Dual asynchronous motor super-spiral sliding mode synchronization control method and device based on parameter optimization

Abstract

This invention relates to the field of communication network technology, and particularly to a method and apparatus for super-helical sliding mode synchronous control of dual asynchronous motors based on parameter optimization. The method includes: acquiring the operating state variables of the dual asynchronous motors, constructing a super-helical sliding mode synchronous control model, and determining the parameters to be optimized; constructing a multi-scenario disturbance condition spectrum for parameter optimization and establishing a corresponding performance evaluation function; using a multi-objective optimization algorithm to perform offline optimization of the parameters to be optimized, and performing robustness screening based on the multi-scenario evaluation results to determine the target parameter combination; configuring the target parameter combination into the super-helical sliding mode synchronous control model of the dual asynchronous motors to achieve synchronous control of the dual asynchronous motors. This invention can reduce the dependence of parameter tuning on manual experience, construct a multi-scenario disturbance condition spectrum to evaluate the synchronization accuracy, control smoothness, and engineering applicability under different operating conditions, thereby improving the control performance and robustness of dual asynchronous motors under complex operating conditions.

Description

Technical Field

[0001] This invention relates to the field of motor cooperative control technology, and in particular to a method and apparatus for synchronous control of dual asynchronous motors using super-helical sliding mode based on parameter optimization. Background Technology

[0002] Dual asynchronous motor drive systems are widely used in industrial transmission, rail traction, mine hoisting, and large electromechanical equipment drives due to their advantages such as high power density, strong load sharing capacity, and high operational reliability. In these applications, the two asynchronous motors usually need to operate in coordination, and their speed synchronization performance directly affects the system's load distribution effect, operational stability, and mechanical structural safety.

[0003] Existing synchronous control methods for dual asynchronous motors mainly include master-slave control, cross-coupling control, and error compensation control. Proportional-integral control is widely used due to its simplicity, but it suffers from slow dynamic response, large synchronization error, and insufficient disturbance rejection capability under conditions such as load disturbances, parameter changes, and rapid speed changes.

[0004] Sliding mode control, due to its strong robustness, is increasingly being applied to dual-motor synchronous control systems. Traditional sliding mode control can improve the system's disturbance rejection capability and synchronization performance to a certain extent, but the presence of switching control terms can easily cause chattering, thus affecting control smoothness and system operation quality. Superspiral sliding mode control, as a high-order sliding mode control method, can reduce chattering while ensuring finite-time convergence characteristics, and is therefore suitable for dual asynchronous motor synchronous control scenarios.

[0005] However, in the synchronous control of dual asynchronous motors, the performance of the super-spiral sliding mode synchronous controller is greatly affected by the sliding surface parameters and the reaching law parameters. In the existing technology, these parameters are usually determined by manual experience, repeated trial and error, or experience-based tuning methods based on a single operating condition. The parameter tuning process is highly subjective and it is difficult to simultaneously consider synchronization error suppression, dynamic recovery capability, and control compensation smoothness.

[0006] Especially under complex operating conditions such as load differences, loading timing differences, and coupling of load disturbances and speed changes in dual asynchronous motors, the external forces acting on the two motors may exhibit multi-stage, asynchronous, and continuously changing characteristics. This can easily lead to increased synchronization errors, deterioration of system dynamic characteristics, and further increase the difficulty of controller parameter tuning. Existing parameter tuning methods are usually carried out for a single representative operating condition, making it difficult to form a stable, effective parameter combination that takes into account multiple complex operating states and has good cross-operating condition applicability. Summary of the Invention

[0007] To address the technical problems in existing technologies where the parameters of the super-helical sliding mode synchronous control model for dual asynchronous motors rely on manual experience tuning, and the parameters obtained from tuning under a single operating condition are insufficient to simultaneously ensure synchronization accuracy, recovery capability, and compensation smoothness under various complex operating states, this invention provides a parameter-optimized super-helical sliding mode synchronous control method and apparatus for dual asynchronous motors. The technical solution is as follows: On the one hand, a method for synchronous control of dual asynchronous motors using super-helical sliding mode based on parameter optimization is provided, the method including: S1. Obtain the operating state variables of the dual asynchronous motors, construct the dual asynchronous motor super-helical sliding mode synchronous control model, and determine the parameters to be optimized; S2. Construct a multi-scenario disturbance condition spectrum for dual asynchronous motors for parameter optimization, and establish a corresponding performance evaluation function to obtain multi-condition evaluation results; S3. A multi-objective optimization algorithm is used to optimize the parameters offline, and the robustness screening is performed based on the evaluation results of multiple working conditions to determine the combination of target parameters. S4. Configure the target parameters into the dual asynchronous motor super-helical sliding mode synchronous control model, and output the torque compensation amount from the model to complete the synchronous control of the dual asynchronous motors.

[0008] Optionally, in S1, the operating state variables of the two asynchronous motors are obtained, a super-helical sliding mode synchronous control model of the two asynchronous motors is constructed, and the parameters to be optimized are determined, including: Obtain the rotor speeds of the first asynchronous motor and the second asynchronous motor, and calculate the speed synchronization error and the integral state of the synchronization error; The sliding surface is established based on the speed synchronization error and the integral state of the synchronization error, and the sliding surface parameters are obtained. A synchronous control law for super-helical sliding mode is established based on the sliding surface, and the parameters of the super-helical sliding mode approaching law are obtained. The sliding surface parameters and the superspiral sliding mode reaching law parameters are used as the parameters to be optimized.

[0009] Optionally, a super-helical sliding mode synchronization control law is established based on the sliding surface, including: Based on the sliding surface, a superspiral sliding mode synchronization control law is established as follows:

[0010] in, This represents the torque compensation output of the dual asynchronous motor super-helical sliding mode synchronous control model. and For the parameters of the superspiral sliding mode reaching law, These are auxiliary state variables within the control law; represents the derivative of the auxiliary state variables within the control law; s represents the sliding surface.

[0011] Optionally, in S2, a multi-scenario disturbance condition spectrum for dual asynchronous motors is constructed for parameter optimization, and a corresponding performance evaluation function is established to obtain multi-condition evaluation results, including: By parameterizing the load application time, load amplitude difference, load duration, speed change time, and speed change amplitude, a multi-scenario disturbance condition spectrum for parameter optimization of dual asynchronous motors is constructed. The dynamic evolution process of typical operating conditions within the spectrum is divided into stages; the stages include one or more of the following: the initiation stage, the imbalance formation stage, the continuous imbalance stage, the recovery and coordination stage, and the steady-state operation stage. Establish a performance evaluation function that includes phased synchronization error evaluation index and compensation smoothness evaluation index; Multi-condition evaluation results are obtained based on the performance evaluation function.

[0012] Optionally, a performance evaluation function is established that includes a phased synchronization error evaluation index and a compensation smoothness evaluation index, including: Phased Synchronization Error Evaluation Indicators for:

[0013] in, This indicates the speed difference between two asynchronous motors; Indicates the first The time intervals corresponding to each evaluation stage; For the first Weighting of each evaluation stage; The total number of evaluation stages; Compensation smoothness evaluation index for:

[0014] in, This represents the total number of sampling points; k The discrete sampling time sequence number; This represents the torque compensation amount corresponding to the k-th sampling time.

[0015] Optionally, in S3, a multi-objective optimization algorithm is used to perform offline optimization of the parameters to be optimized, and robustness screening is performed based on the evaluation results of multiple working conditions to determine the combination of objective parameters, including: The non-dominated sorting genetic algorithm II is used to perform offline optimization of the parameters to be optimized, and the Pareto optimal solution set of multiple candidate parameter combinations is obtained. Each candidate parameter combination was applied to multiple typical working conditions within the multi-scenario disturbance working condition spectrum of the dual asynchronous motor for simulation evaluation, and the comprehensive performance value of each candidate parameter combination under different typical working conditions within the spectrum was obtained. A robust decision-making variable is constructed based on the comprehensive performance value, and the candidate parameter combination with the smallest robust decision-making variable is selected as the target parameter combination.

[0016] Optionally, a robust decision-making mechanism is constructed based on the comprehensive performance value, including: The robust decision-making quantity is expressed by the following formula. :

[0017] in, , , These are the weighting coefficients; Indicates average performance under multiple operating conditions; Indicates the worst-case performance under multiple operating conditions; This indicates the degree of performance fluctuation under multiple operating conditions.

[0018] On the other hand, a parameter-optimized dual asynchronous motor superhelical sliding mode synchronization control device is provided. This parameter-optimized dual asynchronous motor superhelical sliding mode synchronization control device is used to implement the aforementioned parameter-optimized dual asynchronous motor superhelical sliding mode synchronization control method. The system comprises: The optimization parameter determination module is used to obtain the operating state variables of the two asynchronous motors, construct the super-helical sliding mode synchronous control model of the two asynchronous motors, and determine the parameters to be optimized. The multi-condition evaluation module is used to construct a multi-scenario disturbance condition spectrum for dual asynchronous motors for parameter optimization, and to establish corresponding performance evaluation functions to obtain multi-condition evaluation results. The robust screening module is used to perform offline optimization of the parameters to be optimized using a multi-objective optimization algorithm, and to perform robust screening based on the evaluation results of multiple working conditions to determine the combination of target parameters. The synchronous control module is used to combine and configure the target parameters into the synchronous control model of the dual asynchronous motor super-helical sliding mode, and the model outputs the torque compensation amount to complete the synchronous control of the dual asynchronous motors.

[0019] On the other hand, a parameter-optimized dual asynchronous motor superhelical sliding mode synchronous control device is provided. The parameter-optimized dual asynchronous motor superhelical sliding mode synchronous control device includes: a processor; a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, any one of the methods described above for parameter-optimized dual asynchronous motor superhelical sliding mode synchronous control is implemented.

[0020] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, the at least one instruction being loaded and executed by a processor to implement any of the methods in the above-described parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control method.

[0021] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: In this embodiment of the invention, firstly, the invention constructs a multi-scenario disturbance condition spectrum, incorporating complex operating conditions such as load differences, loading timing differences, and coupling of load disturbances with speed changes into the parameter optimization process, so that the resulting target parameter combination is no longer limited to a single operating condition, thereby improving the cross-operating condition applicability and robustness of the synchronous control parameters of dual asynchronous motors. Secondly, the present invention establishes a performance evaluation function based on the dynamic evolution process of typical working conditions within the spectrum, which can focus on reflecting the control effect of key stages such as imbalance formation, continuous imbalance and recovery coordination, and is conducive to taking into account synchronization accuracy, dynamic recovery performance and control compensation smoothness. Finally, this invention uses a combination of multi-objective optimization and multi-condition robust screening to determine the combination of target parameters, which can reduce the dependence of synchronous control parameter tuning on human experience and improve the engineering applicability of synchronous control parameter configuration for dual asynchronous motors. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of the dual asynchronous motor super-helical sliding mode synchronous control method based on parameter optimization provided in the embodiments of the present invention; Figure 2 This is a schematic diagram of the structure of the dual asynchronous motor coupling synchronous control system provided in an embodiment of the present invention; Figure 3 This is a time-series diagram of the multi-scenario disturbance condition spectrum provided in an embodiment of the present invention; Figure 4 This is a block diagram of a dual asynchronous motor super-helical sliding mode synchronous control device based on parameter optimization provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0024] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0025] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0026] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0027] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0028] This invention provides a parameter-optimized method for synchronous control of dual asynchronous motors using a superhelical sliding mode. This method can be implemented using a parameter-optimized dual asynchronous motor superhelical sliding mode synchronous control device, which can be a terminal or a server. For example... Figure 1 The flowchart shown is for a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control method. The method's processing flow may include the following steps: S1. Obtain the operating state variables of the dual asynchronous motors, construct the dual asynchronous motor super-helical sliding mode synchronous control model, and determine the parameters to be optimized; One feasible implementation method is, for example Figure 2 As shown, the controlled object is a dual asynchronous motor coupled synchronous control system. The first and second asynchronous motors are driven by their respective inverters. The system includes a dual asynchronous motor superspiral sliding mode synchronous control model. This model outputs a torque compensation amount based on the speed difference between the two asynchronous motors and couples this torque compensation amount to the corresponding control input terminals of the two asynchronous motors, thereby synchronously compensating and adjusting the electromagnetic torque of the two asynchronous motors to reduce the speed difference between them. Preferably, the dual asynchronous motor coupled synchronous control system can employ a dual asynchronous motor synchronous drive system based on model predictive torque control. In the specific embodiment provided by this invention, the torque compensation amount output by the dual asynchronous motor superspiral sliding mode synchronous control model adopts a symmetrical compensation method and is respectively superimposed to the torque reference input terminals of the two asynchronous motors.

[0029] In one feasible implementation, in step S1, the operating state variables of the two asynchronous motors are obtained, a super-helical sliding mode synchronous control model of the two asynchronous motors is constructed, and the parameters to be optimized are determined, including: Obtain the rotor speed of the first asynchronous motor and the second asynchronous motor and The speed synchronization error was calculated based on the rotor speeds of the two asynchronous motors. :

[0030] To enhance the steady-state error suppression capability of the dual asynchronous motor system under typical intraspectral conditions such as continuous load imbalance, load timing differences, and disturbance coupling, and to reduce the dependence of the sliding surface derivative construction on higher-order error derivatives, a sliding surface containing an error integral term is constructed based on the speed synchronization error. The synchronization error integral state is then defined. for: ; Establish the sliding surface based on the rotational speed synchronization error and the integral state of the synchronization error. :

[0031] Where c is a sliding surface parameter used to adjust the weighting relationship between the current synchronization error and the historical cumulative error in the sliding surface. Through the above construction, the system's adaptability to persistent load differences and parameter perturbations can be improved while maintaining the synchronization error convergence capability.

[0032] In one feasible implementation, to avoid excessive accumulation of integral terms during the startup phase or large disturbance phase, the integral state can be adjusted. Set a limit, discharge coefficient, or anti-integral saturation treatment.

[0033] Based on the constructed sliding surface A synchronous control compensation law for the two asynchronous motors is established. To facilitate the construction of the dynamic equation for the synchronization error, in this embodiment, the electromagnetic torque compensation for the two asynchronous motors is distributed symmetrically. That is, based on the original torque reference command, a synchronous compensation amount is superimposed on the first asynchronous motor. Synchronization compensation is added to the second asynchronous motor. Accordingly, the electromagnetic torque of the two asynchronous motors can be expressed as:

[0034] in: , For electromagnetic torque, , The reference electromagnetic torque.

[0035] The mechanical dynamic relationship is simplified by using two asynchronous motors:

[0036] in, , The moments of inertia of the two asynchronous motors and their load sides are calculated respectively. , The viscous damping coefficient is... , This represents the load torque.

[0037] And combined with the definition of synchronization error

[0038] The derivative of the synchronization error can be obtained as:

[0039] To simplify the expression, terms unrelated to the synchronization compensation amount are merged into one.

[0040] And record

[0041] Due to rotational inertia , Therefore, .therefore,

[0042] Furthermore, since the sliding surface is defined as

[0043] in, Since it is a positive constant, we have

[0044] Further can be written as

[0045] in,

[0046] It represents the total disturbance term in the system, which is formed by load disturbance, parameter perturbation, damping difference, reference torque change, and sliding surface linear term.

[0047] In this embodiment, the superspiral sliding mode control law is selected as the synchronization control law:

[0048] in, This represents the torque compensation output of the dual asynchronous motor super-helical sliding mode synchronous control model. and For the parameters of the superspiral sliding mode reaching law, These are auxiliary state variables within the control law; The sliding surface parameter c and the superspiral sliding mode approach law parameter are used. and As parameters to be optimized.

[0049] In one feasible implementation, substituting the above control law into the sliding mode dynamic equation, the closed-loop system satisfies:

[0050] To facilitate stability analysis, the following coordinate transformations and constant substitutions are introduced:

[0051] From this we can obtain

[0052] Therefore, the closed-loop system can be rewritten as:

[0053] Given that the total disturbance term and its derivative are bounded, assume that there exists a positive constant. , making

[0054] Candidates for constructing Lyapunov functions:

[0055] in, , The above function can be further written as:

[0056] in

[0057] when , and At that time, matrix Zhengding, therefore It is a positive definite function.

[0058] right By taking the derivative and applying Young's inequality to the perturbation term, we can obtain that there exists a positive constant. and symmetric matrices , so that:

[0059] in,

[0060] By selecting appropriate parameters , , , as well as , make the matrix If it is positive definite, then it has positive constants. , , ,satisfy

[0061] Furthermore, we can see that there exist positive constants. , making

[0062] By norm equivalence relations, it can be further written as

[0063] Therefore, variables It converges to zero in a finite time, thus obtaining , And thus Furthermore, since the sliding surface is defined as...

[0064] Therefore, when the total disturbance term and its derivative are bounded and the relevant parameters meet the preset conditions, the sliding mode variable can be made to converge in a finite time, and the speed synchronization error of the dual asynchronous motors can be made to converge, thereby realizing the synchronous control of the dual asynchronous motors.

[0065] In this embodiment, the sliding surface parameters are... and the parameters of the superspiral sliding mode approach law , Together, they serve as parameters to be optimized, and subsequent multi-objective offline optimization yields a combination of target parameters applicable to disturbance condition spectra in multiple scenarios.

[0066] S2. Construct a multi-scenario disturbance condition spectrum for dual asynchronous motors for parameter optimization, and establish a corresponding performance evaluation function to obtain multi-condition evaluation results; In one feasible implementation, in step S2, a multi-scenario disturbance condition spectrum for dual asynchronous motors is constructed for parameter optimization, and a corresponding performance evaluation function is established to obtain multi-condition evaluation results, including: By parameterizing the load application time, load amplitude difference, load duration, speed change time, and speed change amplitude, a multi-scenario disturbance condition spectrum for parameter optimization of dual asynchronous motors is constructed. The multi-scenario disturbance condition spectrum of the present invention includes at least a continuous load imbalance condition, and further includes one or more of the following: synchronous loading but inconsistent load amplitude condition, load imbalance superimposed with speed change condition, and periodic off-center load disturbance condition. The dynamic evolution process of typical operating conditions within the spectrum is divided into stages; the stages include one or more of the following: the initiation stage, the imbalance formation stage, the continuous imbalance stage, the recovery and coordination stage, and the steady-state operation stage. Establish a performance evaluation function that includes phased synchronization error evaluation index and compensation smoothness evaluation index; Multi-condition evaluation results are obtained based on the performance evaluation function.

[0067] One feasible implementation method is, for example Figure 3 As shown, the multi-scenario disturbance condition spectrum refers to a characterization system of multiple typical disturbance conditions with staged evolution characteristics, formed by parametrically combining the load application time, load amplitude difference, load duration, speed change time, and speed change amplitude, based on the optimization requirements of synchronous control parameters for dual asynchronous motors. The typical conditions within the spectrum include at least one or more of the following: continuous load imbalance condition, synchronous loading but inconsistent load amplitude condition, load imbalance superimposed with speed change condition, and periodic off-center load disturbance condition. These conditions can be set as follows: (1) Continuous load imbalance condition: After the two asynchronous motors start from no load and reach a stable speed, a first load is applied to the first asynchronous motor at a first preset time, while the second asynchronous motor remains no load; at a second preset time, a second load is applied to the second asynchronous motor, and the first load and the second load are different, thus forming a continuous load imbalance state; (2) Synchronous loading but inconsistent load amplitude: Two asynchronous motors are loaded with loads of different amplitudes at the same preset time to characterize the operating state of the dual-motor system with different loads but consistent loading timing; (3) Load imbalance superimposed speed change condition: When the dual asynchronous motor is in a load imbalance operation state, the system reference speed is changed to characterize the dynamic operation state when load disturbance and speed command change are coupled. (4) Periodic load disturbance condition: The two asynchronous motors alternately bear periodic load disturbances of different amplitudes during operation to characterize the synchronous control scenario under fluctuating load.

[0068] For the dynamic evolution process of typical operating conditions within each spectrum, the operation process of a single operating condition can be divided into multiple evaluation stages. These evaluation stages include at least one or more of the following: startup stage, imbalance formation stage, persistent imbalance stage, recovery and coordination stage, and steady-state operation stage. Taking the persistent load imbalance operating condition as an example, its operation process can be divided into a startup acceleration stage, an initial imbalance stage after the first asynchronous motor is loaded, a persistent load imbalance maintenance stage, a re-coordination stage after the second asynchronous motor is loaded, and a steady-state recovery stage.

[0069] In one feasible implementation, based on the above-mentioned stage division, a stage-weighted performance evaluation function for evaluating the performance of synchronization control is constructed. Let the first stage be... The time intervals corresponding to each evaluation stage are: The stage weight is The total number of stages is Then the phased synchronization error evaluation index Defined as:

[0070] in, This indicates the speed difference between two asynchronous motors; Indicates the first The time intervals corresponding to each evaluation stage; For the first Weighting of each evaluation stage; The total number of evaluation stages; The stage weights corresponding to the imbalance formation stage, the continuous imbalance stage, and the recovery and coordination stage are greater than the stage weights corresponding to the startup stage and the steady-state stage, in order to highlight the impact of the typical operating condition change stage and the recovery stage on parameter optimization.

[0071] In one feasible implementation, the dual asynchronous motor super-helical sliding mode synchronous control model is assumed to be at discrete sampling times. The output torque compensation amount is The total number of sampling points is Then the compensation smoothness evaluation index for:

[0072] in, This represents the total number of sampling points; k The discrete sampling time sequence number; This represents the torque compensation amount corresponding to the k-th sampling time. The compensation smoothness evaluation index is used to measure the degree of change of the output compensation amount of the dual asynchronous motor super-helical sliding mode synchronous control model between adjacent sampling times, so as to reflect the smoothness of the control compensation signal.

[0073] In one feasible implementation, the performance evaluation function further includes at least one of the following additional metrics: Peak value of maximum synchronization error: ; Error recovery time index This is used to characterize the time required for the synchronization error to recover to a preset threshold range; Error oscillation index It is used to characterize the number of oscillations or the degree of fluctuation during the synchronization error recovery process.

[0074] In one feasible implementation, the phased synchronization error evaluation index, the compensation smoothness evaluation index, and additional indices can be combined to form the objective function set of the multi-objective optimization problem. This approach allows the parameter optimization process to focus on the synchronous control performance of the dual asynchronous motor during typical intra-spectral operating condition abrupt changes and recovery processes, rather than solely using the full-time-domain average index as the evaluation criterion.

[0075] S3. A multi-objective optimization algorithm is used to optimize the parameters offline, and the robustness screening is performed based on the evaluation results of multiple working conditions to determine the combination of target parameters. In one feasible implementation, in step S3, a multi-objective optimization algorithm is used to perform offline optimization of the parameters to be optimized, and robustness screening is performed based on the evaluation results of multiple working conditions to determine the combination of target parameters, including: The non-dominated sorting genetic algorithm II is used to perform offline optimization of the parameters to be optimized, and the Pareto optimal solution set of multiple candidate parameter combinations is obtained. Each candidate parameter combination was applied to multiple typical operating conditions within the multi-scenario disturbance condition spectrum of the dual asynchronous motor for simulation evaluation, and the comprehensive performance values ​​of each candidate parameter combination under different typical operating conditions within the spectrum were obtained. ; A robust decision-making variable is constructed based on the comprehensive performance value, and the candidate parameter combination with the smallest robust decision-making variable is selected as the target parameter combination.

[0076] In one feasible implementation, in order to avoid the insufficient adaptability of parameter combinations selected based on a single working condition to other working conditions, this embodiment applies each candidate parameter combination in the Pareto optimal solution set to multiple typical working conditions within the multi-scenario disturbance working condition spectrum for simulation evaluation and obtains the corresponding multi-working condition performance indicators.

[0077] Let the first The candidate parameter combinations in the th... The comprehensive performance value obtained under typical operating conditions within the spectrum is The total number of complex working conditions is Then the following robustness evaluation metric can be constructed: Multi-condition average performance :

[0078] Worst performance under multiple operating conditions :

[0079] Multi-condition performance fluctuation :

[0080] In one feasible implementation, the first is defined Robust decision-making power of candidate parameter combinations for:

[0081] in,

[0082] in, This represents the total number of typical operating conditions within the spectrum. , , These are the weighting coefficients.

[0083] After obtaining the performance evaluation results under multiple operating conditions, the Top-Ideal Solution Ranking Method (TOPSIS) can be used to further rank the candidate parameter combinations to help determine the target parameter combination. The TOPSIS ranking is based on the comprehensive evaluation results of the candidate parameter combinations under typical operating conditions in multiple spectra.

[0084] S4. The target parameters are combined and configured into the dual asynchronous motor super-helical sliding mode synchronous control model. The model outputs the torque compensation amount to complete the synchronous control of the dual asynchronous motors.

[0085] In one feasible implementation, the determined target parameter combination is configured into the dual asynchronous motor super-helical sliding mode synchronous control model, and the model outputs the torque compensation amount to achieve synchronous control of the dual asynchronous motors.

[0086] In one feasible implementation, after determining the target parameter combination, the target parameter combination can be further applied to verification conditions that have not participated in parameter optimization, such as balanced load conditions and speed step change conditions, in order to verify the applicability and generalization ability of the target parameter combination under non-optimized conditions.

[0087] In this embodiment of the invention, firstly, the invention constructs a multi-scenario disturbance condition spectrum, incorporating complex operating conditions such as load differences, loading timing differences, and coupling of load disturbances with speed changes into the parameter optimization process, so that the resulting target parameter combination is no longer limited to a single operating condition, thereby improving the cross-operating condition applicability and robustness of the synchronous control parameters of dual asynchronous motors. Secondly, the present invention establishes a performance evaluation function based on the dynamic evolution process of typical working conditions within the spectrum, which can focus on reflecting the control effect of key stages such as imbalance formation, continuous imbalance and recovery coordination, and is conducive to taking into account synchronization accuracy, dynamic recovery performance and control compensation smoothness. Finally, this invention uses a combination of multi-objective optimization and multi-condition robust screening to determine the combination of target parameters, which can reduce the dependence of synchronous control parameter tuning on human experience and improve the engineering applicability of synchronous control parameter configuration for dual asynchronous motors.

[0088] Figure 4 This is a block diagram of a parameter-optimized dual asynchronous motor superhelical sliding mode synchronization control device 300 according to an exemplary embodiment. The system 300 is used in a parameter-optimized dual asynchronous motor superhelical sliding mode synchronization control method. (Refer to...) Figure 4 The system includes an optimization parameter determination module 310, a multi-condition evaluation module 320, a robust screening module 330, and a synchronization control module 340. Among them: The optimization parameter determination module 310 is used to obtain the operating state variables of the dual asynchronous motors, construct the dual asynchronous motor super-helical sliding mode synchronous control model, and determine the parameters to be optimized. The multi-condition evaluation module 320 is used to construct a multi-scenario disturbance condition spectrum for parameter optimization of dual asynchronous motors, establish corresponding performance evaluation functions, and obtain multi-condition evaluation results. The robust screening module 330 is used to perform offline optimization of the parameters to be optimized using a multi-objective optimization algorithm, and to perform robust screening based on the evaluation results of multiple working conditions to determine the combination of target parameters. The synchronous control module 340 is used to combine and configure the target parameters into the synchronous control model of the dual asynchronous motor super spiral sliding mode. The model outputs the torque compensation amount to complete the synchronous control of the dual asynchronous motor.

[0089] Optionally, the parameter determination module 310 is used to obtain the rotor speeds of the first asynchronous motor and the second asynchronous motor, and to calculate the speed synchronization error and the synchronization error integral state. The sliding surface is established based on the speed synchronization error and the integral state of the synchronization error, and the sliding surface parameters are obtained. A synchronous control law for super-helical sliding mode is established based on the sliding surface, and the parameters of the super-helical sliding mode approaching law are obtained. The sliding surface parameters and the superspiral sliding mode reaching law parameters are used as the parameters to be optimized.

[0090] Optionally, a super-helical sliding mode synchronization control law is established based on the sliding surface, including: Based on the sliding surface, a superspiral sliding mode synchronization control law is established as follows:

[0091] in, This represents the torque compensation output of the dual asynchronous motor super-helical sliding mode synchronous control model. and For the parameters of the superspiral sliding mode reaching law, These are auxiliary state variables within the control law; represents the derivative of the auxiliary state variables within the control law; s represents the sliding surface.

[0092] Optionally, the multi-condition evaluation module 320 is used to construct a multi-scenario disturbance condition spectrum for parameter optimization of the dual asynchronous motor by parametrically configuring the load application time, load amplitude difference, load duration, speed change time and speed change amplitude. The dynamic evolution process of typical operating conditions within the spectrum is divided into stages; the stages include one or more of the following: the initiation stage, the imbalance formation stage, the continuous imbalance stage, the recovery and coordination stage, and the steady-state operation stage. Establish a performance evaluation function that includes phased synchronization error evaluation index and compensation smoothness evaluation index; Multi-condition evaluation results are obtained based on the performance evaluation function.

[0093] Optionally, a performance evaluation function is established that includes a phased synchronization error evaluation index and a compensation smoothness evaluation index, including: Phased Synchronization Error Evaluation Indicators for:

[0094] in, This indicates the speed difference between two asynchronous motors; Indicates the first The time intervals corresponding to each evaluation stage; For the first Weighting of each evaluation stage; The total number of evaluation stages; Compensation smoothness evaluation index for:

[0095] in, This represents the total number of sampling points; k The discrete sampling time sequence number; This represents the torque compensation amount corresponding to the k-th sampling time.

[0096] Optionally, the robust screening module 330 is used to perform offline optimization of the parameters to be optimized using the non-dominated sorting genetic algorithm II to obtain the Pareto optimal solution set of multiple candidate parameter combinations; Each candidate parameter combination was applied to multiple typical working conditions within the multi-scenario disturbance working condition spectrum of the dual asynchronous motor for simulation evaluation, and the comprehensive performance value of each candidate parameter combination under different typical working conditions within the spectrum was obtained. A robust decision-making variable is constructed based on the comprehensive performance value, and the candidate parameter combination with the smallest robust decision-making variable is selected as the target parameter combination.

[0097] Optionally, a robust decision-making mechanism is constructed based on the comprehensive performance value, including: The robust decision-making quantity is expressed by the following formula. :

[0098] in, , , These are the weighting coefficients; Indicates average performance under multiple operating conditions; Indicates the worst-case performance under multiple operating conditions; This indicates the degree of performance fluctuation under multiple operating conditions.

[0099] In this embodiment of the invention, firstly, the invention constructs a multi-scenario disturbance condition spectrum, incorporating complex operating conditions such as load differences, loading timing differences, and coupling of load disturbances with speed changes into the parameter optimization process, so that the resulting target parameter combination is no longer limited to a single operating condition, thereby improving the cross-operating condition applicability and robustness of the synchronous control parameters of dual asynchronous motors. Secondly, the present invention establishes a performance evaluation function based on the dynamic evolution process of typical working conditions within the spectrum, which can focus on reflecting the control effect of key stages such as imbalance formation, continuous imbalance and recovery coordination, and is conducive to taking into account synchronization accuracy, dynamic recovery performance and control compensation smoothness. Finally, this invention uses a combination of multi-objective optimization and multi-condition robust screening to determine the combination of target parameters, which can reduce the dependence of synchronous control parameter tuning on human experience and improve the engineering applicability of synchronous control parameter configuration for dual asynchronous motors.

[0100] Figure 5 This is a schematic diagram of the structure of a dual asynchronous motor super-helical sliding mode synchronous control device based on parameter optimization, provided in an embodiment of the present invention. Figure 5 As shown, a parameter-optimized dual asynchronous motor superhelical sliding mode synchronous control device may include the above-mentioned... Figure 4 The illustrated device is a parameter-optimized dual asynchronous motor superhelical sliding mode synchronous control device. Optionally, a parameter-optimized dual asynchronous motor superhelical sliding mode synchronous control device 410 may include a first processor 2001.

[0101] Optionally, a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410 may further include a memory 2002 and a transceiver 2003.

[0102] The first processor 2001, memory 2002, and transceiver 2003 can be connected via a communication bus.

[0103] The following is combined with Figure 5 A detailed description is provided of each component of a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410: The first processor 2001 is the control center of a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410. It can be a single processor or a collective term for multiple processing elements. For example, the first processor 2001 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0104] Optionally, the first processor 2001 can execute various functions of a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410 by running or executing software programs stored in the memory 2002 and calling data stored in the memory 2002.

[0105] In a specific implementation, as one example, the first processor 2001 may include one or more CPUs, for example... Figure 5 CPU0 and CPU1 are shown in the diagram.

[0106] In a specific implementation, as one example, a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410 may also include multiple processors, for example... Figure 5 The first processor 2001 and the second processor 2004 are shown in the diagram. Each of these processors can be a single-core processor or a multi-core processor. Here, a processor can refer to one or more devices, circuits, and / or processing cores used to process data (such as computer program instructions).

[0107] The memory 2002 is used to store the software program that executes the present invention, and is controlled by the first processor 2001 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0108] Optionally, the memory 2002 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 2002 may be integrated with the first processor 2001 or may exist independently, and may be connected via an interface circuit of a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410. Figure 5 (Not shown in the image) is coupled to the first processor 2001, and this embodiment of the invention does not specifically limit this.

[0109] The transceiver 2003 is used to communicate with network devices or with terminal devices.

[0110] Alternatively, transceiver 2003 may include a receiver and a transmitter. Figure 5 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0111] Optionally, the transceiver 2003 can be integrated with the first processor 2001 or exist independently, and can be connected to the interface circuit of a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410. Figure 5 (Not shown in the image) is coupled to the first processor 2001, and this embodiment of the invention does not specifically limit this.

[0112] It should be noted that, Figure 5 The structure of a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410 shown in the figure does not constitute a limitation on the router. The actual knowledge structure identification device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0113] Furthermore, the technical effects of a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device 410 can be referred to the technical effects of a parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control method described in the above method embodiments, and will not be repeated here.

[0114] It should be understood that the first processor 2001 in the embodiments of the present invention may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0115] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0116] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable sensors. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0117] It should be understood that the term "and / or" in this invention is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. A and B can be singular or plural. Furthermore, the character " / " in this invention generally indicates an "or" relationship between the preceding and following related objects, but it may also indicate an "and / or" relationship. Please refer to the preceding and following text for a more detailed understanding.

[0118] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0119] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0120] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0121] In addition, the functional units in the various embodiments of the present invention 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.

[0122] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0123] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for synchronous control of dual asynchronous motors using super-helical sliding mode based on parameter optimization, characterized in that, The method includes: S1. Obtain the operating state variables of the dual asynchronous motors, construct the dual asynchronous motor super-helical sliding mode synchronous control model, and determine the parameters to be optimized; S2. Construct a multi-scenario disturbance condition spectrum for dual asynchronous motors for parameter optimization, and establish a corresponding performance evaluation function to obtain multi-condition evaluation results; S3. A multi-objective optimization algorithm is used to optimize the parameters offline, and the robustness screening is performed based on the evaluation results of multiple working conditions to determine the combination of target parameters. S4. Configure the target parameters into the dual asynchronous motor super-helical sliding mode synchronous control model, and output the torque compensation amount from the model to complete the synchronous control of the dual asynchronous motors.

2. The method for synchronous control of dual asynchronous motors with super-helical sliding mode based on parameter optimization according to claim 1, characterized in that, In step S1, the operating state variables of the two asynchronous motors are obtained, a super-helical sliding mode synchronous control model of the two asynchronous motors is constructed, and the parameters to be optimized are determined, including: Obtain the rotor speeds of the first asynchronous motor and the second asynchronous motor, and calculate the speed synchronization error and the integral state of the synchronization error; The sliding surface is established based on the speed synchronization error and the integral state of the synchronization error, and the sliding surface parameters are obtained. A synchronous control law for super-helical sliding mode is established based on the sliding surface, and the parameters of the super-helical sliding mode approaching law are obtained. The sliding surface parameters and the superspiral sliding mode reaching law parameters are used as the parameters to be optimized.

3. The method for synchronous control of dual asynchronous motors with super-helical sliding mode based on parameter optimization according to claim 2, characterized in that, The super-spiral sliding mode synchronous control law established based on the sliding surface includes: Based on the sliding surface, a superspiral sliding mode synchronization control law is established as follows: in, This represents the torque compensation output of the dual asynchronous motor super-helical sliding mode synchronous control model. and For the parameters of the superspiral sliding mode reaching law, These are auxiliary state variables within the control law; represents the derivative of the auxiliary state variables within the control law; s represents the sliding surface.

4. The method for synchronous control of dual asynchronous motors with super-helical sliding mode based on parameter optimization according to claim 3, characterized in that, In step S2, a multi-scenario disturbance condition spectrum for dual asynchronous motors is constructed for parameter optimization, and a corresponding performance evaluation function is established to obtain multi-condition evaluation results, including: By parameterizing the load application time, load amplitude difference, load duration, speed change time, and speed change amplitude, a multi-scenario disturbance condition spectrum for parameter optimization of dual asynchronous motors is constructed. The dynamic evolution process of typical operating conditions within the spectrum is divided into stages; the stages include one or more of the following: the initiation stage, the imbalance formation stage, the continuous imbalance stage, the recovery and coordination stage, and the steady-state operation stage. Establish a performance evaluation function that includes phased synchronization error evaluation index and compensation smoothness evaluation index; Multi-condition evaluation results are obtained based on the performance evaluation function.

5. The method for synchronous control of dual asynchronous motors with super-helical sliding mode based on parameter optimization according to claim 4, characterized in that, The establishment of the performance evaluation function, which includes a phased synchronization error evaluation index and a compensation smoothness evaluation index, includes: Phased Synchronization Error Evaluation Indicators for: in, This indicates the speed difference between two asynchronous motors; Indicates the first The time intervals corresponding to each evaluation stage; For the first Weighting of each evaluation stage; The total number of evaluation stages; Compensation smoothness evaluation index for: in, This represents the total number of sampling points; k The discrete sampling time sequence number; This represents the torque compensation amount corresponding to the k-th sampling time.

6. The method for synchronous control of dual asynchronous motors with super-helical sliding mode based on parameter optimization according to claim 5, characterized in that, In step S3, a multi-objective optimization algorithm is used to perform offline optimization of the parameters to be optimized, and robust screening is performed based on the evaluation results of multiple working conditions to determine the combination of target parameters, including: The non-dominated sorting genetic algorithm II is used to perform offline optimization of the parameters to be optimized, and the Pareto optimal solution set of multiple candidate parameter combinations is obtained. Each candidate parameter combination was applied to multiple typical working conditions within the multi-scenario disturbance working condition spectrum of the dual asynchronous motor for simulation evaluation, and the comprehensive performance value of each candidate parameter combination under different typical working conditions within the spectrum was obtained. A robust decision-making variable is constructed based on the comprehensive performance value, and the candidate parameter combination with the smallest robust decision-making variable is selected as the target parameter combination.

7. The method for synchronous control of dual asynchronous motors with super-helical sliding mode based on parameter optimization according to claim 5, characterized in that, The robust decision-making quantity constructed based on comprehensive performance values ​​includes: The robust decision-making quantity is expressed by the following formula. : in, , , These are the weighting coefficients; Indicates average performance under multiple operating conditions; Indicates the worst-case performance under multiple operating conditions; This indicates the degree of performance fluctuation under multiple operating conditions.

8. A parameter-optimized dual asynchronous motor superhelical sliding mode synchronization control device, wherein the parameter-optimized dual asynchronous motor superhelical sliding mode synchronization control device is used to implement the parameter-optimized dual asynchronous motor superhelical sliding mode synchronization control method as described in any one of claims 1-7, characterized in that, The system includes: The optimization parameter determination module is used to obtain the operating state variables of the two asynchronous motors, construct the super-helical sliding mode synchronous control model of the two asynchronous motors, and determine the parameters to be optimized. The multi-condition evaluation module is used to construct a multi-scenario disturbance condition spectrum for dual asynchronous motors for parameter optimization, and to establish corresponding performance evaluation functions to obtain multi-condition evaluation results. The robust screening module is used to perform offline optimization of the parameters to be optimized using a multi-objective optimization algorithm, and to perform robust screening based on the evaluation results of multiple working conditions to determine the combination of target parameters. The synchronous control module is used to combine and configure the target parameters into the synchronous control model of the dual asynchronous motor super-helical sliding mode, and the model outputs the torque compensation amount to complete the synchronous control of the dual asynchronous motors.

9. A dual asynchronous motor super-helical sliding mode synchronous control device based on parameter optimization, characterized in that, The parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control device includes: Processor; memory, wherein computer-readable instructions are stored thereon, and when executed by the processor, the computer-readable instructions implement any one of the methods in the parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to implement any one of the methods in the parameter-optimized dual asynchronous motor super-helical sliding mode synchronous control method as described in any one of claims 1-6.

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