A method, system and device for calibrating tension of a reluctance motor driven by a gas-electric hybrid power source, and a storage medium

Abstract

The application discloses a kind of gas-electric hybrid drive control reluctance motor tension calibration method, using the multi-stage closed-loop control logic of step S1's pre-offset coarse adjustment, step S2 and S3's frequency domain accurate distribution and step S4's residual force iterative compensation, by real-time detection remaining reluctance and again frequency domain analysis, iterative output low-frequency, high-frequency compensation force, form the cooperative control mechanism of feedforward pre-regulation and closed-loop feedback dynamic correction, make up the defects that traditional compound control scheme only relies on feedback correction, dynamic response lag, residual deviation cannot be quickly eliminated, can quickly offset system residual tension deviation, realize the constant control of reluctance motor starting position and tension in whole running process.

Description

Technical Field

[0001] This invention relates to the field of reluctance motor technology, and in particular, to a method, system, device, and storage medium for calibrating the tension of a gas-electric hybrid drive control reluctance motor. Background Technology

[0002] In vertical applications of reluctance motors, precise control of tension and gravity is crucial for ensuring the performance of precision motion platforms, directly determining the platform's operational accuracy, response speed, and stability. Currently, mainstream technologies for tension control in vertical reluctance motor applications primarily revolve around winding current regulation, magnetic flux adjustment, simple force compensation control, or the addition of mechanical balancing devices. These methods aim to balance the tension and gravity of the reluctance motor through single electronic control adjustments or mechanical compensation, attempting to maintain a constant tension at specific locations within the motor. However, the aforementioned traditional control methods have many technical defects in practical applications. A single electronic control adjustment method requires continuous high-precision adjustment of the winding current, which not only easily generates large energy losses, but also leads to low control efficiency when facing low-frequency steady-state gravity and load fluctuations due to continuous adjustment. In addition, although a simple mechanical balancing device can provide basic gravity compensation, it cannot cope with the high-frequency dynamic changes of magnetic reluctance, lacks dynamic response capability, and is difficult to achieve precise tension fine-tuning. Furthermore, traditional force compensation control does not differentiate the frequency domain characteristics of magnetic reluctance, and the distribution of compensation force lacks specificity, resulting in poor magnetic reluctance control accuracy, easy displacement deviation, and weak anti-interference capability when facing external disturbances, making it difficult to maintain a constant tension at the motor's starting position. Some composite control schemes do not set up a collaborative mechanism of feedforward compensation and closed-loop feedback, relying solely on feedback correction for force adjustment, resulting in dynamic response lag and difficulty in quickly eliminating residual deviations. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a method for calibrating the tension of a gas-electric hybrid drive control reluctance motor.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A method for calibrating the tension of a gas-electric hybrid drive control reluctance motor includes the following steps: S1, based on the measured reluctance motor clearance... and preset current The estimated value of magnetic resistance was calculated. And according to the coarse allocation strategy, the estimated values The process is broken down into cylinder-based counteracting force and motor-based counteracting force. A first cylinder command and a linear motor command are generated based on these forces and sent to the cylinder and linear motor respectively. The reluctance motor is connected to a preset current. Simultaneously, the cylinder applies a force equal to the cylinder-based counteracting force in the direction of reluctance, according to the first cylinder command. The linear motor applies a force equal to the motor-based counteracting force in the direction of reluctance, according to the linear motor command. S2, the remaining reluctance force after being counteracted by the cylinder-based and motor-based counteracting forces is measured. For magnetic resistance Frequency domain analysis is performed to obtain low-frequency and high-frequency forces. Based on these forces, low-frequency and high-frequency distribution commands are generated and sent to the cylinder and linear motor, respectively. In step S3, the cylinder, based on its basic offsetting force, outputs an additional low-frequency offsetting force to counteract the low-frequency force. Similarly, the linear motor, based on its basic offsetting force, outputs an additional high-frequency offsetting force to counteract the high-frequency force. In step S4, residual magnetic resistance is detected. According to residual magnetic resistance The frequency domain of the variable is analyzed to obtain the low-frequency compensation force and the high-frequency compensation force. The low-frequency compensation distribution command is sent to the cylinder, and the high-frequency compensation distribution command is sent to the linear motor. The cylinder outputs an additional low-frequency compensation force according to the low-frequency compensation distribution command, and the linear motor outputs an additional high-frequency compensation force according to the high-frequency compensation distribution command.

[0005] Furthermore, the estimated value of the magnetic resistance K is a constant related to the motor structure. For current, This refers to the gap in a reluctance motor.

[0006] Further, step S2 specifically includes: acquiring the real-time change signal of the remaining magnetic resistance during the operation of the reluctance motor through a force sensor; converting the time-domain signal of the acquired remaining magnetic resistance into a frequency-domain signal through Fourier transform; inputting the frequency-domain signal into a low-pass filter and a high-pass filter respectively according to the frequency threshold to distinguish the low-frequency frequency-domain signal and the high-frequency frequency-domain signal, and performing an inverse Fourier transform on the low-frequency frequency-domain signal and the high-frequency frequency-domain signal to obtain the low-frequency force and the high-frequency force.

[0007] Furthermore, the reluctance motor, cylinder, and linear motor are all mounted on a frame, and a slider is horizontally slidably mounted on the frame below the reluctance motor; the output end of the reluctance motor is connected to a movable block that can be raised and lowered, the movable block has a guide rail, and a sliding seat adapted to the guide rail is fixedly mounted on the upper end of the slider; the cylinder and linear motor are both connected to the slider to apply force to the slider; the guide rail is inclined relative to the horizontal direction, and the cylinder and linear motor...

[0008] Furthermore, the slope of the guide rail is 1:10.

[0009] Further, the frequency threshold is determined according to the following steps: S31, setting a reference frequency value; S32, real-time acquisition of the winding current ripple amplitude, aerodynamic pressure fluctuation amplitude, and tension fluctuation amplitude during the operation of the reluctance motor; S33, determining whether the absolute value of the winding current ripple amplitude is greater than a first preset threshold or / and whether the absolute value of the tension fluctuation amplitude is greater than a second preset threshold: if at least one determination result is yes, the reference frequency value is increased by the first preset adjustment value, and step S34 is executed; if both determination results are no, step S34 is executed; S34, determining whether the absolute value of the aerodynamic pressure fluctuation amplitude is greater than a third preset threshold or / and whether the motor operating speed is lower than a fourth preset threshold: if at least one determination result is yes, the reference frequency value is decreased by the second preset adjustment value; S35, using the adjusted reference frequency value as the frequency threshold.

[0010] Furthermore, the frequency threshold is limited to a preset range. If the adjusted frequency threshold exceeds the range, the endpoint of the range that is closest to the adjusted frequency threshold is used as the frequency threshold.

[0011] The present invention also provides a gas-electric hybrid drive control reluctance motor tension calibration system, comprising: a pre-cancellation distribution module, used to calibrate the tension of the reluctance motor according to the measured reluctance motor clearance. and preset current The estimated value of magnetic resistance was calculated. And according to the coarse allocation strategy, the estimated values The process is broken down into cylinder-based counteracting force and motor-based counteracting force. A first cylinder command and a linear motor command are generated based on these forces and sent to the cylinder and linear motor respectively. The reluctance motor is connected to a preset current. Simultaneously, the cylinder applies a force equal to the cylinder-based counteracting force in the direction of reluctance, according to the first cylinder command. The linear motor applies a force equal to the motor-based counteracting force in the direction of reluctance, according to the linear motor command. A measurement and distribution module is used to measure and obtain the remaining reluctance after the cylinder-based and motor-based counteracting forces have been counteracted. For magnetic resistance Frequency domain analysis is performed to obtain low-frequency and high-frequency forces. Based on these forces, low-frequency and high-frequency distribution commands are generated and sent to the cylinder and linear motor, respectively. The cylinder, based on the low-frequency distribution command, outputs an additional low-frequency basic counteracting force to counteract the low-frequency force, while the linear motor, based on the high-frequency distribution command, outputs an additional high-frequency basic counteracting force to counteract the high-frequency force, in addition to its basic counteracting force. A feedback cancellation module is used to detect residual magnetic resistance. According to residual magnetic resistance The frequency domain of the variable is analyzed to obtain the low-frequency compensation force and the high-frequency compensation force. The low-frequency compensation distribution command is sent to the cylinder, and the high-frequency compensation distribution command is sent to the linear motor. The cylinder outputs an additional low-frequency compensation force according to the low-frequency compensation distribution command, and the linear motor outputs an additional high-frequency compensation force according to the high-frequency compensation distribution command.

[0012] The present invention also provides an electronic device, including a processor and a memory, wherein the memory is used to store program code and transmit the program code to the processor; the processor is used to execute the gas-electric hybrid drive control reluctance motor tension calibration method according to the instructions in the program code.

[0013] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the tension calibration method for a gas-electric hybrid drive control reluctance motor as described above.

[0014] The present invention has the following beneficial effects: Step S1, first determine the gap of the reluctance motor and preset current Calculating the estimated reluctance value provides data for subsequent force compensation, avoiding the blind distribution of compensation force caused by the lack of precise reluctance reference in traditional control. This allows the basic offsetting force output of the cylinder and linear motor to better match the actual reluctance requirements, effectively reducing initial compensation deviations, achieving accurate prediction and basic offsetting of reluctance, and improving the basic accuracy of tension control. A coarse distribution control mode with pneumatic-electric hybrid pre-offsetting of the cylinder and linear motor is adopted, replacing the traditional single-electric control continuous high-precision current adjustment scheme. By having the cylinder undertake the task of offsetting the basic gravity and steady-state load, the frequent and continuous fine-tuning of the reluctance motor winding current is reduced, effectively lowering the energy loss of motor operation and avoiding the low control efficiency problem caused by long-term operation of single-electric control. Secondly, this invention innovatively introduces a mechanism for distinguishing and processing the frequency domain characteristics of reluctance, decomposing the residual reluctance into low-frequency and high-frequency forces. Utilizing the differentiated advantages of the cylinder's low-frequency steady-state force compensation characteristics and the linear motor's high-frequency dynamic force response characteristics, it achieves precise division and cancellation of low-frequency and high-frequency forces. This solves the pain points of traditional control schemes, such as failing to distinguish the frequency domain characteristics of reluctance, blindly allocating compensation forces, and being unable to adapt to the high-frequency dynamic changes of reluctance, thus improving the accuracy of tension fine-tuning and effectively avoiding displacement deviation problems during motor operation. This invention employs a multi-level closed-loop control logic: pre-cancellation coarse adjustment in step S1, precise frequency domain allocation in steps S2 and S3, and iterative compensation of residual force in step S4. By real-time detection of residual reluctance and further frequency domain analysis, it iteratively outputs low-frequency and high-frequency compensation forces, forming a collaborative control mechanism of feedforward pre-adjustment and closed-loop feedback dynamic correction. This overcomes the shortcomings of traditional composite control schemes that rely solely on feedback correction, suffer from lag in dynamic response, and cannot quickly eliminate residual deviations. It can quickly cancel residual tension deviations in the system, achieving constant tension control at the starting position and throughout the entire operation of the reluctance motor.

[0015] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall process of the method of the present invention; Figure 2 This is a schematic diagram of some steps in the method of the present invention; Figure 3 This is a schematic diagram of the equipment structure for implementing the method of the present invention; Figure 4 yes Figure 3 A sectional view. Detailed Implementation

[0017] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0020] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0021] Please refer to Figure 1 The present invention provides a method for calibrating the tension of a gas-electric hybrid drive control reluctance motor, comprising steps S1, S2, S3 and S4.

[0022] S1, based on the measured gap of the reluctance motor and preset current The estimated value of magnetic resistance was calculated. And according to the coarse allocation strategy, the estimated values The process is broken down into cylinder-based and motor-based counteracting forces. Based on these forces, a first cylinder command and a linear motor command are generated and sent to the cylinder and linear motor, respectively. The reluctance motor is connected to a preset current. Simultaneously, the cylinder applies a force equal to the cylinder-based counteracting force in the direction of reluctance, according to the first cylinder command. Similarly, the linear motor applies a force equal to the motor-based counteracting force in the direction of reluctance, according to the linear motor command. This method estimates the actual magnitude of the reluctance from the outset, avoiding the blind force distribution problem caused by the lack of precise reluctance reference in traditional control. This ensures that the subsequent basic counteracting force outputs of the cylinder and linear motor better match the actual reluctance requirements, effectively reducing initial compensation deviations and achieving accurate reluctance prediction. This lays a high-precision data foundation for the entire tension calibration process, improving the basic accuracy of tension control. The estimated value can be broken down into the cylinder base counteracting force and the motor base counteracting force, which can be obtained according to the actual situation. For example, when the system is not moving, the output end of the reluctance motor will be subjected to gravity, which can be used as the cylinder base counteracting force, and the remaining force can be used as the motor base counteracting force.

[0023] S2, measure the remaining magnetic resistance after the forces canceled out by the cylinder foundation and the motor foundation. For magnetic resistance Frequency domain analysis is performed to obtain low-frequency and high-frequency forces. Based on these forces, low-frequency and high-frequency distribution commands are generated and sent to the cylinder and linear motor, respectively. In step S2, the reluctance motor is started. After the force output by the reluctance motor is initially offset by the cylinder and motor base offset forces, some residual force remains. This residual reluctance force is then... The time-domain signal is converted into a frequency-domain signal using Fourier transform. Combined with a preset frequency threshold, low-pass and high-pass filters are used to perform frequency division processing. The low-pass filter filters out the slowly changing, steady-state low-frequency signals in the reluctance, while the high-pass filter filters out the rapidly changing, dynamic high-frequency signals. These two types of frequency signals are then converted back into corresponding low-frequency and high-frequency forces. The system generates corresponding low-frequency and high-frequency allocation commands based on these forces, which are sent to the cylinder's pressure controller and the linear motor's power amplifier, respectively. This achieves precise decomposition of the reluctance according to its frequency domain characteristics. Based on the cylinder's steady-state response advantage and the linear motor's fast dynamic response, targeted force allocation is performed, allowing the cylinder to focus on low-frequency force compensation and the linear motor to focus on high-frequency force compensation. This solves the problem of traditional single-drive control methods being unable to simultaneously handle steady-state and dynamic compensation, resulting in poor compensation effects. It achieves precise matching between the driving force and the reluctance's frequency domain characteristics, fully leveraging the synergistic advantages of pneumatic-electric hybrid drive.

[0024] S3: Based on the low-frequency distribution command, the cylinder outputs an additional low-frequency basic offsetting force on top of the cylinder's basic offsetting force to counteract the low-frequency force. Similarly, based on the high-frequency distribution command, the linear motor outputs an additional high-frequency basic offsetting force on top of the motor's basic offsetting force to counteract the high-frequency force. After receiving the low-frequency distribution command, the cylinder's pressure controller adjusts the input air pressure to the cylinder, using this pressure to drive the cylinder piston and generate a force that combines the cylinder's basic offsetting force with the low-frequency basic offsetting force, thus achieving basic compensation for the low-frequency steady-state portion of the magnetic reluctance. Similarly, after receiving the high-frequency distribution command, the linear motor's power amplifier adjusts the input winding current to the linear motor, controlling the linear motor's output force to combine the motor's basic offsetting force with the high-frequency basic offsetting force, thus achieving basic compensation for the high-frequency dynamic portion of the magnetic reluctance. Together, these two types of basic offsetting forces initially counteract the changing magnetic reluctance. The pneumatic system provides a stable low-frequency preload to achieve the initial precise cancellation of magnetic resistance, effectively balancing the self-weight of the reluctance motor and the low-frequency fluctuations of the load. The electronic control system achieves rapid compensation of high-frequency dynamic force. The two work together to cancel out the magnetic resistance, reduce the pressure of subsequent compensation, and avoid the limitations of compensation by a single drive method, thereby improving the efficiency and accuracy of the initial compensation.

[0025] S4, Detect residual magnetoresistance According to residual magnetic resistance The frequency domain of the linear motor is analyzed to obtain the low-frequency compensation force and the high-frequency compensation force. A low-frequency compensation allocation command is sent to the cylinder, and a high-frequency compensation allocation command is sent to the linear motor. Based on the low-frequency compensation allocation command, the cylinder outputs an additional low-frequency compensation force. That is, the cylinder's final output force is obtained by superimposing the basic low-frequency offsetting force and the low-frequency compensation force on top of its basic offsetting force. Similarly, the linear motor's final output force is obtained by superimposing the basic high-frequency offsetting force and the high-frequency compensation force on top of its basic offsetting force. It can be understood that the low-frequency basic offsetting force, the low-frequency compensation force, the high-frequency basic offsetting force, and the high-frequency compensation force are all time-dependent varying forces. The residual reluctance is frequency-divided to obtain low-frequency and high-frequency compensation forces. The system generates corresponding low-frequency and high-frequency compensation allocation commands, which are sent to the cylinder and linear motor, respectively. Based on the original low-frequency compensation force, the cylinder fine-tunes its air pressure according to the low-frequency compensation allocation command, outputting an additional low-frequency compensation force. Based on the original high-frequency compensation force, the linear motor fine-tunes its winding current according to the high-frequency compensation allocation command, outputting an additional high-frequency compensation force, until the residual compensation force approaches zero, and the reluctance motor reaches a force balance state. Through secondary frequency domain allocation and precise compensation of the residual reluctance, residual deviations caused by model errors and external disturbances are eliminated.

[0026] This invention provides a method for calibrating the tension of a gas-electric hybrid drive control reluctance motor. Step S1 involves first determining the tension of the reluctance motor according to the motor's clearance. and preset current Calculating the estimated reluctance value provides data for subsequent force compensation, avoiding the blind distribution of compensation force caused by the lack of precise reluctance reference in traditional control. This allows the basic offsetting force output of the cylinder and linear motor to better match the actual reluctance requirements, effectively reducing initial compensation deviations, achieving accurate prediction and basic offsetting of reluctance, and improving the basic accuracy of tension control. A coarse distribution control mode with pneumatic-electric hybrid pre-offsetting of the cylinder and linear motor is adopted, replacing the traditional single-electric control continuous high-precision current adjustment scheme. By having the cylinder undertake the task of offsetting the basic gravity and steady-state load, the frequent and continuous fine-tuning of the reluctance motor winding current is reduced, effectively lowering the energy loss of motor operation and avoiding the low control efficiency problem caused by long-term operation of single-electric control. Secondly, this invention innovatively introduces a mechanism for distinguishing and processing the frequency domain characteristics of reluctance, decomposing the residual reluctance into low-frequency and high-frequency forces. Utilizing the differentiated advantages of the cylinder's low-frequency steady-state force compensation characteristics and the linear motor's high-frequency dynamic force response characteristics, it achieves precise division and cancellation of low-frequency and high-frequency forces. This solves the pain points of traditional control schemes, such as failing to distinguish the frequency domain characteristics of reluctance, blindly allocating compensation forces, and being unable to adapt to the high-frequency dynamic changes of reluctance, thus improving the accuracy of tension fine-tuning and effectively avoiding displacement deviation problems during motor operation. This invention employs a multi-level closed-loop control logic: pre-cancellation coarse adjustment in step S1, precise frequency domain allocation in steps S2 and S3, and iterative compensation of residual force in step S4. By real-time detection of residual reluctance and further frequency domain analysis, it iteratively outputs low-frequency and high-frequency compensation forces, forming a collaborative control mechanism of feedforward pre-adjustment and closed-loop feedback dynamic correction. This overcomes the shortcomings of traditional composite control schemes that rely solely on feedback correction, suffer from lag in dynamic response, and cannot quickly eliminate residual deviations. It can quickly cancel residual tension deviations in the system, achieving constant tension control at the starting position and throughout the entire operation of the reluctance motor. Based on the control advantages of frequency domain precise compensation and gas-electric synergy anti-disturbance, this invention improves the resistance of reluctance motor precision motion platform to load fluctuations and external disturbances, effectively optimizes the motor's operating accuracy, response speed and working stability under vertical operating conditions, takes into account the energy-saving operation of the equipment, dynamic precise control and strong anti-interference performance, and is highly adaptable to the high-precision tension control requirements of reluctance motor vertical precision motion scenarios, and has excellent engineering application value and promotion prospects.

[0027] In a specific embodiment of the present invention, the estimated value of the magnetic resistance... K is a constant related to the motor structure. For current, This refers to the reluctance motor clearance. By quantitatively correlating the reluctance with the motor's structural constants, current, and clearance, the estimation of reluctance no longer relies on empirical judgment but is based on precise calculations of the motor's structural characteristics and real-time operating parameters, thus improving the accuracy and objectivity of the reluctance estimate.

[0028] In a specific embodiment of the present invention, step S3 specifically includes: step S2 specifically includes: By using a force sensor, the real-time change signal of the remaining magnetic resistance during the operation of the reluctance motor is collected; this enables real-time and uninterrupted acquisition of the magnetic resistance change signal, ensuring the authenticity and continuity of the data source, so that subsequent frequency domain analysis can accurately reflect the actual dynamic change characteristics of the magnetic resistance, avoiding analysis deviations caused by untimely or incomplete signal acquisition, and laying a reliable signal foundation for the entire frequency domain force allocation process. The remaining time-domain signals of the acquired reluctance are converted into frequency-domain signals using Fourier transform. The acquired reluctance time-domain electrical signals are then decomposed into superimposed sine / cosine components of different frequencies and amplitudes using Fourier transform, transforming them into frequency-domain signals with frequency as the x-axis and amplitude / phase as the y-axis. This clearly shows the frequency distribution and amplitude proportion of the low-frequency steady-state components and high-frequency dynamic components in the reluctance. This achieves precise conversion of the reluctance signal from the time domain to the frequency domain, decomposing the force signal, whose frequency characteristics were originally indistinguishable, into force components of different frequencies. This makes the low-frequency and high-frequency characteristics of the reluctance intuitive and quantifiable, solving the problem that time-domain signals cannot accurately classify the frequency attributes of the force, and providing analyzable frequency-domain data for subsequent targeted frequency division processing. Based on a frequency threshold, the frequency domain signal is input to a low-pass filter and a high-pass filter respectively to distinguish between low-frequency and high-frequency signals. An inverse Fourier transform is then performed on both signals to obtain the low-frequency and high-frequency forces. The low-pass filter only allows signals with frequencies below the threshold to pass through, filtering out high-frequency components and resulting in a low-frequency signal containing only low-frequency steady-state characteristics. The high-pass filter only allows signals with frequencies above the threshold to pass through, filtering out low-frequency components and resulting in a high-frequency signal containing only high-frequency dynamic characteristics, thus achieving precise frequency division of the reluctance frequency domain signal. This precise separation of low-frequency and high-frequency components based on the frequency threshold allows the force compensation of the cylinder and linear motor to be precisely matched with their own response characteristics, avoiding the waste of compensation resources caused by the mixing of low-frequency and high-frequency force components. It provides a precise signal basis for the subsequent allocation strategy of pneumatics handling low frequencies and motors handling high frequencies, ensuring the targeted and rational allocation of force. By performing inverse Fourier transforms on low-frequency and high-frequency signals, low-frequency and high-frequency forces are obtained, thus restoring the frequency domain signals to time domain forces. This converts abstract frequency domain components into specific force commands that can be directly executed by cylinders and linear motors, solving the problem that frequency domain signals cannot be directly used as execution commands. This allows the frequency-divided reluctance signal to be accurately converted into the action basis of the drive components, ensuring the effective execution of the strategy of "distributing low-frequency force to the cylinder and high-frequency force to the linear motor," and providing direct and quantifiable control parameters for the accurate output of subsequent basic counteracting forces. By acquiring real-time signals through a force detection unit and combining a standardized process of Fourier transform, filter frequency division, and inverse Fourier transform, accurate conversion and effective separation of the reluctance from the time domain to the frequency domain are achieved. This solves the problems of inaccurate force distribution caused by non-standard signal processing and blurred frequency division boundaries in traditional frequency domain analysis methods. The targeted use of low-pass and high-pass filters can accurately filter out the low-frequency and high-frequency domain signals of the magnetic reluctance, and then restore them to the force that can be directly used for control through inverse Fourier transform. This makes the execution process of frequency domain force distribution more operable and standardized, ensuring that the distribution commands received by the cylinder and linear motor are highly matched with the actual frequency domain characteristics of the magnetic reluctance. This fully guarantees the accurate implementation of the distribution strategy of pneumatics being responsible for steady state and motors being responsible for dynamic state, and improves the adaptability of the basic counteracting force output.

[0029] In specific embodiments of the present invention, the detection of magnetic reluctance typically excludes gravity loads. This effectively separates magnetic reluctance from gravity, ensuring that the force signal detected and analyzed by the system is solely the actual magnetic reluctance generated during the operation of the reluctance motor. This avoids interference from gravity on magnetic reluctance detection, frequency domain analysis, and force distribution. It also solves the problem in traditional control methods where gravity and magnetic reluctance are treated interchangeably, leading to redundant components in compensation force calculations. Subsequent low-frequency and high-frequency force analyses and compensation force outputs are all based on the actual magnetic reluctance, reducing the output of ineffective compensation forces. This improves the accuracy of tension calibration and avoids energy loss due to redundant compensation, making the resource utilization of the gas-electric hybrid compensation system more efficient.

[0030] Reference Figure 3 and Figure 4 The reluctance motor 100, cylinder 200, and linear motor 300 are all mounted on a frame 101. A slider 102 is horizontally slidably mounted on the frame 101 below the reluctance motor 100. The output end of the reluctance motor 100 is connected to a movable block 110 that can move up and down. The movable block 110 has a guide rail 111. A sliding seat 103 adapted to the guide rail 111 is fixedly mounted on the upper end of the slider 102. The cylinder 200 and the linear motor 300 are both connected to the slider 102 to apply force to the slider 102. The guide rail 111 is inclined relative to the horizontal direction. The upper end of the output end of the reluctance motor 100 is connected to a force sensor, and the lower end is connected to the movable block 110. This ensures that the magnetic resistance output by the output end of the reluctance motor 100 is canceled out by the force of the cylinder 200 and the linear motor 300, and is then entirely detected by the force sensor, i.e., the remaining magnetic resistance detected in steps S2 and S4. By utilizing the cooperation between the sliding seat 103 and the guide rail 111, and with the guide rail 111 being inclined relative to the horizontal direction, the horizontal force of the cylinder 200 and the linear motor 300 will have a vertical component, thereby offsetting the magnetic resistance. This allows the cylinder 200 and the linear motor 300 to be arranged horizontally on the frame 101, which is convenient for arrangement. In addition, the inclined guide rail can reduce the proportion of the force of the cylinder 200 and the linear motor 300 transmitted to the moving block 110 and the magnetic resistance motor.

[0031] In a specific embodiment of the present invention, the slope of the guide rail 111 is 1:10. The forces canceling out the cylinder base and motor base forces in step S1, the low-frequency and high-frequency forces in step S2, and the low-frequency and high-frequency compensation forces in step S4 all ultimately need to be amplified tenfold to represent the forces that the cylinder 200 and linear motor 300 need to apply or superimpose.

[0032] Reference Figure 2In a specific embodiment of the present invention, the frequency threshold is determined according to the following steps: S31, S32, S33, S34 and S35.

[0033] S31, Set the reference frequency value; Based on the reluctance motor model, rated parameters, and operating conditions of the vertical application scenario, combined with the response characteristics of the cylinder and linear motor, an initial reference frequency value is preset. This value provides an initial reference for the dynamic adjustment of the frequency threshold. Providing a basic reference for the dynamic adjustment of the frequency threshold ensures that subsequent adjustments have a clear starting point, avoiding blind adjustments. Simultaneously, the reference frequency value, combined with the equipment's own characteristics and operating conditions, ensures the rationality of the initial frequency division. Specifically, during motor operation, the controller, through the data acquisition module (including current sensor, air pressure sensor, and tension sensor), collects three core fluctuation parameters in real time at a preset frequency (which can be synchronized with the tension sensor's sampling frequency): winding current ripple amplitude, pneumatic pressure fluctuation amplitude, and tension fluctuation amplitude. The winding current ripple amplitude is the instantaneous fluctuation of the winding current in a reluctance motor, reflecting dynamic changes in the motor's electromagnetic characteristics (such as current fluctuations caused by magnetic circuit saturation or current control accuracy deviations). The pneumatic pressure fluctuation amplitude is the instantaneous fluctuation of the pressure within the pneumatic drive pipeline, reflecting the stability of the pneumatic system (such as pressure deviations caused by proportional pressure reducing valve response lag or air source pressure fluctuations). The tension fluctuation amplitude is the instantaneous deviation between the actual tension value and the target value, directly reflecting the severity of reluctance changes (including high-frequency and low-frequency fluctuations). Real-time capture of operating condition changes (electromagnetic fluctuations, pneumatic fluctuations, and tension fluctuations) during motor operation provides accurate data support for subsequent adjustments, avoiding filtering distortion caused by blind adjustments and ensuring that the adjustment logic aligns with actual operating conditions.

[0034] S32 collects real-time data on the winding current ripple amplitude, pneumatic pressure fluctuation amplitude, and tension fluctuation amplitude of the reluctance motor during operation. It uses a current sensor to collect the winding current ripple amplitude in real-time, reflecting the current fluctuation state of the linear motor; a pressure sensor to collect the pneumatic pressure fluctuation amplitude within the cylinder in real-time, reflecting the pressure stability of the pneumatic system; and a tension sensor to collect the tension fluctuation amplitude of the reluctance motor in real-time, reflecting the overall tension calibration control effect. All three types of parameters are collected in real-time, accurately reflecting the dynamic operating state of the system. By acquiring the core state parameters during system operation, it provides real-time and accurate judgment criteria for the dynamic adjustment of the frequency threshold, allowing the frequency threshold adjustment to conform to the actual operating conditions of the system, rather than a fixed theoretical value, thus achieving adaptive adjustment of the frequency division boundary.

[0035] S33, determine whether the absolute value of the winding current ripple amplitude is greater than the first preset threshold and / or whether the absolute value of the tension fluctuation amplitude is greater than the second preset threshold: if at least one judgment result is yes, then the reference frequency value is increased by the first preset adjustment value, and step S34 is executed; if both judgment results are no, then step S34 is executed; compare the real-time collected winding current ripple amplitude and tension fluctuation amplitude with the system's preset first and second preset thresholds respectively. If the winding current ripple amplitude is too large, it indicates that the high-frequency compensation pressure of the linear motor is too large or the frequency division is unreasonable. If the tension fluctuation amplitude is too large, it indicates that the overall tension control accuracy does not meet the requirements and there are high-frequency changes. When either or both conditions are met, the reference frequency value is increased by the first preset adjustment value to narrow the compensation frequency range undertaken by the linear motor and ensure that the high-frequency magnetic reluctance component is accurately extracted; if neither condition is met, it indicates that the linear motor and tension control status are good under the current frequency division, the reference frequency value remains unchanged, and the subsequent steps are executed. The frequency threshold is positively adjusted according to the linear motor's operating status and the overall tension control effect.

[0036] S34, determine whether the absolute value of the pneumatic pressure fluctuation amplitude is greater than the third preset threshold and / or the motor running speed is lower than the fourth preset threshold: if at least one judgment result is yes, then the reference frequency value is lowered by the second preset adjustment value; compare the real-time collected pneumatic pressure fluctuation amplitude with the third preset threshold, and compare the reluctance motor running speed with the fourth preset threshold. If the pneumatic pressure fluctuation amplitude is too large, it indicates that the low-frequency compensation pressure of the cylinder is too large or the frequency division is unreasonable. If the motor runs at a low speed, it indicates that the system has a low demand for dynamic compensation and needs more stable low-frequency compensation. When either of these conditions is met or both are met, the reference frequency value is lowered by the second preset adjustment value to reduce the compensation frequency range undertaken by the cylinder; if neither condition is met, the reference frequency value remains unchanged. The frequency threshold is adjusted in reverse according to the operating status of the pneumatic system and the running speed of the motor. When the cylinder compensation pressure is too large or the motor has a low demand for dynamic compensation, the frequency threshold is lowered in time to give full play to the steady-state compensation advantage of the cylinder, ensure the stability of the system, and reduce the fluctuation of the pneumatic system.

[0037] S35 sets the adjusted reference frequency value as the frequency threshold. The reference frequency value adjusted by S33 and S34 is determined as the final frequency threshold under the current system operating conditions. This threshold will be directly used for frequency domain division processing of the reluctance and residual compensation force. This dynamic determination of the frequency threshold ensures a high degree of adaptation between the frequency threshold and the real-time operating conditions of the system, serving as the final basis for frequency domain division and ensuring the rationality of force distribution.

[0038] By real-time acquisition of key operating parameters such as winding current ripple, aerodynamic pressure fluctuation, tension fluctuation amplitude, and motor operating speed, the reference frequency value is dynamically adjusted upwards or downwards. This ensures that the frequency threshold is no longer a fixed value but can be adaptively adjusted in real time according to the actual operating conditions of the reluctance motor. This dynamic adjustment mechanism ensures that the frequency division boundary is highly compatible with the actual operating state of the system, solving the problem of unreasonable frequency division and deteriorated compensation effect under complex operating conditions with a fixed frequency threshold. This improves the adaptability and compensation accuracy of the gas-electric hybrid drive system under different operating conditions and further enhances the system's anti-interference capability.

[0039] It is understood that the first preset threshold, the second preset threshold, the first preset adjustment value, and the second preset adjustment value can all be adjusted and set according to the actual working conditions. For example, in some embodiments, the first preset threshold is 0.2A, the second preset threshold is 2.5%, the first preset adjustment value is 0.1Hz, and the second preset adjustment value is 0.1Hz.

[0040] In a further embodiment of the present invention, the frequency threshold is limited to a preset range. If the adjusted frequency threshold exceeds the range, the endpoint of the range closest to the adjusted frequency threshold is taken as the frequency threshold. For example, if the frequency threshold is limited to 0.3-1.2Hz, and the adjusted frequency threshold is 1.3Hz, then the endpoint closest to 1.3Hz within the 0.3-1.2Hz range is taken as 1.2Hz. By setting a preset range for the frequency threshold and taking the nearest endpoint when the adjusted value exceeds the range, a reasonable boundary constraint is set for the dynamic adjustment of the frequency threshold. This avoids the situation where the frequency threshold is over-adjusted due to extreme fluctuations in operating conditions, resulting in a serious imbalance in the compensation work distribution between the cylinder and the linear motor. It also prevents the unreasonable phenomenon of the cylinder bearing high-frequency compensation or the linear motor bearing a large amount of low-frequency compensation, ensuring that the core allocation principle of pneumatic steady-state and motor dynamics remains effective. Meanwhile, boundary constraints ensure that the frequency threshold adjustment is always within a reasonable range, ensuring that the cylinder and linear motor always operate within their own performance advantage range. This avoids problems such as increased wear, surged energy consumption, and delayed response caused by the equipment operating beyond its own response characteristics. While ensuring dynamic adjustment, it also takes into account the system's operational stability and equipment lifespan.

[0041] The present invention also provides a gas-electric hybrid drive control reluctance motor tension calibration system, comprising: a pre-cancellation distribution module, used to calibrate the tension of the reluctance motor according to the measured reluctance motor clearance. and preset current The estimated value of magnetic resistance was calculated. And according to the coarse allocation strategy, the estimated values The process is broken down into cylinder-based counteracting force and motor-based counteracting force. A first cylinder command and a linear motor command are generated based on these forces and sent to the cylinder and linear motor respectively. The reluctance motor is connected to a preset current. Simultaneously, the cylinder applies a force equal to the cylinder-based counteracting force in the direction of reluctance, according to the first cylinder command. The linear motor applies a force equal to the motor-based counteracting force in the direction of reluctance, according to the linear motor command. A measurement and distribution module is used to measure and obtain the remaining reluctance after the cylinder-based and motor-based counteracting forces have been counteracted. For magnetic resistance Frequency domain analysis is performed to obtain low-frequency and high-frequency forces. Based on these forces, low-frequency and high-frequency distribution commands are generated and sent to the cylinder and linear motor, respectively. The cylinder, based on the low-frequency distribution command, outputs an additional low-frequency basic counteracting force to counteract the low-frequency force, while the linear motor, based on the high-frequency distribution command, outputs an additional high-frequency basic counteracting force to counteract the high-frequency force, in addition to its basic counteracting force. A feedback cancellation module is used to detect residual magnetic resistance. According to residual magnetic resistance The frequency domain of the variable is analyzed to obtain the low-frequency compensation force and the high-frequency compensation force. The low-frequency compensation distribution command is sent to the cylinder, and the high-frequency compensation distribution command is sent to the linear motor. The cylinder outputs an additional low-frequency compensation force according to the low-frequency compensation distribution command, and the linear motor outputs an additional high-frequency compensation force according to the high-frequency compensation distribution command.

[0042] The present invention also provides an electronic device, including a processor and a memory, wherein the memory is used to store program code and transmit the program code to the processor; the processor is used to execute a method for calibrating the tension of a gas-electric hybrid drive control reluctance motor according to the instructions in the program code.

[0043] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements a method for calibrating the tension of a gas-electric hybrid drive control reluctance motor.

[0044] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for calibrating the tension of a gas-electric hybrid drive control reluctance motor, characterized in that, Includes the following steps: S1, based on the measured gap of the reluctance motor and preset current The estimated value of magnetic resistance was calculated. And according to the coarse allocation strategy, the estimated values The force is divided into cylinder basic counteracting force and motor basic counteracting force, and a first cylinder command and a linear motor command are generated based on the cylinder basic counteracting force and the motor basic counteracting force. The first cylinder command and the linear motor command are then sent to the cylinder and the linear motor respectively. The reluctance motor is connected to a preset current, and at the same time, the cylinder applies a force equal to the magnitude of the cylinder's basic counteracting force in the direction of the magnetic resistance according to the command of the first cylinder. The linear motor applies a force equal to the magnitude of the motor's basic counteracting force in the direction of the magnetic resistance according to the command of the linear motor. S2, measure the remaining magnetic resistance after the forces canceled out by the cylinder foundation and the motor foundation. For magnetic resistance Frequency domain analysis is performed to obtain low-frequency and high-frequency forces, and low-frequency and high-frequency allocation commands are generated based on the low-frequency and high-frequency forces. The low-frequency and high-frequency allocation commands are then sent to the cylinder and linear motor, respectively. S3, the cylinder outputs an additional low-frequency basic offsetting force on the basis of the cylinder's basic offsetting force according to the low-frequency distribution command, and the linear motor outputs an additional high-frequency basic offsetting force on the basis of the motor's basic offsetting force according to the high-frequency distribution command, in order to offset the high-frequency force. S4, Detect residual magnetoresistance According to residual magnetic resistance The frequency domain of the variable is analyzed to obtain the low-frequency compensation force and the high-frequency compensation force. The low-frequency compensation distribution command is sent to the cylinder, and the high-frequency compensation distribution command is sent to the linear motor. The cylinder outputs an additional low-frequency compensation force according to the low-frequency compensation distribution command, and the linear motor outputs an additional high-frequency compensation force according to the high-frequency compensation distribution command.

2. The method for calibrating the tension of a gas-electric hybrid drive control reluctance motor according to claim 1, characterized in that, The estimated value of the magnetic resistance K is a constant related to the motor structure. For current, This refers to the gap in a reluctance motor.

3. The method for calibrating the tension of a gas-electric hybrid drive control reluctance motor according to claim 1, characterized in that, Step S2 specifically includes: acquiring the real-time change signal of the remaining magnetic resistance during the operation of the reluctance motor through a force sensor; converting the time-domain signal of the acquired remaining magnetic resistance into a frequency-domain signal through Fourier transform; inputting the frequency-domain signal into a low-pass filter and a high-pass filter respectively according to the frequency threshold to distinguish the low-frequency frequency-domain signal and the high-frequency frequency-domain signal, and performing an inverse Fourier transform on the low-frequency frequency-domain signal and the high-frequency frequency-domain signal to obtain the low-frequency force and the high-frequency force.

4. The method for calibrating the tension of a gas-electric hybrid drive control reluctance motor according to claim 3, characterized in that, The frequency threshold is determined according to the following steps: S31, Set the reference frequency value; S32, real-time acquisition of winding current ripple amplitude, aerodynamic pressure fluctuation amplitude and tension fluctuation amplitude during the operation of reluctance motor; S33, determine whether the absolute value of the winding current ripple amplitude is greater than a first preset threshold or / and whether the absolute value of the tension fluctuation amplitude is greater than a second preset threshold: If at least one judgment result is yes, then the reference frequency value is increased by the first preset adjustment value, and step S34 is executed; If both judgment results are negative, then proceed to step S34; S34, determine whether the absolute value of the pneumatic pressure fluctuation amplitude is greater than the third preset threshold or / and whether the motor operating speed is lower than the fourth preset threshold: If at least one judgment result is yes, then the reference frequency value is lowered by the second preset adjustment value; S35 uses the adjusted reference frequency value as the frequency threshold.

5. The method for calibrating the tension of a gas-electric hybrid drive control reluctance motor according to claim 4, characterized in that, The frequency threshold is limited to a preset range. If the adjusted frequency threshold exceeds the range, the endpoint of the range that is closest to the adjusted frequency threshold will be used as the frequency threshold.

6. The method for calibrating the tension of a gas-electric hybrid drive control reluctance motor according to claim 1, characterized in that, The reluctance motor (100), cylinder (200), and linear motor (300) are all mounted on the frame (101). A slider (102) is horizontally slidably mounted on the frame (101) below the reluctance motor (100). The output end of the reluctance motor (100) is connected to a movable block (110) that can move up and down. The movable block (110) has a guide rail (111). A sliding seat (103) adapted to the guide rail (111) is fixedly mounted on the upper end of the slider (102). The cylinder (200) and the linear motor (300) are both connected to the slider (102) to apply force to the slider (102). The guide rail (111) is inclined relative to the horizontal direction.

7. The method for calibrating the tension of a gas-electric hybrid drive control reluctance motor according to claim 6, characterized in that, The slope of the guide rail (111) is 1:

10.

8. A force calibration system for a gas-electric hybrid drive controlled reluctance motor, characterized in that, include: The pre-cancellation allocation module is used to determine the actual gap of the reluctance motor. and preset current The estimated value of magnetic resistance was calculated. And according to the coarse allocation strategy, the estimated values The force is divided into cylinder basic counteracting force and motor basic counteracting force, and a first cylinder command and a linear motor command are generated based on the cylinder basic counteracting force and the motor basic counteracting force. The first cylinder command and the linear motor command are then sent to the cylinder and the linear motor respectively. The reluctance motor is connected to a preset current, and at the same time, the cylinder applies a force equal to the magnitude of the cylinder's basic counteracting force in the direction of the magnetic resistance according to the command of the first cylinder. The linear motor applies a force equal to the magnitude of the motor's basic counteracting force in the direction of the magnetic resistance according to the command of the linear motor. The measurement and distribution module is used to measure and obtain the remaining magnetic resistance after the forces canceled out by the cylinder foundation and the motor foundation. For magnetic resistance Frequency domain analysis is performed to obtain low-frequency and high-frequency forces. Based on these forces, low-frequency and high-frequency distribution commands are generated and sent to the cylinder and linear motor, respectively. The cylinder outputs an additional low-frequency basic counteracting force to counteract the low-frequency forces, based on the cylinder's basic counteracting force. Similarly, the linear motor outputs an additional high-frequency basic counteracting force to counteract the high-frequency forces, based on the motor's basic counteracting force. Feedback cancellation module for detecting residual magnetoresistance According to residual magnetic resistance The frequency domain of the variable is analyzed to obtain the low-frequency compensation force and the high-frequency compensation force. The low-frequency compensation distribution command is sent to the cylinder, and the high-frequency compensation distribution command is sent to the linear motor. The cylinder outputs an additional low-frequency compensation force according to the low-frequency compensation distribution command, and the linear motor outputs an additional high-frequency compensation force according to the high-frequency compensation distribution command.

9. An electronic device, characterized in that, The device includes a processor and a memory, wherein the memory is used to store program code and transmit the program code to the processor; the processor is used to execute the tension calibration method of the gas-electric hybrid drive control reluctance motor according to any one of the instructions in the program code.

10. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the tension calibration method for a gas-electric hybrid drive control reluctance motor as described in any one of claims 1 to 7.

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