Dielectric elastomer enhanced direct current brushless motor control system and method

Abstract

The application discloses a dielectric elastomer enhanced DC brushless motor control system and method, and belongs to the technical field of motor control. The system comprises a core execution unit, a sensing detection unit and a control and driving unit. The core execution unit is used for outputting basic power and auxiliary enhancement force. The sensing detection unit is used for collecting state data of the motor and the dielectric elastomer enhancement module. The control and driving unit is used for receiving the state data and executing cooperative control logic, and outputting a driving signal to control the core execution unit. The dielectric elastomer enhanced DC brushless motor control system and method can significantly improve the starting torque, suppress the steady-state speed fluctuation, quickly respond to load mutation and smoothly stop, reduce component wear and tear, prolong the service life of the equipment, and adapt to multi-working-condition requirements.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a dielectric elastomer-enhanced DC brushless motor control system and method. Background Technology

[0002] Brushless DC motors, with their advantages of high efficiency, long lifespan, low noise, and precise control, have been widely used in core fields such as industrial automation equipment, new energy vehicles, and precision transmission systems, becoming a key component of modern power output. However, the performance shortcomings of traditional brushless DC motors under complex operating conditions are becoming increasingly apparent: during startup, they rely on their own electromagnetic torque for drive, resulting in limited torque output. Under heavy loads, they are prone to starting difficulties and excessive inrush current, which not only exacerbates winding losses but may also interfere with the power supply system. During steady-state operation, they lack external auxiliary enhancement mechanisms, and their power output is limited by their own electromagnetic conversion efficiency. Furthermore, they are affected by load and voltage fluctuations, resulting in significant speed fluctuations, making it difficult to meet the operating requirements of precision equipment. When the load changes abruptly, the electromagnetic torque adjustment is lagging and cannot quickly compensate for torque deviations, easily leading to sudden speed changes or even loss of synchronization. During shutdown, the sudden disappearance of electromagnetic torque and the mechanical shock caused by rotor inertia accelerate the wear of transmission components, shortening the service life of the equipment. Summary of the Invention

[0003] The purpose of this invention is to provide a dielectric elastomer-enhanced DC brushless motor control system and method to solve the above-mentioned technical problems.

[0004] To achieve the above objectives, the present invention provides a dielectric elastomer-enhanced DC brushless motor control system and method, including a core execution unit, a sensing and detection unit, and a control and drive unit; The core execution unit is used to output basic power and auxiliary reinforcing force, the sensing and detection unit is used to collect the status data of the motor and dielectric elastomer reinforcement module, and the control and drive unit is used to receive the status data and execute the collaborative control logic, and output drive signals to regulate the core execution unit.

[0005] Preferably, the core execution unit includes a DC brushless motor and a dielectric elastomer reinforcement module. The dielectric elastomer reinforcement module adopts a double-cone structure, including upper and lower dielectric elastomer films, a central rigid connecting rod, a linear spring biasing assembly, and a magnetorheological elastomer-permanent magnet composite assembly. The dielectric elastomer films are used to generate pre-deformation and periodic auxiliary force under voltage drive. The central rigid connecting rod is used to transmit the auxiliary force generated by the dielectric elastomer films to the rotor. The linear spring biasing assembly is used to provide bias support and adapt to stiffness adjustment. The magnetorheological elastomer-permanent magnet composite assembly is used to provide variable preload force and optimize the bias force through gap adjustment.

[0006] Preferably, the sensing and detection unit includes a motor state sensor group and a dielectric elastomer state sensor group; the motor state sensor group includes a Hall position sensor, a torque sensor, and a speed sensor, wherein the Hall position sensor is used to detect the rotor position, the torque sensor is used to collect the output torque, and the speed sensor is used to collect the motor speed; the dielectric elastomer state sensor group includes a laser displacement sensor, a broadband dielectric spectrometer, and a force sensor, wherein the laser displacement sensor is used to detect the center displacement of the dielectric elastomer diaphragm, the broadband dielectric spectrometer is used to detect the dielectric elastomer capacitance, and the force sensor is used to collect the bias force of the magnetorheological elastomer-permanent magnet composite component.

[0007] Preferably, the control and drive unit includes a DSP chip, a high-voltage drive module, and an auxiliary control module; the DSP chip integrates a motor vector control algorithm and a dielectric elastomer collaborative control logic; the high-voltage drive module outputs an adjustable voltage, supporting sine wave or square wave drive signals; the auxiliary control module includes a finite element simulation preprocessing unit and a parameter optimizer, used to calculate the real-time resonant frequency.

[0008] Preferably, the control method includes system initialization and parameter calibration, operating condition perception and status recognition, startup phase, steady-state operation phase, load change phase, and shutdown phase, with the characteristics of each phase as follows: System initialization and parameter calibration: complete hardware startup, sensor calibration, basic parameter input and preload parameter setting; Operating condition perception and status recognition: Collect status data of the motor and dielectric elastomer reinforcement module and classify and identify operating conditions; Start-up phase: The magnetorheological elastomer-permanent magnet composite component provides the initial preload force, and the dielectric elastomer film undergoes pre-deformation under voltage drive; Steady-state operation phase: Based on the real-time speed of the motor, the resonant frequency that is compatible with the dielectric elastomer is matched, and the gap of the magnetorheological elastomer-permanent magnet composite component is dynamically adjusted. During the load change phase: adjust the driving voltage of the dielectric elastomer and the gap of the magnetorheological elastomer-permanent magnet composite component according to the torque change; Shutdown phase: The motor speed drops to the rated value. At the same time, reduce the driving voltage of the dielectric elastomer to release the bias force of the magnetorheological elastomer-permanent magnet composite component.

[0009] Preferably, system initialization includes starting the hardware devices of the core execution unit, sensing and detection unit, and control and drive unit, and completing the zero-point calibration of the Hall sensor and the range and accuracy calibration of the laser displacement sensor; parameter calibration includes entering the inherent parameters of the system, setting the preload and associated operating parameters through finite element simulation, and the inherent parameters of the system include the rated speed in the rated parameters of the motor. Rated torque Stator resistance The diaphragm radius in the structural parameters of a dielectric elastomer Frame radius Initial thickness The remanent magnetic flux density of the permanent magnet in the parameters of the magnetorheological elastomer-permanent magnet composite component Relative permeability of magnetorheological elastomers Initial preload force in preload and associated operating parameters Initial gap of magnetorheological elastomer-permanent magnet composite component Linear spring stiffness and dielectric elastomer pre-stretch ratio .

[0010] Preferably, the operating condition sensing uses a sampling frequency Collect motor rotor position Rotation speed Torque and dielectric elastomer displacement ,capacitance Bias force Status recognition based on rotational speed deviation and torque change rate The operating conditions are divided into startup condition, steady-state condition, load change condition, and shutdown condition. The calculation formula is as follows: ; Start-up conditions are met Steady-state operating conditions meet and / ms, load mutation condition meets / ms, shutdown conditions met and .

[0011] Preferably, during steady-state operation, the resonant frequency that is compatible with the dielectric elastomer. The calculation formula is as follows: ; in, The moment of inertia of the dielectric elastomer-motor coupling system. It represents the equivalent stiffness of the dielectric elastomer as the motor speed changes.

[0012] Preferably, the optimized formula for the dielectric elastomer driving voltage is as follows: ; in, For the breakdown electric field of dielectric elastic body, For the breakdown electric field without pre-stretching, The radial stretch ratio of the dielectric elastomer. The circumferential stretch ratio of the dielectric elastomer. This is the maximum safe driving voltage for the dielectric elastomer.

[0013] Preferably, the bias force of the magnetorheological elastomer-permanent magnet composite component and total system output torque The calculation formula is as follows: ; ; in, The contact area between the magnetorheological elastomer and the permanent magnet is denoted as , and , For the gap in the magnetorheological elastomer-permanent magnet composite component. For the motor output torque, For periodic auxiliary force of dielectric elastomer, It is the lever arm of the force acting on the dielectric elastomer.

[0014] Therefore, the beneficial effects of the above-mentioned dielectric elastomer-enhanced DC brushless motor control system and method of the present invention are as follows: 1. Significantly improves starting performance, effectively increases starting torque, reduces starting inrush current, avoids additional winding losses, and ensures smooth and reliable starting under heavy load and low speed conditions.

[0015] 2. Enhance steady-state output capability, increase motor effective power, suppress speed fluctuations, make operation more stable, and adapt to scenarios with high stability requirements such as precision transmission and precise control.

[0016] 3. Quickly respond to sudden load changes. By dynamically adjusting the auxiliary force and clearance, it promptly compensates for torque deviations, significantly widens the motor's load adaptability range, and reduces the risk of step loss.

[0017] 4. Achieve smooth shutdown by gradually releasing the bias force through pressure relief, reducing mechanical impact during shutdown, minimizing wear on transmission components, and extending the service life of the motor and related equipment.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the system composition of the present invention; Figure 2 This is a schematic diagram of the system control method of the present invention; Figure 3 This is a cross-sectional view of the overall assembly of the dielectric elastomer reinforcement module of the present invention; Figure 4This is a comparison diagram of the dielectric elastomer film of the present invention in a voltage-free state and a voltage-driven state.

[0020] Figure Labels 1. Housing; 2. Linear bearing; 3. Pressure ring; 4. Fastening bolt; 5. Upper dielectric elastomer film; 6. Lower dielectric elastomer film; 7. Elastic medium; 8. Central rigid connecting rod; 9. Roller follower; 10. Linear spring biasing assembly; 11. Magnetorheological elastomer-permanent magnet composite assembly; 12. Permanent magnet; 13. Magnetorheological elastomer; 14. Lead screw fine-tuning mechanism; 15. Sliding support base. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0022] It should be noted that the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as a process, method, system, product, or server that includes a series of steps or units, not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or device.

[0023] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0024] like Figures 1-4 As shown, this invention provides a control system and method for a dielectric elastomer-enhanced brushless DC motor, including a core execution unit, a sensing and detection unit, and a control and drive unit. These units work in deep collaboration to overcome the performance limitations of traditional brushless DC motors. The core execution unit outputs basic power and auxiliary enhancing force. The brushless DC motor provides the basic power output, while the dielectric elastomer enhancement module generates auxiliary enhancing force through voltage drive. Together, they improve power performance. The sensing and detection unit collects state data from the motor and the dielectric elastomer enhancement module, providing comprehensive data for control decisions. The control and drive unit receives the state data, performs calculations based on preset collaborative control logic, and outputs drive signals to regulate the operating state of the brushless DC motor and the auxiliary force of the dielectric elastomer enhancement module, ensuring the system adapts to different operating conditions.

[0025] Specifically, the core execution unit includes a brushless DC motor and a dielectric elastomer reinforcement module. The brushless DC motor has a rated speed of 500-3000 rpm and a torque output capability of 0.5-5 N·m. The stator, rotor, and Hall position sensor constitute the basic power output structure, providing core power support for the system. The dielectric elastomer reinforcement module is an auxiliary power output component of the core execution unit. It adopts a double-cone structure, and its core consists of two upper and lower dielectric elastomer films, a central rigid connecting rod 8, a linear spring biasing component 10, and a magnetorheological elastomer-permanent magnet composite component 11. The entire module is externally mounted at the rear end of the brushless DC motor without changing the main structure and installation dimensions of the motor stator and rotor. This module uses a commercially available and mature roller follower 9 as the transmission mechanism to realize the conversion of linear auxiliary force into rotary auxiliary torque. The transmission structure has conventional processing technology, easily controllable fitting accuracy, and stable force transmission efficiency. The specific assembly connection and working process are as follows: The core components of the dielectric elastomer reinforcement module are assembled according to the industrial standard mechanical assembly process. The outer circumferential edges of the upper dielectric elastomer film 5 and the lower dielectric elastomer film 6 are pressed by stainless steel pressure rings 3 and sealed and fixed to the housing 1 by elastic medium 7 and fastening bolts 4. The inner circumferential edges are respectively sealed and fixed at the upper and lower limit shoulders of the central rigid connecting rod 8, naturally forming a symmetrical double conical cavity structure. Flexible electrodes are prepared on both the upper and lower surfaces of the dielectric elastomer film. The electrodes are electrically connected to the high-voltage drive module of the control and drive unit through high-temperature resistant flexible wires. Under voltage drive, the electrodes can generate controllable deformation of in-plane expansion and axial contraction based on Maxwell stress characteristics, realizing the stable output of pre-deformation and periodic auxiliary force. The central rigid connecting rod 8 is made of hardened stainless steel or high-strength aluminum alloy and is constrained inside the housing 1 by linear bearing 2. It can only make axial reciprocating linear motion without radial wobble along the rotation axis of the motor rotor. The left end of the central rigid connecting rod 8 (the side facing the motor body) is fixed with an industrial standard roller follower 9 by a pin. The roller follower 9 adopts a deep groove ball bearing structure with an outer ring made of wear-resistant hardened steel. It can rotate freely around its own pin without jamming. The end face of the central rigid connecting rod 8 is machined with a sinusoidal annular groove. The roller follower 9 is embedded in the annular groove and rolls with the groove working surface without clearance, forming a stable linear-rotational motion conversion pair. It can accurately convert the axial reciprocating linear force of the connecting rod into the tangential torque that drives the cam and rotor to rotate.

[0026] The linear spring biasing assembly 10 uses a cylindrical helical compression spring, coaxially sleeved on the central rigid connecting rod 8. The two ends of the spring abut against the fixed support of the housing 1, and the side end abuts against the limiting shoulder of the connecting rod. The rated stiffness is designed to match the deformation characteristics of the dielectric elastomer and the operating conditions of the motor, providing stable axial bias support for the central rigid connecting rod 8 and the dielectric elastomer membrane, effectively offsetting the deformation deviation caused by the weight of the component. At the same time, when the dielectric elastomer membrane is de-energized and depressurized, the spring's own rebound thrust can drive the connecting rod and the dielectric elastomer membrane to accurately reset, and can restrain the radial movement of the connecting rod throughout the process, ensuring the stability of axial force transmission. The magnetorheological elastomer-permanent magnet composite component 11 is installed in the rear part of the central rigid connecting rod 8. It consists of a permanent magnet 12 fixed on the connecting rod and a magnetorheological elastomer 13 fixed on the support base of the housing 1. The end faces of the two are arranged coaxially opposite each other. The component is equipped with an industrially common stepper motor driven screw fine adjustment mechanism 14. The screw fine adjustment mechanism 14 drives the sliding support base 15 on the magnetorheological elastomer side to make a straight axial movement without deflection along the rotation axis of the motor. This can realize the precise and real-time adjustment of the radial fit gap between the permanent magnet 12 and the magnetorheological elastomer 13. Based on the inherent magnetic-force coupling characteristics of the magnetorheological elastomer, the smaller the fit gap, the higher the magnetic field strength passing through the magnetorheological elastomer, and the greater the magnetic attraction force (i.e., preload force) output by the component. This preload force acts directly on the upper and lower dielectric elastomer films through the central rigid connecting rod 8. It can dynamically adjust the pre-stretch deformation degree of the films, thereby changing the axial force output characteristics of the dielectric elastomer films and realizing the real-time matching of auxiliary force output with motor operating conditions.

[0027] The sensing and detection unit includes a motor status sensor group and a dielectric elastomer status sensor group. The motor status sensor group includes a Hall position sensor, a torque sensor, and a speed sensor. The Hall position sensor detects the rotor position with an accuracy of ±1°, the torque sensor collects the output torque with an accuracy of ±0.01Nm within a range of 0-10N.m, and the speed sensor has a response frequency covering 0-1kHz to capture changes in motor speed in real time. In the dielectric elastomer status sensor group, the laser displacement sensor detects the center displacement of the dielectric elastomer diaphragm with an accuracy of ±2μm within a range of 0-50mm, the broadband dielectric spectrometer monitors capacitance changes in a frequency range of 10Hz-10MHz to reflect deformation, and the force sensor collects the actual bias force of the magnetorheological elastomer-permanent magnet composite component 11 with an accuracy of ±0.001N within a range of 0-1N. All data are synchronously uploaded to the control and drive unit at a sampling frequency of 1kHz to provide accurate basis for control decisions.

[0028] In the control and drive unit, a DSP chip with a main frequency of ≥1GHz can be selected as the core, integrating motor vector control algorithm and dielectric elastomer collaborative control logic to ensure rapid calculation and output of control commands; the high-voltage drive module can output an adjustable voltage of 0-5kV with a voltage adjustment step of 10V, supports sine wave or square wave drive signals, and the RC time constant of the drive circuit is ≤0.4ms, which can quickly respond to the drive requirements of the dielectric elastomer; the auxiliary control module is equipped with a finite element simulation preprocessing unit and parameter optimizer based on Ansys2022R2, which can calculate the adaptive resonant frequency of the dielectric elastomer in real time, providing key parameter support for collaborative control.

[0029] Based on the above-mentioned dielectric elastomer-enhanced DC brushless motor control system, its control method includes system initialization and parameter calibration, operating condition perception and status recognition, startup stage, steady-state operation stage, load change stage, and shutdown stage. The characteristics of each stage are as follows: System initialization and parameter calibration: First, the hardware is started and the Hall sensor zero-point calibration and laser displacement sensor calibration are completed. Then, the rated parameters of the motor, the structural parameters of the dielectric elastomer, and the parameters of the magnetorheological elastomer-permanent magnet composite component 11 are entered. The preload parameters are set through finite element simulation to lay the foundation for system operation; Operating condition perception and status recognition: The status data of the motor and the dielectric elastomer enhancement module are collected using a 1kHz sampling frequency and the operating conditions are classified and identified; Startup stage: The magnetorheological elastomer-permanent magnet composite component 11 provides an initial preload force of 0.2-0.5N. The dielectric elastomer membrane produces a relatively low voltage drive of 1-2kV. Pre-deformation provides additional starting torque to the motor rotor, increasing starting torque while reducing starting inrush current; Steady-state operation: Based on the real-time motor speed, the resonant frequency adapted to the dielectric elastomer is matched, and the high-voltage drive module is adjusted to bring the dielectric elastomer into a resonant state. Simultaneously, the gap of the magnetorheological elastomer-permanent magnet composite component 11 is dynamically adjusted to optimize bias force characteristics, thereby increasing the motor's steady-state power and reducing speed fluctuations; Load change phase: When the torque sensor detects a load change, the torque compensation response time of this system is ≤50ms. If the load increases, the dielectric elastomer drive voltage quickly increases to 3-5kV to enhance the auxiliary drive force; if the load decreases, the dielectric elastomer drive voltage is reduced and the fitting gap of the magnetorheological elastomer-permanent magnet composite component 11 is increased to promptly compensate for torque deviations and broaden load adaptability; Shutdown phase: When the motor speed drops to the rated value... At that time, among them, Taking 30%, the driving voltage of the dielectric elastomer gradually decreases exponentially, and the bias force of the magnetorheological elastomer-permanent magnet composite component 11 is slowly released, effectively weakening the mechanical impact of shutdown and reducing the wear of transmission components.

[0030] In addition, system initialization includes starting the hardware devices of the core execution unit, sensing and detection unit, and control and drive unit, and completing the zero-point calibration of the Hall sensor and the range and accuracy calibration of the laser displacement sensor; parameter calibration includes entering the inherent parameters of the system, setting the preload and associated operating parameters through finite element simulation, and the inherent parameters of the system include the rated speed in the rated parameters of the motor. Rated torque Stator resistance The diaphragm radius in the structural parameters of a dielectric elastomer Frame radius Initial thickness The remanent magnetic flux density of the permanent magnet in parameter 11 of the magnetorheological elastomer-permanent magnet composite component. Relative permeability of magnetorheological elastomers Initial preload force in preload and associated operating parameters Initial gap of magnetorheological elastomer-permanent magnet composite component 11 Linear spring stiffness and dielectric elastomer pre-stretch ratio Operating condition sensing is based on sampling frequency. To acquire the rotor position of the motor at 1 kHz Rotation speed Torque and dielectric elastomer displacement ,capacitance Bias force Status recognition based on rotational speed deviation and torque change rate The operating conditions are divided into startup condition, steady-state condition, load change condition, and shutdown condition. The calculation formula is as follows: ; Start-up conditions are met Steady-state operating conditions meet and / ms, load mutation condition meets / ms, shutdown conditions met and 2% / ms-5% The transition range of / ms is treated as a steady-state condition, and the operating condition is re-identified after the torque change rate stabilizes. During the steady-state operation phase, the resonant frequency adapted to the dielectric elastomer... The calculation formula is as follows: ; in, The moment of inertia of the dielectric elastomer-motor coupling system. Let be the equivalent stiffness of the dielectric elastomer as a function of motor speed. The optimized formula for the driving voltage of the dielectric elastomer is shown below: ; in, For the breakdown electric field of dielectric elastic body, For the breakdown electric field without pre-stretching, The radial stretch ratio of the dielectric elastomer. The circumferential stretch ratio of the dielectric elastomer. This represents the maximum safe driving voltage for the dielectric elastomer. The bias force of the magnetorheological elastomer-permanent magnet composite assembly 11. and total system output torque The calculation formula is as follows: ; ; in, The contact area between the magnetorheological elastomer and the permanent magnet is denoted as , and , The gap in the magnetorheological elastomer-permanent magnet composite component 11 is... For the motor output torque, For periodic auxiliary force of dielectric elastomer, The lever arm of the dielectric elastomer force is specifically the distance from the contact point between the central rigid connecting rod 8 and the rotor to the rotor shaft center, which is 5-10mm according to the motor structure design.

[0031] This invention enables the coordinated output of the motor and the dielectric elastomer, systematically solving problems such as insufficient starting torque, large steady-state fluctuations, delayed load response, and large shutdown impact of traditional motors, and significantly improving the motor's power performance, operating stability, and adaptability to operating conditions.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A dielectric elastomer-enhanced DC brushless motor control system, characterized in that: It includes a core execution unit, a perception and detection unit, and a control and drive unit; The core execution unit is used to output basic power and auxiliary reinforcing force, the sensing and detection unit is used to collect the status data of the motor and dielectric elastomer reinforcement module, and the control and drive unit is used to receive the status data and execute the collaborative control logic, and output drive signals to regulate the core execution unit.

2. The dielectric elastomer-enhanced brushless DC motor control system according to claim 1, characterized in that: The core execution unit includes a brushless DC motor and a dielectric elastomer reinforcement module. The dielectric elastomer reinforcement module adopts a double-cone structure, including upper and lower dielectric elastomer films, a central rigid connecting rod, a linear spring biasing assembly, and a magnetorheological elastomer-permanent magnet composite assembly. The dielectric elastomer films are used to generate pre-deformation and periodic auxiliary force under voltage drive. The central rigid connecting rod is used to transmit the auxiliary force generated by the dielectric elastomer films to the rotor. The linear spring biasing assembly is used to provide bias support and adapt to stiffness adjustment. The magnetorheological elastomer-permanent magnet composite assembly is used to provide variable preload force and optimize the bias force through gap adjustment.

3. The dielectric elastomer-enhanced brushless DC motor control system according to claim 1, characterized in that: The sensing and detection unit includes a motor status sensor group and a dielectric elastomer status sensor group. The motor status sensor group includes a Hall position sensor, a torque sensor, and a speed sensor. The Hall position sensor is used to detect the rotor position, the torque sensor is used to collect the output torque, and the speed sensor is used to collect the motor speed. The dielectric elastomer status sensor group includes a laser displacement sensor, a broadband dielectric spectrometer, and a force sensor. The laser displacement sensor is used to detect the center displacement of the dielectric elastomer diaphragm, the broadband dielectric spectrometer is used to detect the dielectric elastomer capacitance, and the force sensor is used to collect the bias force of the magnetorheological elastomer-permanent magnet composite component.

4. The dielectric elastomer-enhanced brushless DC motor control system according to claim 1, characterized in that: The control and drive unit includes a DSP chip, a high-voltage drive module, and an auxiliary control module. The DSP chip integrates a motor vector control algorithm and a dielectric elastomer collaborative control logic. The high-voltage drive module outputs an adjustable voltage and supports sinusoidal or square wave drive signals. The auxiliary control module includes a finite element simulation preprocessing unit and a parameter optimizer for calculating the real-time resonant frequency.

5. A method for a dielectric elastomer-enhanced brushless DC motor control system according to any one of claims 1-4, characterized in that: The control method includes system initialization and parameter calibration, operating condition perception and status identification, startup phase, steady-state operation phase, load change phase, and shutdown phase. The characteristics of each phase are as follows: System initialization and parameter calibration: complete hardware startup, sensor calibration, basic parameter input and preload parameter setting; Operating condition perception and status recognition: Collect status data of the motor and dielectric elastomer reinforcement module and classify and identify operating conditions; Start-up phase: The magnetorheological elastomer-permanent magnet composite component provides the initial preload force, and the dielectric elastomer film undergoes pre-deformation under voltage drive; Steady-state operation phase: Based on the real-time speed of the motor, the resonant frequency that is compatible with the dielectric elastomer is matched, and the gap of the magnetorheological elastomer-permanent magnet composite component is dynamically adjusted. During the load change phase: adjust the driving voltage of the dielectric elastomer and the gap of the magnetorheological elastomer-permanent magnet composite component according to the torque change; Shutdown phase: The motor speed drops to the rated value. At the same time, reduce the driving voltage of the dielectric elastomer to release the bias force of the magnetorheological elastomer-permanent magnet composite component.

6. The method for a dielectric elastomer-enhanced brushless DC motor control system according to claim 5, characterized in that: System initialization includes starting the hardware devices of the core execution unit, sensing and detection unit, and control and drive unit, and completing the zero-point calibration of the Hall sensor and the range and accuracy calibration of the laser displacement sensor. Parameter calibration includes entering the system's inherent parameters and setting preload and associated operating parameters through finite element simulation. The system's inherent parameters include the rated speed in the motor's rated parameters. Rated torque Stator resistance The diaphragm radius in the structural parameters of a dielectric elastomer Frame radius Initial thickness The remanent magnetic flux density of the permanent magnet in the parameters of the magnetorheological elastomer-permanent magnet composite component Relative permeability of magnetorheological elastomers Initial preload force in preload and associated operating parameters Initial gap of magnetorheological elastomer-permanent magnet composite component Linear spring stiffness and dielectric elastomer pre-stretch ratio .

7. The method for a dielectric elastomer-enhanced brushless DC motor control system according to claim 6, characterized in that: Operating condition sensing based on sampling frequency Collect motor rotor position Rotation speed Torque and dielectric elastomer displacement ,capacitance Bias force Status recognition based on rotational speed deviation and torque change rate The operating conditions are divided into startup condition, steady-state condition, load change condition, and shutdown condition. The calculation formula is as follows: ； Start-up conditions are met Steady-state operating conditions meet and / ms, load mutation condition meets / ms, shutdown conditions met and .

8. The method for a dielectric elastomer-enhanced brushless DC motor control system according to claim 7, characterized in that: During steady-state operation, the resonant frequency that is compatible with the dielectric elastomer The calculation formula is as follows: ； in, The moment of inertia of the dielectric elastomer-motor coupling system. It represents the equivalent stiffness of the dielectric elastomer as the motor speed changes.

9. The method for a dielectric elastomer-enhanced brushless DC motor control system according to claim 5, characterized in that: The optimized formula for the driving voltage of the dielectric elastomer is shown below: ； in, For the breakdown electric field of dielectric elastic body, For the breakdown electric field without pre-stretching, The radial stretch ratio of the dielectric elastomer. The circumferential stretch ratio of the dielectric elastomer. This is the maximum safe driving voltage for the dielectric elastomer.

10. The method for a dielectric elastomer-enhanced DC brushless motor control system according to claim 6, characterized in that: Bias force of magnetorheological elastomer-permanent magnet composite component and total system output torque The calculation formula is as follows: ； ； in, The bias force for the magnetorheological elastomer-permanent magnet composite component. The contact area between the magnetorheological elastomer and the permanent magnet is denoted as , and , For the gap in the magnetorheological elastomer-permanent magnet composite component. For the motor output torque, For periodic auxiliary force of dielectric elastomer, It is the lever arm of the force acting on the dielectric elastomer.

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