73 results about "Equivalent control" patented technology

The invention relates to the technical field of industrial big data, in particular to a transformer consumption reduction intelligent control method and system based on a power generation end, and the method comprises the steps: building a source-load space-time correlated industrial big data set, determining an operation reference, and synchronously monitoring real-time electrical parameters; load component decoupling is executed, a basic load component is stripped, and a power fluctuation deviation parameter is extracted; reconstructing equivalent control power of a power generation end based on a nonlinear fluctuation compensation strategy; and constructing a power grid energy efficiency function to execute loss minimization optimization, determining a power supply voltage setting value and driving on-load voltage regulation. Through multi-dimensional data fusion and non-linear load reconstruction, the problem that a traditional method is difficult to deal with random fluctuation of the load is solved, collaborative optimization of transformer loss and line transmission loss is achieved, and operation energy consumption of a power supply loop of a power generation end is effectively reduced.

The invention discloses a wind power plant equivalent frequency response modeling method considering working condition uncertainty and an equivalence method, belongs to the technical field of power system modeling and equivalence, and aims to solve the problem that no method capable of considering the working condition uncertainty of units in a wind power plant to perform equivalent aggregation on the frequency response of the whole wind power plant exists at present. According to the method, modeling is carried out on the wind speed distribution uncertainty in a wind power plant by adopting a probability method, a wind power plant wind speed distribution scene is generated based on a three-parameter Weibull distribution function, and the working condition uncertainty of each unit is represented; dividing the wind power plant into a non-frequency modulation area, a comprehensive inertia and overspeed load shedding control area and a comprehensive inertia and variable pitch control area according to the wind speed distribution and the corresponding wind speed during fan output; and based on a partitioning result, determining an equivalent influence coefficient and an equivalent control coefficient by utilizing parameters of each wind turbine generator, obtaining a wind power plant equivalent frequency response model considering working condition uncertainty by combining a wind turbine generator frequency response model, and realizing equivalence based on the model.

The invention provides a cooling tower system optimal operation parameter self-adaptive regulation and control method, which comprises the steps of collecting multi-source high-frequency data in a system operation process, and obtaining a standardized variable sequence through normalization, abnormal value processing and time sequence consistency verification. A sliding window mechanism and a lightweight causal discovery algorithm are combined, a causal atlas is dynamically constructed and fused, parameters are corrected in real time through an incremental Bayesian network, a dominant causal path is extracted, lightweight CMA-ES rolling optimization is executed in an equivalent control subspace after dimension reduction, optimal control parameters are solved, system closed-loop adjustment is driven, and the optimal control parameters are obtained. Meanwhile, a map confidence degree evaluation and depth reconstruction mechanism is set, dynamic self-adaption of a causal structure and parameters is ensured, the response capacity of a cooling tower system to working condition changes can be improved, and energy efficiency and operation stability are optimized.

The invention provides a Markov jump-based mechanical arm preset time trajectory tracking control method, which comprises the following steps of: calculating a trajectory tracking error by establishing a two-degree-of-freedom mechanical arm dynamic model with a Markov jump characteristic; a trajectory tracking error is subjected to nonlinear transformation, a nonsingular terminal sliding mode surface is constructed in combination with a preset convergence time upper limit function, and then a control torque is synthesized through an equivalent control item and a robust switching item containing a sliding mode surface sign function and a switching gain to drive a mechanical arm. And the trajectory tracking error is difficult to converge in the preset time.

The invention also discloses an SIDO Boost converter terminal complementary superspiral sliding mode improved active-disturbance-rejection control method. The method specifically comprises the following steps: step 1, establishing a state space averaging model by using a state space averaging method; 2, fitting the state space average model into a standard second-order system normal form; 3, designing a fractional order cascade expansion state observer according to a standard second-order system normal form; step 4, applying the observation value obtained in the step 3 to a terminal complementary sliding mode controller; 5, introducing the super-spiral sliding mode reaching law into the terminal complementary sliding mode; step 6, according to the equivalent control law and the switching control law, obtaining a total control law of the system after summation; and step 7, applying the observer and the controller to a main voltage single closed loop and a branch voltage outer loop and a current inner loop. The problems that a traditional active-disturbance-rejection control method is insufficient in external total disturbance estimation precision of the single-inductor dual-output converter and cross influence exists between two output branches are solved.

The invention relates to the technical field of new energy power generation, in particular to a doubly-fed fan VSC-HVDC (Voltage Source Converter-High Voltage Direct Current) subsynchronous oscillation robust integral predefined time sliding mode control method, which comprises the following steps: S1, establishing a grid-side converter model in a doubly-fed fan; s2, establishing a phase-locked loop model in the doubly-fed fan; s3, constructing an integral sliding mode surface, and obtaining dynamic characteristics and equivalent control input of a sliding mode system; s4, designing approaching control input, and obtaining an integral predetermined time sliding mode control law; and S5, implementing an integral predetermined time sliding mode control law. Compared with a traditional PI control strategy, the robust integral predefined time sliding mode control method for the subsynchronous oscillation of the double-fed fan VSC-HVDC, provided by the invention, has the advantages that the oscillation can be converged in a shorter time, and the robustness is higher.

This invention discloses an improved integrated winding structure for a bearingless electrically excited doubly salient pole motor, relating to the field of bearingless motor technology. It integrates the levitation winding and excitation winding of a traditional bearingless electrically excited doubly salient pole motor into an integrated levitation winding. A control method is provided to enable the integrated winding configuration of the bearingless electrically excited doubly salient pole motor for power generation and stable levitation. This control method includes a displacement control module, a levitation current calculation module, and a levitation current control module. Stable rotor levitation can be achieved by controlling the levitation winding current. This scheme optimizes the winding arrangement and achieves mutual scheduling of power generation and levitation capabilities through equivalent control. Compared to traditional bearingless doubly salient pole motors, the integrated winding configuration bearingless electrically excited doubly salient pole motor designed in this invention improves the utilization rate of slot space, expands the working range of the bearingless doubly salient pole motor, and its overall operating state is more flexible.

This invention provides a control method for a lower limb exoskeleton rehabilitation robot based on the sliding mode optimization method, belonging to the field of medical rehabilitation robot control technology. The method includes: establishing a two-degree-of-freedom dynamic model of the lower limb exoskeleton rehabilitation robot, and transforming it into a linear state-space model using feedback linearization technology; designing a linear quadratic regulator (LQR) for the linearized model to obtain the optimal feedback gain matrix; constructing an integral sliding surface containing the optimal feedback gain matrix, so that the equivalent control law of the system in the sliding mode possesses the globally optimal dynamic performance of the LQR; and based on adaptive preset time theory, constructing a sliding mode reaching law and an adaptive gain update law containing novel nonlinear functions to generate the final control torque.

The invention provides a water pressing plate self-calibration fault-tolerant control method and system and a computer readable medium, and relates to the technical field of ship stabilization. The self-calibration fault-tolerant control method for the water pressing plate comprises the following steps: S1, acquiring attitude data of a ship and state data of each actuator; s2, calculating according to the attitude data to obtain a current expected control torque vector, and calculating according to the state data to obtain a current equivalent control efficiency matrix; s3, calculating the current health degree of each actuator according to each piece of state data; s4, according to the current expected control torque vector, the current equivalent control efficiency matrix and each current health degree, current control input data of each actuator is obtained through calculation, and the actuator is suitable for driving the corresponding water pressing plate assembly according to the corresponding current control input data; and S5, the steps from S1 to S4 are repeatedly executed till the ship is in the expected pose.

The invention discloses a permanent magnet synchronous motor sensorless control method based on a sliding-mode observer, and the method comprises the steps: collecting the three-phase current and three-phase voltage of a permanent magnet synchronous motor, and converting the three-phase current and three-phase voltage into a two-phase current component and a two-phase voltage component under a static coordinate system; inputting two-phase current and voltage components into a novel sliding mode observer; according to the novel sliding-mode observer, a sinusoidal saturation switching function is adopted to replace a sign function, and a variable gain function based on cooperative control of a speed error and a state variable is adopted; taking the product of the sine type saturation switching function and the variable gain function as an equivalent control quantity to obtain a back electromotive force estimated value; inputting the back electromotive force estimated value into a phase-locked loop structure, and extracting a rotor estimated electrical angular velocity and a rotor estimated position angle through the phase-locked loop structure; and realizing sensorless vector control of the permanent magnet synchronous motor by using the estimated electrical angular velocity and the estimated position angle of the rotor. According to the method, the problem of phase lag is solved, and effective suppression of rotating speed buffeting is realized.

The application discloses a communication-restricted multi-agent tracking control method for trains, which comprises the following steps: S1, for a high-speed train dynamics model, a train formation dynamics model is designed; S2, a non-singular sliding mode surface is designed, which is brought into a dynamics equation, an equivalent control law and a total control law are designed; S3, a fixed threshold strategy is designed based on a control input signal error, and an event trigger condition is constructed; S4, through information interaction of adjacent vehicles, unmeasured states are estimated by using local measurable states, full-state feedback is provided for a controller, and a distributed observer is designed; the application has the beneficial effects that an improved terminal sliding mode surface is designed by using a non-singular terminal sliding mode surface, wherein the non-singular terminal sliding mode surface is a coprime odd number, fraction exponent irreducibility is ensured, periodic oscillation is avoided, and the singularity problem of traditional sliding mode control in time is eliminated by the fraction exponent term.

The invention discloses a permanent magnet synchronous motor sensorless control method for a variable universe fuzzy sliding mode observer, and the method comprises the steps: obtaining an error equation of the stator current of a permanent magnet synchronous motor based on a stator voltage equation of the permanent magnet synchronous motor under a coordinate system; designing a sliding mode surface function as an error of stator current of the permanent magnet synchronous motor, constructing a sliding mode control rate based on a power reaching law and a switching function, and obtaining a back electromotive force according to an equivalent control principle of a sliding mode; acquiring the position and the rotating speed of a rotor; designing a two-dimensional fuzzy controller, and controlling the change of a power reaching rate parameter by adopting fuzzy reasoning and defuzzification processing; designing a discourse domain scaling factor, and adjusting the discourse domain of the input quantity and the output quantity of the two-dimensional fuzzy controller in real time according to the operation state of the system; and dynamically adjusting parameters of the power reaching rate to realize self-adaptive optimization operation of the sliding-mode observer. According to the embodiment of the invention, the buffeting phenomenon of a traditional sliding-mode observer can be inhibited, and the observation precision and robustness of the sliding-mode observer are improved.

The invention relates to the technical field of permanent magnet synchronous motors, in particular to a permanent magnet synchronous linear motor time delay position tracking control method and system. A PMSLM kinematic model considering parameter uncertainty, friction and external disturbance under an orthogonal axis coordinate system is established, and through high-order expansion and same-order equivalent processing, a position tracking error dynamical model is obtained through derivation. And constructing a monotonic error transformation function and introducing nonlinear sliding mode error dynamics to complete the equivalent control law design of the expectation error convergence characteristic. Historical delay input signals are collected by using a system sampling period, and the lumped uncertainty of the system is estimated on line based on a time delay hypothesis. And defining a time delay estimation error, introducing a sliding mode variable and designing an adaptive gain correction term so as to inhibit the influence of the delay estimation error on the dynamic performance of the system. According to the invention, high-precision and low-buffeting position tracking control of the PMSLM servo system under the conditions of uncertain disturbance and time delay is realized, and the servo accuracy of the permanent magnet synchronous linear motor is optimized.

The application provides a urea injection amount control method, device, equipment and medium for a marine diesel engine SCR system. The method comprises the following steps: obtaining NOx conversion error and control parameter value of the marine diesel engine SCR system at a previous moment; determining control parameter value of the marine diesel engine SCR system at a current moment by a sliding mode adaptive controller according to NOx conversion error and control parameter value at the previous moment; and controlling urea injection amount by a PID controller according to the control parameter value at the current moment. X target conversion rate, NOx conversion error and control parameter value at the previous moment X target conversion rate, NOx conversion error and control parameter value at the previous moment X target conversion rate, NOx conversion error and control parameter value at the previous moment X target conversion rate, NOx conversion error and control parameter value at the previous moment X target conversion rate, NOx conversion error and control parameter value at the previous moment X target conversion rate, NOx conversion error and control parameter value at the previous moment X target conversion rate, NOx conversion error and control parameter value at the previous moment X target conversion rate, NOx conversion error and control parameter value at the previous moment X target conversion rate, NOx conversion error and control parameter value at the previous moment The method improves urea injection amount control precision.

This invention discloses a method for optimizing the active power of a virtual synchronous machine connected to the grid based on frequency feedforward compensation. This optimization method, based on the traditional equivalent control block diagram of the active power of a virtual synchronous machine connected to the grid, improves the transient damping of the virtual synchronous machine and its ability to suppress dynamic oscillations of the active power during grid connection by adding a frequency feedforward compensation stage. It solves the problem that the dynamic characteristics of the active power during grid connection and the primary frequency regulation characteristics cannot be simultaneously considered in the process of providing a certain amount of virtual inertia support to the grid during the operation of a traditional virtual synchronous machine connected to the grid. It also has the advantages of not affecting the primary frequency regulation characteristics, simple control parameter design, not increasing the order of the control system, and avoiding overshoot in the output frequency. It is applicable to the field of virtual synchronous machine grid connection control in power electronics technology.

This invention relates to the field of permanent magnet synchronous motor (PMSM) technology, specifically a time-delay control method, system, and medium for PMSLM motors based on adaptive gain dynamics. A dynamic order model of the PMSLM motor position-current dual closed-loop system is established, the position tracking error is defined, and the position error dynamic equation is derived. The desired position tracking error dynamics are designed, and the equivalent control law for time delay is solved based on the equivalent control concept. The system lumped uncertainty is estimated and filtered online using a time delay estimation method, achieving effective compensation for parameter uncertainties, external disturbances, and unmodeled dynamics, resulting in a time delay control law under fixed gain. Adaptive gain dynamics based on Lyapus stability analysis is introduced to achieve online adaptive adjustment of the control gain. This invention realizes servo control and optimization of PMSLM motors based on adaptive gain dynamics, significantly improving the motor's position tracking accuracy, robustness, and adaptability to different operating conditions.

The application discloses a sensorless control method of a permanent magnet synchronous motor based on a sliding mode observer, and comprises the following steps: collecting three-phase currents and three-phase voltages of the permanent magnet synchronous motor and converting the three-phase currents and three-phase voltages into two-phase current components and two-phase voltage components in a stationary coordinate system; inputting the two-phase current components and two-phase voltage components into a novel sliding mode observer; the novel sliding mode observer adopts a sinusoidal saturation switching function to replace a sign function, and adopts a variable gain function based on speed error and state variable cooperative control; taking the product of the sinusoidal saturation switching function and the variable gain function as an equivalent control quantity to obtain an estimated back electromotive force value; inputting the estimated back electromotive force value into a phase-locked loop structure, and extracting an estimated rotor electric angular velocity and an estimated rotor position angle through the phase-locked loop structure; and realizing sensorless vector control of the permanent magnet synchronous motor by using the estimated rotor electric angular velocity and the estimated rotor position angle. The method solves the problem of phase lag and realizes effective suppression of speed chattering.

This invention relates to the field of thermal management technology for explosion-proof electrical equipment, and discloses an explosion-proof enclosure air-driven semiconductor heat dissipation system. The system includes an explosion-proof enclosure with an inner wall semiconductor thermally conductive layer and an aluminum nitride insulating layer sequentially fixedly connected inside. Heating devices are installed inside the enclosure. Semiconductor connectors pass through the side walls of the enclosure, connecting the inner and outer wall semiconductor thermally conductive layers to create a solid-state heat conduction path across the explosion-proof boundary. A fixed multi-directional airflow hood and an explosion-proof flow regulating valve are installed on the outside of the enclosure. A PLC controller calculates the equivalent control temperature based on temperature data collected by multi-node temperature sensors and controls the regulating valve to adjust the airflow entering the hood, performing convective heat transfer to the heat leaving the outer wall. Explosion-proof thermally conductive sealant and mechanical seal components are used to seal the enclosure perforations and interfaces. This invention solves the problem of limited heat dissipation of heating devices in a fully enclosed space without compromising the mechanical explosion-proof integrity of the equipment.

The invention belongs to the field of power system load frequency control, and relates to a cooperative frequency regulation system and method for a multi-zone-area interconnected power system. The method comprises the following steps: acquiring an area control error of each area according to inter-area tie line power deviation and system frequency deviation; constructing a memory output signal based on the historical data of the transformer area state; based on the memory output signal and the system state, utilizing a preset sliding mode surface function and solving according to a sliding mode control theory to obtain an equivalent control signal; and according to the equivalent control signal and a preset participation weight, generating and issuing a control instruction aiming at the traditional generator set, the electric vehicle cluster and the battery energy storage system so as to cooperatively adjust the system frequency. According to the system, cooperative adjustment of various heterogeneous resources in a multi-zone-area interconnection system is realized, the frequency adjustment effect is improved, the adjustment potential evaluation precision is improved, the accuracy and stability of frequency adjustment can be ensured, and the new energy consumption capability and operation flexibility of a power grid are effectively improved.

The application discloses a kind of wind generating set yaw lubrication control mechanism and system, wind generating set yaw lubrication control mechanism designed by the present application, lubricating oil is transported from the main pipe in the delivery pipe by electric lubricating pump, and then from the main pipe to each branch pipe, in this process, the delivery of lubricating oil needs to be regulated, while ensuring the quality of lubrication, avoid assembly resource waste, improve lubrication work economic benefit;And by setting the equivalent control mechanism, the lubricating oil can be delivered quantitatively, so that the single lubrication amount is within the best lubrication range, and the auxiliary mechanism can be set to adsorb and recover the lubricating oil adhered in the equivalent control mechanism, mainly by adsorbing cotton ball for cleaning and adsorption, and it is convenient to replace and recover, avoid unnecessary waste, save resources, improve the overall lubrication work efficiency.

The application provides a random fault-tolerant control method for a rotary steerable drilling tool platform, comprising the following steps: S1, establishing a random high-order full-drive system equation based on the rotary steerable drilling tool platform according to rotary steerable drilling tool platform parameters; S2, designing an equivalent control law according to the random high-order full-drive system structure to obtain a pre-closed-loop rotary steerable drilling platform system with a linear drift term; S3, designing a gain observer on the basis of the pre-closed-loop system to obtain an estimated value of high-order states of the rotary steerable drilling platform; and S4, designing an output feedback control law of the rotary steerable drilling platform system to realize fault-tolerant control. The technical scheme of the application overcomes the problem that the rotary steerable drilling platform system is unstable after a sensor fault occurs in the prior art.

The application discloses an interval type-2 fuzzy sliding mode control method based on a parameter uncertain inverted pendulum system and belongs to the technical field of nonlinear system control, and comprises the following steps: establishing an interval type-2 T-S fuzzy model of the parameter uncertain inverted pendulum system; constructing a sliding mode controller of the parameter uncertain inverted pendulum system based on the interval type-2 T-S fuzzy model; the sliding mode controller comprises a sliding surface, an equivalent controller, a switching controller and a comprehensive controller; the sliding surface is used as the only input variable of the fuzzy controller, the switching gain is dynamically controlled by using a fuzzy logic rule, and the sliding mode controller is optimized into an interval type-2 fuzzy sliding mode controller. The application solves the problem that the prior art cannot ensure that the parameter uncertain inverted pendulum system is stably operated on a sliding surface and is prone to chattering when parameters change and external disturbances occur.

The application provides an aircraft overload control method based on an angle of attack estimation, which firstly installs an accelerometer to measure a longitudinal overload signal and solves an overload-based angle of attack estimation signal according to aerodynamic parameter nominal values, then measures an angular rate signal through a pitch rate gyroscope, and designs a second-order differential filter network to obtain a pitch angle acceleration estimation signal, and then solves an angular rate-based angle of attack estimation signal by using the aerodynamic parameter nominal values; then a large time constant inertial integrator is designed according to an overload error signal to obtain an angle of attack and pitch angle rate related parameter adaptive estimation signal; and a virtual backstepping signal of a rudder deflection angle is composed of an equivalent control signal and an error feedback control signal; a second-order approximate differential signal of the rudder deflection angle is constructed, and saturation limiting, integration and initial value processing are performed to obtain a first-order differential signal of the rudder deflection angle, and finally a rudder deflection angle signal is inversely solved and transmitted to a pitch rudder system to realize tracking of an expected overload instruction signal of the aircraft.

The invention provides a control method and device for a hydroelectric generating set adjusting system. The device comprises a hydroelectric generating set nonlinear model; introducing a dynamic integral variable, and constructing an expansion adjustment output function; performing coordinate transformation on the system containing the expansion regulation output function, and establishing a mapping relation between the virtual control quantity and the actual guide vane control input; designing a sliding mode surface based on the chained integral standard form, and constructing a control law including equivalent control and switching control; performance constraints are introduced, and sliding mode surface parameters are obtained through solving; a control law corresponding to the virtual control quantity is inverted to a physical control space through a mapping relation, and a nonlinear robust sliding mode control signal suitable for the hydroelectric generating set adjusting system is obtained; gain-adjustable parallel superposition is carried out on the nonlinear robust sliding mode control signal and a traditional PID control signal, and a final guide vane opening control instruction is generated to execute control operation. The stability of the hydroelectric generating set adjusting system can be improved.

The application discloses a soft manipulator preset time sliding mode tracking control method and system based on PSO-BP, belongs to the soft robot control technical field, and relates to the following technical scheme: a nonlinear model of a soft manipulator is established, a controlled object model is obtained by rewriting the soft manipulator, and robust right coprime factorization processing is performed to obtain an equivalent control object; a tracking error is constructed, an error integral term is introduced into a sliding mode surface, and an integral sliding mode surface is established; a compound sliding mode control law is designed based on the integral sliding mode surface; a plurality of control gains corresponding to system total convergence time is obtained through simulation; a sample data set of the control gain and the total convergence time is constructed; the sample data set is trained to establish an inverse mapping model of the expected convergence time to the control gain; a target convergence time is inputted to obtain a corresponding control gain, which is substituted into the compound sliding mode control law to generate a driving air pressure control amount. The application has the beneficial effects that a soft manipulator preset time sliding mode tracking control method based on PSO-BP is provided.

The invention relates to the technical field of cooperative control of a wind-water combined power generation system. The invention provides a multi-machine layered sliding mode control method, system and device for a wind-water combined power generation system and a storage medium. The method comprises the following steps: constructing a dynamic mathematical model of a wind and water combined system based on a one-pipe multi-machine hydroelectric generating set mathematical model and a wind generating set mathematical model; setting a sliding mode surface based on the dynamic mathematical model and a sliding mode control theory; deriving the sliding mode surface, substituting the dynamic equations of the mathematical model of the hydroelectric generating set and the mathematical model of the wind generating set into the derived sliding mode surface derivative, and solving to obtain an equivalent control law; based on the equivalent control law, a switching control item is introduced, the equivalent control law is optimized, and a final control law is obtained; and feeding back the final control law to a rotor motion equation of the hydroelectric generating set to realize cooperative control of the wind turbine generator and the hydroelectric generating set. The problems that an existing wind-water combined power generation system is insufficient in cooperative control dynamic response and poor in stability due to wind energy volatility and the hydraulic coupling effect are solved.

This invention discloses a robotic arm trajectory tracking method and system based on interference estimation compensation, belonging to the field of trajectory tracking technology. The method includes: acquiring the desired trajectory information of the robotic arm, including the desired position q. d Based on the given total system disturbance d, a dynamic model of the robotic arm is established to determine the desired angular velocity and angular acceleration. A neural network disturbance observer is designed to estimate the total system disturbance and obtain the estimated system disturbance value y. A super-helical sliding mode controller and a globally non-singular terminal sliding surface s are designed to obtain the equivalent control torque u based on the desired trajectory information of the robotic arm and the given total system disturbance d. eq Based on the system disturbance estimate y and the equivalent control torque u eq This invention obtains the control law u of the robotic arm that satisfies Lyapunov stability analysis, thereby enabling robotic arm trajectory tracking. This invention improves the stability and trajectory tracking performance of the robotic arm system.

The application discloses a high-order sliding mode controller design method and control method of a high-speed train, relates to the field of train control, and comprises the following steps: constructing a first-order sliding mode function with displacement error and speed error as independent variables and constructing a second-order multi-power terminal sliding mode function with the first-order sliding mode function as an independent variable; the second-order multi-power terminal sliding mode function adopts a multi-power structure to adapt to different convergence stages in the sliding mode control; the function value of the second-order multi-power terminal sliding mode function at the next moment is 0; an equivalent control law is derived based on the second-order multi-power terminal sliding mode function and a first tight format dynamic linearization data model; a switching control law is derived according to the second-order multi-power terminal sliding mode function, a reaching law and the first tight format dynamic linearization data model; and the high-order sliding mode controller of the high-speed train is formed by combining the equivalent control law and the switching control law, so that the high-order sliding mode controller which can guarantee the tracking accuracy and the sliding mode chattering suppression of the high-speed train system at the same time can be obtained.

The application discloses a permanent magnet synchronous motor control method of self-adaptive fractional order fast terminal sliding mode. First, a mathematical model of a permanent magnet synchronous motor in a d-q axis rotor rotating coordinate system is constructed; then, a fractional order fast terminal sliding surface is designed, and an equivalent control law of sliding mode control is obtained based on the designed fractional order fast terminal sliding surface; adaptive design is performed on a switching control gain and a boundary layer thickness to obtain an adaptive switching control law; and a total control law is obtained by comprehensively integrating the equivalent control law and the adaptive switching control law. Compared with existing surface-mounted permanent magnet synchronous motor sliding mode control, the application introduces a fractional order fast terminal sliding surface on the basis of a traditional integral sliding mode to reduce system chattering and ensure that tracking error converges within a limited time, and simultaneously designs an adaptive control law of the switching control rate gain and the boundary layer thickness to offset the influence of external disturbance uncertainty and improve the robustness of the system.