor speed and improve the speed control accuracy.

[0020] In one possible implementation, the proportional and integral coefficients corresponding to the fuzzy control are determined based on the deviation change rate and the observed speed deviation, including: determining the basic universe of discourse in which the fuzzy control is located based on the deviation change rate and the observed speed deviation; determining the target fuzzy control function based on the basic universe of discourse; wherein the target fuzzy control function is one of at least one fuzzy control function in the fuzzy control; one fuzzy control function corresponds to one basic universe of discourse; and determining the proportional and integral coefficients based on the target fuzzy control function.

[0021] Based on the above technical means, this application determines the corresponding basic universe of discourse according to the actual situation of the speed observation deviation and the deviation change rate, which enables fuzzy control to better fit the actual range of the speed observation deviation and the deviation change rate, thereby improving the performance of fuzzy control. Based on this, fuzzy control processing is performed on the speed observation deviation and the deviation change rate according to the target fuzzy control function corresponding to the basic universe of discourse, and the proportional coefficient and integral coefficient of fuzzy control are determined, which can improve the robustness of fuzzy control.

[0022] In one possible implementation, the target electromagnetic motor is speed controlled based on a proportional coefficient, an integral coefficient, a first load torque, and a second load torque, including: adjusting the speed of the target electromagnetic motor by employing fuzzy control with respect to the proportional coefficient and the integral coefficient based on the sum of the torques between the first load torque and the second load torque.

[0023] Based on the above technical means, this application uses fuzzy control to adjust the load torque to control the motor speed. By flexibly adjusting the proportional and integral coefficients, it can quickly respond to speed deviations, effectively suppress overshoot or oscillation of the target electromagnetic motor, and improve the stability of speed adjustment.

[0024] Secondly, this application provides a motor control device, comprising: a parameter acquisition module for acquiring the mechanical dynamic parameters of a target electromagnetic motor; a disturbance observation module for determining the disturbance observation value of the target electromagnetic motor based on the mechanical dynamic parameters and the observation equation of the target electromagnetic motor; the observation equation being used to quantify the influence of the observed speed value and the observed disturbance rate of change value on the disturbance observation value under the mechanical dynamic parameters; and a speed control module for controlling the speed of the target electromagnetic motor based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor.

[0025] In one possible implementation, the process of constructing the observation equations includes: constructing the mechanical motion equations of the target electromagnetic motor; wherein the mechanical motion equations are used to represent the correspondence between the rotor's mechanical angular acceleration and the electromagnetic driving force, damping resistance, and disturbance; the disturbance satisfies the constraint that the rate of change of disturbance is equal to 0; the disturbance is the sum of the load resistance and the unknown resistance; the rate of change of disturbance is the derivative of the disturbance; and using the mechanical motion equations, generating the observation equations; wherein the observation equations are used to observe the disturbance and the mechanical angular acceleration.

[0026] In one possible implementation, the disturbance observation module is specifically used to generate a rotational speed change rate observation equation based on the mechanical motion equation; wherein, the rotational speed change rate observation equation represents the correspondence between the rotational speed change rate and the electromagnetic driving force, damping resistance, disturbance observation value, and rotational speed observation correction value; the rotational speed observation correction value is used to correct the rotational speed observation deviation; the rotational speed change rate is determined based on the mechanical angular acceleration; generating a disturbance observation equation; wherein, the disturbance observation equation represents the disturbance observation value and the disturbance change rate corresponding to the disturbance change rate observation value and the disturbance observation correction value; the disturbance observation correction value is used to correct the disturbance observation deviation between the disturbance observation value and the actual disturbance value; generating a disturbance change rate observation equation; wherein, the disturbance change rate observation equation represents the correspondence between the disturbance change rate observation value and the disturbance change rate observation correction value; the disturbance change rate observation correction value is used to correct the disturbance change rate observation deviation between the disturbance change rate observation value and the actual disturbance change rate corresponding to the disturbance change rate; using the rotational speed change rate observation equation, the disturbance observation equation, and the disturbance change rate observation equation, an observation equation is generated.

[0027] In one possible implementation, the process of determining the speed observation correction value includes: determining the speed observation correction value by multiplying the speed observation deviation by a first observation gain; wherein the first observation gain is the difference between a first value and a second value; the first value is the product of 3 and the observer bandwidth; and the second value is the negative value of the ratio between the damping coefficient and the moment of inertia.

[0028] In one possible implementation, the process of determining the disturbance observation correction value includes: determining the disturbance observation correction value as the product of the rotational speed observation deviation and the second observation gain; wherein the second observation gain is the product of 3 and the square of the observer bandwidth.

[0029] In one possible implementation, the process of determining the disturbance rate of change observation correction value includes: determining the disturbance rate of change observation correction value by multiplying the rotational speed observation deviation by the third observation gain; wherein the third observation gain is the product of the cube of the observer bandwidth.

[0030] In one possible implementation, the speed control module is used to determine the first load torque of the target electromagnetic motor based on the disturbance observation value; determine the second load torque of the target electromagnetic motor based on the speed observation deviation; and perform speed control on the target electromagnetic motor based on the first load torque and the second load torque.

[0031] In one possible implementation, the speed control module is further configured to determine the rate of change of the observed speed deviation compared to the previous moment; based on the rate of change of deviation and the observed speed deviation, determine the proportional coefficient and integral coefficient corresponding to the fuzzy control; and based on the proportional coefficient, integral coefficient, first load torque, and second load torque, perform speed control on the target electromagnetic motor.

[0032] In one possible implementation, the speed control module is specifically used to determine the basic universe of discourse in which the fuzzy control is located based on the deviation change rate and the speed observation deviation; determine the target fuzzy control function based on the basic universe of discourse; wherein the target fuzzy control function is one of at least one fuzzy control function in the fuzzy control; one fuzzy control function corresponds to one basic universe of discourse; and determine the proportional coefficient and integral coefficient based on the target fuzzy control function.

[0033] In one possible implementation, the speed control module is specifically used to adjust the speed of the target electromagnetic motor by employing fuzzy control with respect to proportional and integral coefficients based on the sum of the torques between the first load torque and the second load torque.

[0034] Thirdly, this application provides a vehicle including an electromagnetic motor, wherein the electromagnetic motor speed is controlled by the motor control method described in the first aspect.

[0035] Fourthly, this application provides an electronic device, including: a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the method described in the first aspect and any possible implementation thereof.

[0036] Fifthly, this application provides a computer-readable storage medium that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods described in the first aspect and any possible implementation thereof.

[0037] In a sixth aspect, this application provides a computer program product comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any of its possible implementations.

[0038] It should be noted that the technical effects of any of the implementation methods in aspects two through six can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0039] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0041] Figure 1 This is a schematic diagram of the structure of a vehicle shown in an embodiment of this application; Figure 2 This is a flowchart illustrating a motor control method according to an embodiment of this application; Figure 3 This is a schematic diagram of the rotational speed positioning curve shown in an embodiment of this application; Figure 4 This is a block diagram illustrating a motor control device according to an embodiment of this application; Figure 5 This is a block diagram of another motor control device shown in the embodiments of this application; Figure 6 This is a schematic diagram of an observer shown in an embodiment of this application; Figure 7 This is a schematic diagram of a fuzzy control device shown in an embodiment of this application; Figure 8 This is a block diagram illustrating an electronic device according to an embodiment of this application. Detailed Implementation

[0042] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0043] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0044] In the embodiments of this application, the words "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a specific manner.

[0045] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0046] The motor control device provided in this application embodiment is used to control the speed of the electromagnetic motor of a vehicle (especially an intelligent driving vehicle). A vehicle can also be referred to as a vehicle, mobile carrier, electric vehicle (EV), hybrid electric vehicle (HEV), plug-in hybrid electric vehicle (PHEV), fuel cell vehicle (FCV), autonomous vehicle, intelligent and connected vehicle (ICV), driverless vehicle, etc.

[0047] In this application, the vehicle can be a sedan, a sport utility vehicle (SUV), a truck, a special vehicle (such as an ambulance, fire truck, police car, etc.), a driverless taxi, a smart connected bus, an autonomous logistics vehicle, an electric truck, etc. Furthermore, this method is also applicable to various special-purpose vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, and port vehicles. This application does not impose specific limitations in this regard.

[0048] Figure 1 This is a schematic diagram of the structure of a vehicle shown in an embodiment of this application.

[0049] In one possible implementation, such as Figure 1 As shown, the vehicle 100 includes a motor control device 101 and a parameter acquisition device 102.

[0050] The parameter acquisition device 102 is used to acquire the mechanical dynamic parameters of the target electromagnetic motor and transmit the mechanical dynamic parameters to the motor control device 101.

[0051] The aforementioned target electromagnetic motor is used to characterize a motor that converts electrical energy into mechanical energy based on the laws of electromagnetic induction or electromagnetic force.

[0052] The aforementioned target electromagnetic motors include permanent magnet motors, DC motors, AC asynchronous motors, AC synchronous motors, and switched reluctance motors, etc.

[0053] The aforementioned mechanical dynamic parameters are key indicators used to describe the mechanical motion characteristics of an electromagnetic motor, directly affecting its dynamic performance and control accuracy. These parameters include the electromagnetic motor's mechanical angular velocity, moment of inertia, electromagnetic torque, damping coefficient, and coefficient of friction.

[0054] The motor control device 101 is used to receive the mechanical dynamic parameters collected by the parameter acquisition device 102, and input the mechanical dynamic parameters into the observation equation of the target electromagnetic motor, and observe the observed values ​​of the target electromagnetic motor's rotational speed, disturbance, and disturbance rate of change.

[0055] The above observation equations are used to quantify the influence of observed rotational speed and observed rate of change of disturbance on observed disturbance under mechanical dynamic parameters. That is, the input of the above observation equations is the mechanical dynamic parameters, and the output is observed rotational speed, observed rate of change of disturbance, and observed disturbance, among which the observed rotational speed and observed rate of change of disturbance are correlated with the observed disturbance.

[0056] The motor control device 101 is also used to control the speed of the target electromagnetic motor based on the speed observation deviation between the disturbance observation value and the speed observation value and the actual speed value of the target electromagnetic motor.

[0057] The above-mentioned speed control is a control process that enables the motor to operate stably at the set target speed or dynamically adjust the speed according to actual needs.

[0058] In practical applications, the motor control device 101 can communicate with one or more parameter acquisition devices 102.

[0059] For ease of understanding, this application uses the communication connection between a motor control device 101 and a parameter acquisition device 102 as an example for illustration.

[0060] As a feasible approach, Figure 1 The motor control device 101 and parameter acquisition device 102 are installed inside the vehicle, but the motor control device 101 can also be installed outside the vehicle. Generally, the parameter acquisition device 102 and the motor control device 101 are independently installed devices. However, the motor control device 101 and the parameter acquisition device 102 can also be integrated into the same device as functional modules. This application does not impose any limitations on this comparison.

[0061] For ease of understanding, this application mainly uses the example of the motor control device 101 and the parameter acquisition device 102 being set up independently of each other.

[0062] As a feasible approach, Figure 1 The motor control device 101 can be installed in a terminal, a server, or other types of electronic equipment.

[0063] When the motor control device 101 is located at a terminal, the terminal can be a device providing data connectivity to vehicle users or vehicle owners, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device that exchanges voice and / or data with the radio access network, such as a mobile phone, tablet, laptop, netbook, or personal digital assistant (PDA). This application does not impose any limitations on this.

[0064] When the motor control device 101 is located on a server, the server can be a single server or a server cluster consisting of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. This application does not impose any limitations in this regard.

[0065] It should be noted that the structure illustrated in the embodiments of this application does not constitute a limitation on the motor control device 101. It may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of both.

[0066] For ease of understanding, the motor control method provided in this application will be described in detail below with reference to the accompanying drawings.

[0067] Figure 2 This is a flowchart illustrating a motor control method according to an embodiment of this application, with reference to... Figure 2 The motor control method includes: S201. Obtain the mechanical dynamic parameters of the target electromagnetic motor.

[0068] S202. Based on the mechanical dynamics parameters and the observation equations of the target electromagnetic motor, determine the disturbance observation values ​​of the target electromagnetic motor.

[0069] As a feasible approach, the construction process of the observation equations includes: constructing the mechanical motion equations of the target electromagnetic motor; wherein, the mechanical motion equations are used to represent the correspondence between the rotor's mechanical angular acceleration and the electromagnetic driving force, damping resistance, and disturbance; the disturbance satisfies the constraint that the rate of change of the disturbance is equal to 0; the disturbance is the sum of the load resistance and the unknown resistance; the rate of change of the disturbance is the derivative of the disturbance; using the mechanical motion equations, the observation equations are generated; wherein, the observation equations are used to observe the disturbance and the mechanical angular acceleration.

[0070] As one feasible approach, the formula for the mechanical motion equation is as follows: ; in, The mechanical angular velocity of the target electromagnetic motor, For rotational inertia, For electromagnetic torque, For load torque, is the damping coefficient.

[0071] As a feasible approach, the mechanical motion equations are used to generate observation equations for observing disturbances and mechanical angular acceleration. The formulas for the observation equations are as follows: ; ; In some embodiments, the perturbation of the above state equation is considered as a total perturbation, wherein the following conditions are met: Treat it as a summation disturbance The differential, It includes not only load torque changes, but also dynamics not modeled in the model, nonlinear friction, parameter perturbations, etc.

[0072] After transforming the above mechanical motion equations and incorporating the influence of disturbances, the formula for the mechanical motion equations can be transformed as follows: ; in, Electromagnetic driving force For damping resistance, For load resistance, For unknown resistance.

[0073] make This is the derivative of the disturbance, i.e., the rate of change of the disturbance. The disturbance satisfies the constraint that the rate of change of the disturbance is equal to 0, i.e., the assumption... .

[0074] The above observation equation can then be transformed to obtain the following observation equation: ; As another feasible approach, the observation equations can be set based on a sliding diaphragm disturbance observer. When determining the disturbance observations of the target electromagnetic motor based on the sliding diaphragm disturbance observer, the disturbance observations are related to the observed mechanical angular acceleration, the observer's feedback gain, and the sliding diaphragm control term. The sliding diaphragm control term ensures that the observer's state variables converge to their actual values ​​within a finite time, thereby guaranteeing the observer's stability; the selection of the feedback gain ensures the observer's dynamic performance and stability.

[0075] S203. Based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor, speed control is performed on the target electromagnetic motor.

[0076] In some embodiments, speed control of the target electromagnetic motor can be achieved by controlling the voltage and current of the target electromagnetic motor.

[0077] As one feasible approach, the load torque of the target electromagnetic motor is determined by perturbation observations, and the direct-axis current and quadrature-axis current of the target electromagnetic motor are determined by looking up tables in combination with the speed observation deviation.

[0078] The direct-axis current and quadrature-axis current are vector-controlled to output direct-axis voltage and quadrature-axis voltage.

[0079] The motor flux and load torque of the target electromagnetic motor are controlled by controlling the direct-axis voltage and quadrature-axis voltage.

[0080] In one possible implementation, speed control of the target electromagnetic motor is performed based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor, including: determining a first load torque of the target electromagnetic motor based on the disturbance observation value; determining a second load torque of the target electromagnetic motor based on the speed observation deviation; and performing speed control of the target electromagnetic motor based on the first load torque and the second load torque.

[0081] The aforementioned first load torque is determined based on the product of the disturbance observation and the moment of inertia.

[0082] As a feasible approach, determining the second load torque of the target electromagnetic motor based on the speed observation deviation includes: designing a disturbance observer using the speed observation deviation to determine the second load torque; when the disturbance observer is a sliding diaphragm disturbance observer, selecting the speed observation deviation as the sliding diaphragm surface; and designing a control law that makes the sliding diaphragm surface converge to 0 within a finite time. Based on the control law and the motor's mechanical motion equations, the second load torque of the target electromagnetic motor is derived.

[0083] As another feasible approach, the second load torque of the target electromagnetic motor is determined based on the speed observation deviation, including: determining the rate of change of the speed observation deviation compared to the previous moment; determining the proportional coefficient and integral coefficient corresponding to the fuzzy control based on the rate of change of the deviation and the speed observation deviation; and performing speed control on the target electromagnetic motor based on the proportional coefficient, integral coefficient, first load torque and second load torque.

[0084] The aforementioned deviation change rate refers to the change in deviation between the observed speed deviation at the current moment and the previous moment. The deviation change rate reflects how fast the speed is adjusted.

[0085] In one possible implementation, the proportional and integral coefficients corresponding to the fuzzy control are determined based on the deviation change rate and the observed speed deviation, including: determining the basic universe of discourse in which the fuzzy control is located based on the deviation change rate and the observed speed deviation; determining the target fuzzy control function based on the basic universe of discourse; wherein the target fuzzy control function is one of at least one fuzzy control function in the fuzzy control; one fuzzy control function corresponds to one basic universe of discourse; and determining the proportional and integral coefficients based on the target fuzzy control function.

[0086] The aforementioned basic domain is used to indicate the range of variation of rotational speed observation deviation and the rate of change of deviation.

[0087] The aforementioned target fuzzy control function is determined by dividing the basic universe of discourse and then using the division results to output the fuzzy control result.

[0088] In some embodiments, the basic domain of discourse can be divided into One gear. Therefore, the fundamental domain is transformed into a fuzzy subset domain: ； in, This is the output value of the actual rotational speed or the actual rate of change of rotational speed after converting a continuous, precise quantity into a discrete, fuzzy quantity. The input is the continuous actual value of the rotational speed or the actual value of the rate of change of rotational speed. As the lower bound of the fundamental domain, As the upper limit of the fundamental domain, is a positive integer.

[0089] In one possible implementation, the target electromagnetic motor is speed controlled based on a proportional coefficient, an integral coefficient, a first load torque, and a second load torque, including: adjusting the speed of the target electromagnetic motor by employing fuzzy control with respect to the proportional coefficient and the integral coefficient based on the sum of the torques between the first load torque and the second load torque.

[0090] In some embodiments, the process of determining the proportional coefficient and the integral coefficient includes: performing defuzzification using Mamdani-type fuzzy inference and the commonly used centroid method, and outputting... , The PI parameters for fuzzy control are obtained as follows:

[0091] in, This is the proportionality coefficient. The integral coefficient is... This is the initial scaling factor. These are the initial integration coefficients. The output value is the proportional coefficient of the fuzzy control output. The integral coefficient output value of the fuzzy control output.

[0092] As a feasible approach, The fuzzy control rules are shown in Table 1.

[0093]

[0094] in, To account for the deviation in rotational speed observation, This represents the rate of change of the observed speed deviation. NB indicates large negative, NM indicates medium negative, NS indicates small negative, ZO indicates zero, PS indicates small positive, PM indicates medium positive, and PB indicates large positive. The positive and negative signs distinguish the relative magnitude of the observed speed value and the actual speed value, or the trend of the rate of change of the observed speed deviation. Large, medium, and small are used to distinguish the degree of deviation of the observed speed deviation or the rate of change of the observed speed deviation. For example, if the observed speed deviation is greater than 50 r, it is considered large; if the observed speed deviation is less than 30 r, it is considered small.

[0095] As a feasible approach, The fuzzy control rules are shown in Table 2.

[0096]

[0097] As one feasible approach, the input variables for fuzzy control described above are typically the observed speed deviation and the rate of change of deviation. The output variables are the proportional coefficient and the integral coefficient.

[0098] In some embodiments, the fuzzy control process includes: converting the precise input variables—rotation speed observation deviation and deviation change rate—into fuzzy quantities, and dividing them into fuzzy sets such as NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), and PB (positive large). Based on expert experience or experimental data, fuzzy control rules are formulated to describe how to adjust the proportional and integral coefficient output values ​​under different deviations and deviation change rates. Finally, the fuzzy output quantities obtained from fuzzy logic inference are converted into proportional and integral coefficients.

[0099] As a feasible approach, the advantages of triangular and sigmoid functions are utilized to form a special combination to determine the target fuzzy control function corresponding to each fuzzy set.

[0100] Based on the aforementioned technical means, this application inputs the mechanical dynamic parameters of the target electromagnetic motor into the observation equation. By combining the observed values ​​of the target electromagnetic motor's rotational speed and the observed value of the disturbance change rate, the disturbance observation value of the target electromagnetic motor is observed. This allows for a more accurate determination of the disturbance observation value by combining the observed values ​​of rotational speed and the observed value of the disturbance change rate. Based on this, the target electromagnetic motor's rotational speed is controlled by combining the rotational speed observation deviation between the observed value and the actual value. This enables timely adjustment of the rotational speed control strategy based on the observation deviation, effectively compensating for the disturbance interference of the target electromagnetic motor and reducing rotational speed fluctuations.

[0101] In some embodiments, further equation transformation is required during the observation of the target electromagnetic motor based on the above observation equations. This involves generating the observation equations using the mechanical motion equations, including: Based on the mechanical motion equations, a rotational speed change rate observation equation is generated. This equation represents the correspondence between the rotational speed change rate and the observed values ​​of electromagnetic driving force, damping resistance, disturbance, and rotational speed observation correction. The rotational speed observation correction is used to correct rotational speed observation deviations. The rotational speed change rate is determined based on the mechanical angular acceleration.

[0102] The formula for the above equation for the observation of the rate of change of rotational speed is as follows: ; in, Where is the rate of change of rotational speed, and B is the damping coefficient. For rotational inertia, For electromagnetic torque, For perturbation observations, For the first observation gain, This is the correction value for the observed rotational speed.

[0103] As an feasible approach, the process of determining the speed observation correction value includes: determining the speed observation correction value by multiplying the speed observation deviation by the first observation gain; wherein, the first observation gain is the difference between a first value and a second value; the first value is the product of 3 and the observer bandwidth; and the second value is the negative value of the ratio between the damping coefficient and the moment of inertia.

[0104] The formula for the first observation gain mentioned above is as follows: ; in, This represents the observer bandwidth.

[0105] Generate the disturbance observation equation; wherein, the disturbance observation equation is used to represent the disturbance observation value and the disturbance change rate observation value corresponding to the disturbance change rate and the disturbance observation correction value; the disturbance observation correction value is used to correct the disturbance observation deviation between the disturbance observation value and the actual disturbance value of the disturbance.

[0106] The formula for the above perturbation observation equation is as follows: ; in, The derivative of the perturbation observation, For the observed rate of change of the disturbance, This is the second observation gain.

[0107] In one possible implementation, the process of determining the disturbance observation correction value includes: determining the disturbance observation correction value as the product of the rotational speed observation deviation and the second observation gain; wherein the second observation gain is the product of 3 and the square of the observer bandwidth.

[0108] The formula for the second observation gain mentioned above is as follows: ; Generate the disturbance change rate observation equation; wherein, the disturbance change rate observation equation is used to represent the correspondence between the disturbance change rate observation value and the disturbance change rate observation correction value; the disturbance change rate observation correction value is used to correct the disturbance change rate observation deviation between the disturbance change rate observation value and the actual disturbance change rate corresponding to the disturbance change rate. The formula for the above-mentioned observation equation for the rate of change of disturbance is as follows; ; in, The derivative of the observed rate of change of the disturbance. This is the third observation gain.

[0109] In one possible implementation, the process of determining the disturbance rate of change observation correction value includes: determining the disturbance rate of change observation correction value by multiplying the rotational speed observation deviation by the third observation gain; wherein the third observation gain is the product of the cube of the observer bandwidth.

[0110] The observation equation is generated using the observation equations for the rate of change of rotational speed, the disturbance, and the rate of change of disturbance.

[0111] The above observation equations are as follows: ; The disturbance observation values ​​of the target electromagnetic motor are determined based on the above observation equations.

[0112] In some embodiments, when the vehicle's overall controller requests a rotational speed, the acceleration process can be divided into two stages based on the target rotational speed value and the actual rotational speed value of the target electromagnetic motor. The target speed value, The actual speed value is used, and the current actual speed value is taken as the minimum speed.

[0113] As a feasible approach, Figure 3 This is a schematic diagram of the rotational speed positioning curve shown in an embodiment of this application. For example... Figure 3 As shown, in order to make the motor speed as slow as possible during startup to reduce current surge and simplify calculations, the starting phase is set as follows: The difference between the observed speed at time of arrival and the target speed value and the actual speed value at the beginning. ,go through When the observed speed reaches the target speed value and the actual speed value at the beginning, ,go through The target speed value is reached at that time.

[0114] ; Ideally, the motor moves along a given positioning curve, eventually entering the dead zone at a certain point, and then positioning itself to the target position. The distance traversed by the positioning curve is: ; Based on the distance of intelligent parking It can achieve the following: Solve for it.

[0115] Similarly, such as Figure 3 As shown, the deceleration process can also be divided into two stages based on the target speed and the actual speed. The speed expressions for the two stages are as follows: ; Ideally, the motor moves along a given positioning curve, eventually entering the dead zone at a certain point, and then positioning itself to the target position. The distance traversed by the positioning curve is: ; Based on the distance of intelligent parking It can achieve the following: Solve for it.

[0116] Figure 4 This is a block diagram illustrating a motor control device according to an embodiment of this application, with reference to... Figure 4 The motor control device includes: a parameter acquisition module 401, a disturbance observation module 402, and a speed control module 403.

[0117] The parameter acquisition module 401 is used to acquire the mechanical dynamic parameters of the target electromagnetic motor.

[0118] The disturbance observation module 402 is used to determine the disturbance observation value of the target electromagnetic motor based on the mechanical dynamic parameters and the observation equation of the target electromagnetic motor. The observation equation is used to quantify the influence of the observed speed and the observed rate of change of disturbance on the disturbance observation value under the mechanical dynamic parameters.

[0119] The speed control module 403 is used to control the speed of the target electromagnetic motor based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor.

[0120] In one possible implementation, the process of constructing the observation equations includes: constructing the mechanical motion equations of the target electromagnetic motor; wherein the mechanical motion equations are used to represent the correspondence between the rotor's mechanical angular acceleration and the electromagnetic driving force, damping resistance, and disturbance; the disturbance satisfies the constraint that the rate of change of disturbance is equal to 0; the disturbance is the sum of the load resistance and the unknown resistance; the rate of change of disturbance is the derivative of the disturbance; and using the mechanical motion equations, generating the observation equations; wherein the observation equations are used to observe the disturbance and the mechanical angular acceleration.

[0121] In one possible implementation, the disturbance observation module 402 is specifically used to generate a rotational speed change rate observation equation based on the mechanical motion equation; wherein, the rotational speed change rate observation equation represents the correspondence between the rotational speed change rate and the electromagnetic driving force, damping resistance, disturbance observation value, and rotational speed observation correction value; the rotational speed observation correction value is used to correct the rotational speed observation deviation; the rotational speed change rate is determined based on the mechanical angular acceleration; generate a disturbance observation equation; wherein, the disturbance observation equation represents the disturbance observation value and the disturbance change rate corresponding to the disturbance change rate observation value and the disturbance observation correction value; the disturbance observation correction value is used to correct the disturbance observation deviation between the disturbance observation value and the actual disturbance value; generate a disturbance change rate observation equation; wherein, the disturbance change rate observation equation represents the correspondence between the disturbance change rate observation value and the disturbance change rate observation correction value; the disturbance change rate observation correction value is used to correct the disturbance change rate observation deviation between the disturbance change rate observation value and the actual disturbance change rate corresponding to the disturbance change rate; and generate an observation equation using the rotational speed change rate observation equation, the disturbance observation equation, and the disturbance change rate observation equation.

[0122] In one possible implementation, the process of determining the speed observation correction value includes: determining the speed observation correction value by multiplying the speed observation deviation by a first observation gain; wherein the first observation gain is the difference between a first value and a second value; the first value is the product of 3 and the observer bandwidth; and the second value is the negative value of the ratio between the damping coefficient and the moment of inertia.

[0123] In one possible implementation, the process of determining the disturbance observation correction value includes: determining the disturbance observation correction value as the product of the rotational speed observation deviation and the second observation gain; wherein the second observation gain is the product of 3 and the square of the observer bandwidth.

[0124] In one possible implementation, the process of determining the disturbance rate of change observation correction value includes: determining the disturbance rate of change observation correction value by multiplying the rotational speed observation deviation by the third observation gain; wherein the third observation gain is the product of the cube of the observer bandwidth.

[0125] In one possible implementation, the speed control module 403 is used to determine the first load torque of the target electromagnetic motor based on the disturbance observation value; determine the second load torque of the target electromagnetic motor based on the speed observation deviation; and perform speed control on the target electromagnetic motor based on the first load torque and the second load torque.

[0126] In one possible implementation, the speed control module 403 is further configured to determine the rate of change of the speed observation deviation compared to the previous moment; determine the proportional coefficient and integral coefficient corresponding to the fuzzy control based on the rate of change of the deviation and the speed observation deviation; and perform speed control on the target electromagnetic motor based on the proportional coefficient, integral coefficient, first load torque and second load torque.

[0127] In one possible implementation, the speed control module 403 is specifically used to determine the basic universe of discourse in which the fuzzy control is located based on the deviation change rate and the speed observation deviation; determine the target fuzzy control function based on the basic universe of discourse; wherein the target fuzzy control function is one of at least one fuzzy control function in the fuzzy control; one fuzzy control function corresponds to one basic universe of discourse; and determine the proportional coefficient and integral coefficient based on the target fuzzy control function.

[0128] In one possible implementation, the speed control module 403 is specifically used to adjust the speed of the target electromagnetic motor by employing fuzzy control with respect to proportional and integral coefficients based on the sum of the torques between the first load torque and the second load torque.

[0129] When the target motor is a permanent magnet synchronous motor (PMSM). Figure 5 This is a block diagram of another motor control device shown in an embodiment of this application.

[0130] Reference Figure 5 The motor control device first observes the motor speed (observed speed value and actual speed value) through an observer and obtains the speed observation deviation. Using the speed positioning curve and fuzzy control method, it adjusts the parameters of the PI controller based on the speed observation deviation and its rate of change, thereby optimizing the control effect. The field-oriented control (FOC) module receives the output of the PI controller and converts it into corresponding voltage commands (uα, uβ). It then generates PWM signals through space vector pulse width modulation (SVPWM) to control the three-phase currents (ia, ib, ic) of the PMSM. Simultaneously, through Clarke and Park transformations (i.e., the abc / dq modules in the diagram), the three-phase currents are converted into currents in a rotating coordinate system (id(k), iq(k)) for FOC control and speed estimation, thus achieving the control of the target electromagnetic motor.

[0131] When the target motor is a permanent magnet synchronous motor (PMSM). Figure 6This is a schematic diagram of an observer shown in an embodiment of this application.

[0132] By using system matrices A, B, and C, the state information of the motor system can be reconstructed, and the output error can be adjusted by the state observer feedback gain matrix L, so that the state observer gradually approaches the original motor system.

[0133] in, , , .

[0134] The gain matrix L is obtained from the observation equations described above.

[0135] When the target motor is a permanent magnet synchronous motor (PMSM). Figure 7 This is a schematic diagram of a fuzzy control device shown in an embodiment of this application.

[0136] Where ω represents the actual rotational speed of the permanent magnet synchronous motor. The observed rotational speed value at the corresponding time point, the observed rotational speed deviation *e*, and the rate of change of deviation *e'*, after interval mapping, are used as inputs to the fuzzy control module. Through the steps of determining the basic universe of discourse and the target fuzzy control function, *e* and *e'* are fuzzified using preset fuzzy rules, and then defuzzified to output the PID controller parameters (including the proportional coefficient). Integral coefficient Adjustment amount (etc.) , The PID controller, based on the adjusted parameters and the observed speed deviation, calculates the control quantity u, which is used to regulate the operation of the permanent magnet synchronous motor, enabling the actual motor speed ω to quickly and accurately track the observed speed value. To achieve high-precision speed control, E is the fundamental domain of the target.

[0137] Regarding the apparatus in the above embodiments, the specific methods of execution of each module have been described in detail in the embodiments of the motor control method, and will not be elaborated here.

[0138] Figure 8 This is a block diagram illustrating an electronic device according to an embodiment of this application. Figure 8 As shown, the electronic device includes, but is not limited to, a processor 801 and a memory 802.

[0139] The memory 802 described above is used to store the executable instructions of the processor 801. It is understood that the processor 801 is configured to execute instructions to implement the motor control method in the above embodiments.

[0140] It should be noted that those skilled in the art will understand that Figure 8The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 8 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0141] The processor 801 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 802, and by calling data stored in the memory 802, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. The processor 801 may include one or more processing units. The processor 801 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 801.

[0142] The memory 802 can be used to store software programs and various data. The memory 802 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as deterministic components, integrated components, etc.), etc. Furthermore, the memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0143] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 802 including instructions, which can be executed by a processor 801 of an electronic device to implement the methods in the above embodiments.

[0144] In actual implementation, Figure 4 The functions of the parameter acquisition module 401, disturbance observation module 402, and speed control module 403 can all be provided by... Figure 8 The processor 801 calls the computer program stored in the memory 802 to implement the process. The specific execution process can be found in the method section of the previous embodiment, and will not be repeated here.

[0145] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device. In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by a processor 801 of an electronic device to perform the methods in the above embodiments.

[0146] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0148] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0149] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0150] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0151] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0152] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the methods described in the above method embodiments.

[0153] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method in the method flow shown in the above method embodiments.

[0154] The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, a register, a hard disk, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC). In embodiments of this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0155] Since the motor control device, computer-readable storage medium, and computer program product in the embodiments of this application can be applied to the above method, the technical effects that can be obtained can also be referred to the above method embodiments. The embodiments of this application will not be repeated here.

[0156] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motor control method, characterized in that, The motor control method includes: Obtain the mechanical dynamic parameters of the target electromagnetic motor; Based on the mechanical dynamics parameters and the observation equation of the target electromagnetic motor, the disturbance observation value of the target electromagnetic motor is determined; the observation equation is used to quantify the influence of the observed speed and the observed rate of change of disturbance under the mechanical dynamics parameters on the disturbance observation value. Based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor, speed control is performed on the target electromagnetic motor.

2. The motor control method according to claim 1, characterized in that, The process of constructing the observation equations includes: Construct the mechanical motion equations of the target electromagnetic motor; wherein, the mechanical motion equations are used to represent the correspondence between the rotor's mechanical angular acceleration and the electromagnetic driving force, damping resistance, and disturbance; the disturbance satisfies the constraint that the rate of change of disturbance is equal to 0; the disturbance is the sum of the load resistance and the unknown resistance; the rate of change of disturbance is the derivative of the disturbance; The observation equation is generated using the mechanical motion equation; wherein the observation equation is used to observe the disturbance and the mechanical angular acceleration.

3. The motor control method according to claim 2, characterized in that, The process of generating the observation equation using the mechanical motion equation includes: Based on the mechanical motion equations, a rotational speed change rate observation equation is generated; wherein, the rotational speed change rate observation equation is used to represent the correspondence between the rotational speed change rate and the observed values ​​of the electromagnetic driving force, the damping resistance, the disturbance, and the rotational speed observation correction value; the rotational speed observation correction value is used to correct the rotational speed observation deviation; the rotational speed change rate is determined based on the mechanical angular acceleration; Generate a disturbance observation equation; wherein the disturbance observation equation is used to represent the disturbance observation value and the disturbance change rate observation value corresponding to the disturbance change rate and the disturbance observation correction value; the disturbance observation correction value is used to correct the disturbance observation deviation between the disturbance observation value and the actual disturbance value of the disturbance; Generate a disturbance change rate observation equation; wherein, the disturbance change rate observation equation is used to represent the correspondence between the disturbance change rate observation value and the disturbance change rate observation correction value; the disturbance change rate observation correction value is used to correct the disturbance change rate observation deviation between the disturbance change rate observation value and the actual disturbance change rate corresponding to the disturbance change rate; The observation equation is generated using the speed change rate observation equation, the disturbance observation equation, and the disturbance change rate observation equation.

4. The motor control method according to claim 3, characterized in that, The process of determining the speed observation correction value includes: The product of the speed observation deviation and the first observation gain is determined as the speed observation correction value; Wherein, the first observation gain is the difference between the first value and the second value; the first value is the product of 3 and the observer bandwidth; and the second value is the negative value of the ratio between the damping coefficient and the moment of inertia.

5. The motor control method according to claim 3, characterized in that, The process of determining the disturbance observation correction value includes: The product of the speed observation deviation and the second observation gain is determined as the disturbance observation correction value; The second observation gain is the product of 3 and the square of the observer bandwidth.

6. The motor control method according to claim 3, characterized in that, The process of determining the observed correction value for the rate of change of the disturbance includes: The product of the observed rotational speed deviation and the third observed gain is determined as the observed correction value for the rate of change of disturbance. The third observation gain is the product of the cube of the observer bandwidth.

7. The motor control method according to any one of claims 1-6, characterized in that, The step of controlling the speed of the target electromagnetic motor based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor includes: Based on the disturbance observations, the first load torque of the target electromagnetic motor is determined; Based on the observed speed deviation, the second load torque of the target electromagnetic motor is determined; Based on the first load torque and the second load torque, the target electromagnetic motor is subjected to speed control.

8. The motor control method according to claim 7, characterized in that, The determination of the second load torque of the target electromagnetic motor based on the observed speed deviation includes: Determine the rate of change of the observed rotational speed deviation compared to the previous moment; Based on the deviation change rate and the speed observation deviation, determine the proportional coefficient and integral coefficient corresponding to the fuzzy control. The target electromagnetic motor is speed controlled based on the proportional coefficient, the integral coefficient, the first load torque, and the second load torque.

9. The motor control method according to claim 8, characterized in that, The step of determining the proportional coefficient and integral coefficient corresponding to the fuzzy control based on the deviation change rate and the observed speed deviation includes: Based on the deviation change rate and the speed observation deviation, the basic universe of discourse of the fuzzy control is determined; Based on the fundamental universe of discourse, a target fuzzy control function is determined; wherein, the target fuzzy control function is one of at least one fuzzy control function in the fuzzy control; one fuzzy control function corresponds to one fundamental universe of discourse; Based on the target fuzzy control function, the proportional coefficient and the integral coefficient are determined.

10. The motor control method according to claim 7, characterized in that, The speed control of the target electromagnetic motor based on the proportional coefficient, the integral coefficient, the first load torque, and the second load torque includes: Based on the sum of the torques between the first load torque and the second load torque, fuzzy control with respect to the proportional coefficient and the integral coefficient is used to adjust the speed of the target electromagnetic motor.

11. A motor control device, characterized in that, The motor control device includes: The parameter acquisition module is used to acquire the mechanical dynamic parameters of the target electromagnetic motor. The disturbance observation module is used to determine the disturbance observation value of the target electromagnetic motor based on the mechanical dynamic parameters and the observation equation of the target electromagnetic motor; the observation equation is used to quantify the influence of the observed speed value and the observed disturbance rate of change value under the mechanical dynamic parameters on the disturbance observation value. The speed control module is used to control the speed of the target electromagnetic motor based on the disturbance observation value and the speed observation deviation between the observed speed value and the actual speed value of the target electromagnetic motor.

12. A vehicle, characterized in that, The vehicle includes an electromagnetic motor, and the electromagnetic motor speed is controlled by the motor control method as described in any one of claims 1-10.

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