553 results about "Load torque" patented technology

The invention provides a control method based on differential rotation speed torque distribution, which relates to the technical field of intelligent control and comprises the following steps: performing difference calculation on an initial input quantity and a preset rotation speed instruction to generate a rotation speed deviation signal and a deviation change rate, and establishing a dynamic membership function library through a fuzzy controller; mapping the rotating speed deviation and the change rate thereof into a fuzzy language variable, performing reasoning operation according to a preset fuzzy control rule base, and outputting a frequency regulation quantity and a torque compensation coefficient of the frequency converter; and reading the generated torque compensation coefficient and shaft system torque values actually measured by the two torquemeters, calculating a dynamic difference value between the current total load torque and the target torque, establishing a torque distribution weight model according to the transmission characteristics of the differential mechanism, and generating differential torque correction instructions of the two motors in combination with the real-time rotating speed values. The control performance of differential drive is improved.

The invention discloses a mechanical transmission system fault trend prediction system based on dynamic feature recognition, and relates to the technical field of mechanical state monitoring. Comprising the following steps: synchronously acquiring a load torque signal and a lubrication state parameter signal of a transmission system and vibration acceleration signals of a plurality of measuring points through a signal acquisition module; the working condition decoupling characteristic generation module carries out time-frequency analysis on the vibration signal, calls a pre-stored load disturbance spectrum template according to a load torque signal to carry out adaptive differential processing so as to eliminate load fluctuation interference, and calls a correction rule set according to a lubrication state parameter signal to carry out form recombination on the signal so as to compensate the lubrication state influence; and finally outputting a working condition decoupling feature representing the health state of the mechanical part. And the trend prediction module calculates and obtains fault development trend and residual life estimation data through a pre-trained fault prediction model. According to the method, the dynamic characteristics representing the essential degradation of the part are effectively extracted, and the accuracy and reliability of fault trend prediction of the mechanical transmission system are improved.

The invention relates to the technical field of industrial automation control, and discloses a water-based paint production and processing equipment control system, which comprises the following steps: acquiring stator current and rotor angular velocity, and reconstructing total load torque by using a sliding mode algorithm; extracting an input power low-frequency component to construct a heat dissipation slow manifold, and calculating a thermal drift disturbance component and an orthogonal residual component through orthogonal projection; on the basis of a two-component generation superposition instruction closed-loop adjustment driving mechanism, a double-time-scale orthogonal projection mechanism is utilized, non-structural thermal drift interference is automatically stripped under the condition that heat transfer parameters of equipment do not need to be predicted, the problem of control divergence caused by model parameter mismatch is solved, and decoupling control over the real rheological state of materials is achieved.

The invention discloses an IADRC and torque compensation fused PMSM speed regulation control method. The method comprises the steps of establishing a mathematical model of a surface-mounted permanent magnet synchronous motor in a rotating coordinate system; an improved Luenberger load torque observer is designed; designing an active disturbance rejection controller; designing an improved super-spiral sliding mode algorithm; and designing an improved speed loop active disturbance rejection controller. The improved Luenberger observer identifies the load torque of the system in real time, and parameters obtained through identification are compensated to the improved active-disturbance-rejection controller, so that system oscillation caused by load change is avoided; a traditional non-linear state error feedback control rate in active disturbance rejection control is combined with a super-spiral sliding mode algorithm, and a new piecewise function is designed and applied to a sliding mode reaching law. According to the method, the response speed and the working efficiency of the system are effectively improved, meanwhile, the anti-interference performance of the system is enhanced, and the robustness of the system is improved.

A multi-body dynamics simulation method, system, device and medium for a chain system, the method comprising: acquiring a connection relationship among a plurality of target components in the chain system, a structure parameter, a space environment parameter and a task parameter of each target component, and a physical property of a lubricating medium of the chain system under the space environment parameter; correcting the structure parameter of each target component based on the space environment parameter to obtain a target structure parameter; based on the target structure parameters and the connection relation, determining friction characteristic indexes and motion freedom degrees among the multiple target assemblies; constructing a lubrication-volatilization-friction coupling matrix among the plurality of target components; constructing a multi-body dynamic model according to the target structure parameters and the lubrication-volatilization-friction coupling matrix; and acquiring a rotating speed fluctuation curve and load torque data corresponding to the task parameters, and inputting the rotating speed fluctuation curve and the load torque data into the multi-body dynamic model to obtain a dynamic simulation result of the chain system. The reliability of multi-body dynamics simulation of the chain system can be improved.

The invention relates to the technical field of integrated control, in particular to a multi-energy valve integrated control method and system.The multi-energy valve integrated control method comprises the steps that operation records of a multi-energy valve are obtained, the energy supply rate, transmission delay and instantaneous pressure variation in each energy mode are calculated, and the displacement change rate and load torque deviation of a valve executing mechanism are obtained; and calculating an execution synchronization error under the multiple energy modes to obtain a multi-energy mode execution synchronization offset. According to the invention, by calculating the energy supply rate, transmission delay and instantaneous pressure variation in various energy modes and combining the displacement change rate and the load torque deviation of the valve actuating mechanism, the control capability of the execution synchronism of the energy modes is improved, and by combining the execution error brought by energy mode conversion, the trigger advance of a control signal is adjusted, so that the control accuracy of the energy modes is improved. The control signal time sequence is corrected, the coordination of energy scheduling is improved, the valve opening adjusting rate is optimized according to the fluid flow speed and pressure data, transient pressure impact is reduced, and the stability of the system is improved.

The invention discloses an automobile EMB system clamping force accurate control method based on an extended state observer, and belongs to the technical field of electric automobile EMB systems, and the method comprises the following steps: S1, building a novel EMB system five-degree-of-freedom dynamic model containing a LuGre friction model by using an EMB system dynamic relationship; s2, simplifying the five-degree-of-freedom dynamic model of the novel EMB system, estimating the load torque of an EMB driving motor according to the extended state observer, and then estimating the clamping force of the EMB system according to the load torque and the simplified five-degree-of-freedom dynamic model of the novel EMB system; and S3, replacing the measured value to be a feedback value of clamping force closed-loop control of the EMB system according to the estimated EMB clamping force, and accurately controlling the clamping force by adopting fuzzy PID control. By the adoption of the automobile EMB system clamping force accurate control method based on the expansion state observer, the problems that a pressure sensor is high in cost and automobile braking performance is prone to being reduced are solved, and clamping force response is accurately controlled through a fuzzy PID closed loop.

The invention relates to the technical field of wind driven generator driving control, and discloses a wind driven generator rotor turning-over driving control method based on torque and rotating speed cooperation, which comprises the following steps: before operation, controlling a motor to execute forward and reverse quasi-static micro-motion, and collecting an average electromagnetic torque; pure gravity and friction components are separated by using torque arithmetic sum and difference, gravity model gain is corrected, and friction compensation is configured; a feed-forward torque is calculated in combination with a real-time angle, and friction compensation and speed loop feedback are superposed to generate a current instruction; according to the method, gravity and friction are decoupled through physical symmetry, model parameter errors are eliminated, hidden dangers of integral lag and out-of-control rotating speed when the variable polarity load passes through a dead point are avoided, and stability and safety of the turnover process of the hundred-ton rotor are ensured.

The invention relates to a tractor test data acquisition and fault diagnosis system, which belongs to the technical field of agricultural machinery, and comprises a multi-source heterogeneous data acquisition module for performing real-time data acquisition on the working state of the whole tractor through a sensor group deployed at a key part of the tractor; collecting a vibration signal measured by an engine body acceleration sensor; acquiring a real-time rotating speed measured by an engine rotating speed sensor; load torque measured by a torque sensor of the power output shaft is collected; the current instruction rotating speed obtained by the vehicle-mounted control unit is collected; the collected original data are transmitted to the dynamic state evaluation module in real time; the dynamic state evaluation module is used for receiving the multi-dimensional data; carrying out fusion analysis on the multi-dimensional data based on an instantaneous impact index model; according to the method, the system obtains the comprehensive and robust perception capability for the risk, the early-stage and composite impact risk can be accurately recognized, and the misjudgment rate caused by single index fluctuation is greatly reduced.

The invention relates to an FOC control method based on an automobile air conditioner module motor without a Hall sensor, and belongs to the technical field of automobile electronics. The method comprises the following steps: injecting double-frequency voltage pulses into a stator in stages to position a rotor; collecting current through a sampling resistor and filtering to construct a rotor flux linkage distribution model, and presetting rectangular axis current in combination with noise reduction of a miniature acoustic sensor and air speed gear of an air conditioner; an extended Kalman filter observer is adopted to reversely deduce the load torque, and the torque change rate is monitored to trigger instantaneous load impact protection; the voltage space vector amplitude is corrected through voltage feed-forward compensation, a resistor-capacitor series filter circuit is additionally arranged, and phase dislocation pulse width modulation is adopted for resisting interference; and establishing a motor efficiency-rotating speed-load three-dimensional optimization method, starting dynamic flux-weakening control, and estimating the winding temperature through the stator resistance to adjust the flux-weakening depth. Accurate starting and dynamic load adaptation of the Hall-sensor-free motor are achieved, starting out-of-step and noise exceeding are avoided, and stable air volume of an automobile air conditioner and long-term reliable operation of the motor are guaranteed.

The invention relates to the technical field of vehicle control, in particular to a torque control method and device of a vehicle transmission system and electronic equipment. The method includes: acquiring actually measured torsion angular velocity; calculating a transmission shaft torsion angular velocity, a transmission shaft torsion angle and a transmission shaft torsion rotating speed based on the actually measured torsion angular velocity; calculating the torque of the transmission shaft based on the pre-obtained equivalent damping coefficient and equivalent torsional rigidity as well as the calculated torsion angular velocity and torsion angle of the transmission shaft; calculating the required torque of the driven shaft based on the calculated torque of the transmission shaft and the pre-obtained load torque of the wheel end; anti-oscillation compensation torque is calculated according to the calculated torsion rotating speed of the transmission shaft and the pre-obtained rotational inertia of the driving end and the equivalent damping coefficient; and superposing the anti-oscillation compensation torque at the previous moment to the calculated required torque of the driven shaft to obtain the compensated required torque of the driven shaft, and outputting the compensated required torque of the driven shaft. The torque can be accurately controlled, and pause or movement is avoided.

The invention relates to the technical field of hoisting equipment intelligent control based on multi-sensor cooperation, and discloses a hoisting equipment intelligent control method based on multi-sensor cooperation. A control unit reads and stores parameters such as air density, windward projection area, wind load arm length, arm section rotational inertia, rated output force of a hydraulic cylinder, sampling period and the like, and static self-inspection and dynamic calibration are performed on a wind speed sensor, a rotary encoder and a pressure sensor respectively; multiple paths of wind speeds are collected in parallel during operation, fused wind speeds are obtained through weighted fusion after abnormities are removed, and the wind load torque is calculated and limited by combining the windward area and the force arm length; reading two continuous encoder angle differences, performing amplitude limiting, calculating an angular velocity and kinetic energy, performing adaptive adjustment according to kinetic energy deviation, and performing amplitude limiting on a damping coefficient to generate a damping torque; and the amplitude-limited wind load torque and damping torque are synthesized into total control torque, and after amplitude limiting, the total control torque is converted into amplitude-limiting hydraulic cylinder operation output force which is issued and executed by a control unit.

The invention discloses a feedforward LADRC rotating speed control method for a reduced-order load torque observer of a permanent magnet synchronous motor. Comprising the steps that a voltage equation and a motion equation of the permanent magnet synchronous motor are established, the motion equation of the permanent magnet synchronous motor is equivalent to a first-order anti-disturbance normal form, a linear active-disturbance-rejection rotating speed controller is established according to the first-order anti-disturbance normal form, and a reduced-order load torque observer is established according to the motion equation of the permanent magnet synchronous motor. The reduced-order load torque observer is combined with a linear active-disturbance-rejection rotating speed controller to obtain a permanent magnet synchronous motor linear active-disturbance-rejection rotating speed control method based on feedforward of the reduced-order load torque observer, so that accurate tracking of a reference rotating speed and effective suppression of high-order nonlinear time-varying load disturbance are realized. And the anti-disturbance performance of the permanent magnet synchronous motor is greatly enhanced.

The invention relates to the technical field of production control, and discloses a control method and system for waterproof material production, and the method comprises the steps: determining a mapping strategy, a traversal strategy or a model strategy based on the relation between all temperature change values and a standard temperature change value, when the mapping strategy is determined, determining a stirring rotating speed according to a temperature change value, and when the traversal strategy is determined, determining the stirring rotating speed; when the strategy is determined to be a traversal strategy, traversing the temperature influence chain in a historical influence set to determine the stirring speed, and when the strategy is determined to be a model strategy, performing fusion based on a sorting result to determine a temperature change influence value, determining the stirring speed based on the temperature change influence value, and determining a stirring load torque curve graph based on a collection time period; according to the relation between the minimum load torque and the load torque, the stirring rotating speed is determined to be adjusted or not adjusted, the stirring rotating speed is adjusted based on the stirring rotating speed adjusting factor, and production is completed according to the adjusted stirring rotating speed. According to the invention, the stability and reliability of waterproof material production are ensured.

The invention relates to the technical field of motor control, and particularly provides a permanent magnet synchronous motor predictive current control method, which comprises the following steps of: establishing a basic mechanism equation of an inner ring and an outer ring in permanent magnet synchronous motor MPCC control, and introducing a lumped disturbance term and a current ripple term into a cost function of the inner ring, the robustness of the MPCC to mismatch of inductance, permanent magnet flux linkage and resistance parameters is improved; and a strong tracking dimension expansion Kalman filtering torque observer is designed on an outer ring, so that the influence of load torque disturbance and sensor measurement noise on the control performance of the motor is reduced. According to the method, the robustness of the MPCC on disturbance such as model internal parameter mismatch and model external uncertain load torque can be enhanced at the same time.

The invention discloses a permanent magnet synchronous motor full-speed-domain position-sensorless hybrid control method and a permanent magnet synchronous motor full-speed-domain position-sensorless hybrid control system, and the permanent magnet synchronous motor full-speed-domain position-sensorless hybrid control method is constructed by taking a permanent magnet synchronous motor nonlinear dynamic system model as a starting point. A hybrid control method combining high-frequency pulsating square wave signal injection under a linear dynamic system model, a rotor polarity judgment and rotor initial position estimation algorithm and an unscented Kalman filtering extension algorithm in an additive noise form under a nonlinear discrete dynamic system model is adopted; and obtaining the optimal estimation observation value of the system state variable in the static, low-speed, medium-speed and high-speed full-speed domain range under the condition that the permanent magnet synchronous motor is not provided with a mechanical position sensor. The optimal estimation observation value is used for compensating and feeding back a permanent magnet synchronous motor drive control system adjusting strategy, disturbance of load torque is improved, the noise amount and disturbance amount introduced by three-phase current measurement are eliminated, and efficient and accurate control operation of the permanent magnet synchronous motor is achieved.

The invention discloses a deep-cone thickener rake frame driving method and system based on a permanent magnet motor, and belongs to the technical field of mine solid waste disposal and filling, and the method comprises the following steps: collecting real-time operation parameters of the permanent magnet motor, the real-time operation parameters including stator current, voltage, rotating speed and output torque; based on the output torque, whether the deep-cone thickener is in a rake pressing state or not is recognized, and when the deep-cone thickener is in the rake pressing state, the reference rotating speed of the permanent magnet motor is controlled to be reduced; the real-time temperature of a stator winding and a rotor permanent magnet area in the permanent magnet motor is obtained, and when the real-time temperature is higher than a preset threshold value, the output power of the permanent magnet motor is controlled; acquiring historical load data of the deep-cone thickener, and modeling the historical load data and the output torque to obtain a historical load-torque model; and constructing a torque change prediction model based on the historical load-torque model, predicting future torque data by using the torque change prediction model, and identifying an impending rake pressing risk.

The invention relates to the technical field of control systems, in particular to a servo driver control system based on multi-modal fusion, and adopts the technical scheme that motor current, rotating speed and load torque signals are acquired in real time through a dynamic parameter identification module, so that the dynamic response speed of the system is increased; an extended state observer (ESO) is adopted to estimate unmodeled dynamics and disturbance through the nonlinear observer module, the observation precision and the real-time performance and adaptability of the system are improved, a hybrid algorithm of fuzzy PID and model predictive control (MPC) is integrated through the adaptive control module, the control precision of the system is improved, and the control precision of the system is improved. The anti-interference compensation module generates a dynamic compensation amount according to the output of the observer, the dynamic compensation amount is injected into a control loop, the anti-interference capability of the system is enhanced, the energy consumption optimization unit adjusts a PWM modulation strategy through an online efficiency optimization algorithm, and the energy efficiency of the system is improved.

The invention discloses an intelligent furniture anti-pinch control method, and particularly relates to the technical field of intelligent furniture, an intelligent furniture overall frame composed of all movable modules is driven through a push rod, so that stretching and folding actions of the intelligent furniture are completed, pressure sensors are arranged at all the movable modules of the intelligent furniture, and the intelligent furniture anti-pinch control method is achieved. Acquiring a pressure value of each activity module of the intelligent furniture; a current sensor is arranged on a power supply or a manual operator of the intelligent furniture to obtain the current current of a motor; a position detection sensor is arranged in the push rod to obtain the mechanical angular displacement of the motor or the stroke of the push rod; the total load torque of the push rod in the stretching and folding process of the intelligent furniture is obtained according to the load torque applied to the push rod by each movable module of the current intelligent furniture; and calculating a normal current value of the motor according to the obtained total load torque and the mechanical angular displacement of the motor, comparing the current current value of the motor with the calculated normal current value of the motor, and judging whether a person or an object is clamped according to an error.

The invention discloses an SPMSM speed regulation control method and system based on reduced-order expansion observation composite passive, and the method comprises the steps: collecting the rotating speed and three-phase current signals of a surface-mounted permanent magnet synchronous motor, and controlling the output of an inverter through a space vector pulse width modulation module through a reduced-order expansion observation composite passive controller, thereby controlling the rotating speed; according to the reduced-order expansion observation composite passive controller, on the basis of a port controlled Hamiltonian model, an interconnection and injection damping distribution method is adopted to set a passive controller, a torque observer is designed to estimate the external load torque in real time when a motor operates, the external load torque is fed forward and compensated to the passive controller, and the torque of the motor is calculated. Meanwhile, a reduced-order expansion observer is designed to estimate total error disturbance between an ideal system and an actual system, and a passive controller is corrected in a feedforward mode. According to the method, the robustness of the surface-mounted permanent magnet synchronous motor speed regulation system to load variation, model parameter uncertainty and unknown disturbance can be effectively enhanced, and stable and efficient control under complex working conditions is realized.

The invention relates to the technical field of electromechanical hydraulic systems, and particularly discloses a low-temperature cold start control method based on high-frequency injection, which comprises the following steps: analyzing a motor state, and carrying out observation and feed-forward compensation on disturbance caused by the motor state to a load torque and a viscosity coefficient through a sliding mode observer algorithm; according to the motor state, obtaining a state equation, constructing an extended sliding mode observer equation, deriving to obtain an observer error equation, and observing the load torque; analyzing the obtained load torque, wherein the motor load torque reflects the oil viscosity; high-frequency current injection, injection frequency control, skin effect enhancement and current amplitude control are carried out in a low-temperature state according to an oil viscosity result, copper loss and a high-frequency magnetic field eddy current effect are used for assisting heat generation, and according to a final oil viscosity result, when electromagnetic heat generation viscosity is reduced and a load is reduced, an injection voltage amplitude is gradually reduced. And after a normal starting condition is reached, switching to normal id = 0 control.

The invention relates to the technical field of program control, in particular to a reamer machining path intelligent optimization method and system based on artificial intelligence, and the method comprises the following steps: collecting a reamer main shaft load torque and a Z-axis feed current in the process that a reamer cuts into a workpiece, and generating a reaming contact area resistance characterization quantity; and mapping the resistance characterization quantity of the reaming contact area to generate a hardness distribution characteristic value of the workpiece material. According to the method, differential operation is carried out on a generated nonlinear track, the acceleration change rate of the nonlinear track is extracted, the dynamic complexity of a motion state is quantitatively evaluated, the dynamic complexity is combined with a contour error predicted by AI, a dynamically weighted feed-forward compensation amount is formed, and when a motion instruction is complex and the system following capability faces challenges, the compensation effect is enhanced; according to the predictive compensation mechanism, active suppression can be carried out before the servo error actually occurs, and the contour tracking precision of a complex nonlinear instruction is improved.

The invention discloses a motor testing device and a calibration method, a testing method and equipment thereof, and relates to the technical field of motor performance tests.A control assembly of the motor testing device is in communication connection with a torsion calibration device under the conditions that the motor testing device is in communication connection with the torsion calibration device, and a test calibration end is in transmission connection with the torsion calibration device; controlling the torque calibration device to output torque to the test calibration end, acquiring a torque value detected by the torque detection piece when the output torque of the torque calibration device reaches target calibration torque, and calibrating the torque detection piece according to a difference value between the detected torque value and the target calibration torque; under the condition that the motor testing device is electrically connected with the to-be-tested motor and the testing calibration end is in transmission connection with the to-be-tested motor, the controllable load part is controlled to output preset load torque to the torsion shaft and output preset electrical parameters to the to-be-tested motor, and torques detected by the torque detection part under different preset electrical parameters are obtained; according to the invention, the precision of motor small torque testing can be improved.

A method for controlling a DC brush motor includes: determining a speed difference signal based on a difference between a speed command signal and a motor speed; determining an initial voltage command based on the speed difference signal; determining a final voltage command based on the initial voltage command; applying a DC voltage based on the final voltage command to cause the DC brush motor to rotate a lead screw and move a load along a path; determining a disturbance torque; and compensating for the disturbance torque by at least one of: determining a feedforward voltage command based on a position of the load along the path and determining the final voltage command as the sum of the initial voltage command and the feedforward voltage command;or determining a speed compensation signal based on the disturbance torque and determining the speed difference signal further based on the speed compensation signal.;

The invention relates to a side-hung rotating platform real-time counterweight device, a side-hung rotating platform and a control method, and belongs to the technical field of automation equipment. According to the application, the eccentric load torque of the load is monitored in real time, and the counterweight assembly driven by the linear motor is controlled to move according to the eccentric load torque, so that the counterweight force arm is dynamically adjusted, and the reverse counterweight torque is accurately generated to counteract the eccentric load torque. And when the movement compensation is insufficient, the number of the balancing weights can be increased, so that the balancing weight quality is improved. The motion precision can be effectively improved, the equipment is protected, and the stability is improved.

The invention relates to the technical field of vibration monitoring, in particular to a rotating machine vibration protection method and system based on particle swarm optimization, and the method comprises the steps: obtaining a corrected load torque based on a polynomial fitting temperature compensation algorithm in combination with a real-time environment temperature and a sensor output voltage, and synchronously calculating an actually measured vibration amplitude; configuring the number of variational mode decomposition layers according to the real-time rotating speed of the rotor to obtain a preprocessed vibration signal, adjusting the number of independent component analysis iterations according to the load torque, separating the preprocessed vibration signal to obtain independent vibration components, and generating a feature vector; calibrating adaptive resonance theory network parameters based on a particle swarm optimization algorithm, obtaining a normalized feature vector, calculating the similarity with a fault feature template, outputting a diagnosis result, calculating the deviation between an actually measured vibration amplitude and a normal vibration threshold, and performing compensation according to the diagnosis result and the deviation. According to the scheme, the fault diagnosis accuracy of the rotary mechanical vibration protection system is effectively improved through multi-working-condition self-adaptive diagnosis.

The invention relates to the technical field of kitchen appliance control, and discloses a chef machine and a control method thereof. According to the method, a stirring mode instruction is received through an operation interface, and a stirring mode comprises a preset non-constant-speed double-linkage mode and corresponds to a plurality of transmission gear ratio parameters; according to the transmission gear ratio parameter, determining a target rotating speed ratio of a driving motor for driving a stirring head to a stirring barrel base; if it is detected that the stirring head and the upper transmission shaft are in a connected state and the stirring barrel is fixed, calculating the output rotating speed and torque parameters of the driving motor based on the target rotating speed ratio; generating a driving instruction according to the output rotating speed and the torque parameter and sending to a driving motor; in the running process of the driving motor, motor current and rotating speed sensor data are collected in real time, if it is detected that load torque exceeds a preset safety threshold value, motor output power is reduced or running is stopped, and overload alarm is triggered; if it is detected that the rotating buckle of the stirring barrel base and the machine base is loosened, the driving motor and the electromagnetic heating are stopped.

The invention belongs to the technical field of direct-current synchronous motor control, and particularly relates to a PMSM improved sliding mode control system and method based on a two-section type dynamic boundary layer, in the aspect of rotating speed control, a rotating speed ring terminal sliding mode controller is introduced, related items of load torque and mechanical angular speed are combined into total disturbance, a nonlinear terminal sliding mode surface is selected, and the total disturbance is calculated. The problem that nonlinear disturbance cannot be effectively processed through traditional PI rotating speed control can be solved, finite time convergence of PMSM speed tracking errors is achieved, and meanwhile system buffeting is effectively reduced. In the aspect of current control, an improved sliding-mode observer is obtained according to a two-section quasi sliding-mode surface and an exponential reaching law design based on a terminal saturation function, so that the observation steady-state error of dq-axis back electromotive force is effectively eliminated, high-frequency buffeting in a sliding-mode reaching stage is effectively reduced, and the steady-state and dynamic performance of a system under electrical parameter mismatch is improved.

The invention discloses an icebreaker propulsion control system and method based on self-adaptive power and rotating speed cooperation, and the method comprises the steps: inputting the operation state of an electric propulsion system, and carrying out the dynamic balance adjustment of a working point of a permanent magnet synchronous motor through a self-adaptive operation point cooperation optimization control module; the balance optimization result is evaluated through the operation index evaluation module; after balance adjustment is completed, an operation point anti-interference control module carries out anti-interference control on the dynamic working point, and periodic load disturbance is relieved; after the anti-interference control is completed, the inverter control module controls the inverter through torque direct control and space voltage vector modulation; and outputting an optimized real-time control instruction of the electric propulsion system to realize final adjustment. By the adoption of the method, the flexible adjusting capacity and the operation range of the propelling system are improved, power and speed fluctuation under load torque sudden change is effectively relieved, system efficiency and safety are improved, and a key solution is provided for technical upgrading of polar region shipping equipment.

The invention aims to provide a virtual simulation method of a diesel engine movement mechanism considering rotation speed fluctuation. The method comprises the following steps: acquiring structure and material parameters of a valve mechanism, acquiring contact parameters of the valve mechanism, acquiring cam lift data, acquiring rigidity damping parameters and structure parameters of a gear transmission system, and acquiring cylinder pressure data. The output torque of a gas distribution unit, the angular acceleration of a cam shaft and the angular acceleration and torque of each gear are predicted respectively, the load torque state is judged, the crankshaft rotation angular acceleration is predicted, and the crankshaft dynamic angular velocity and the angular velocity fluctuation quantity are calculated. All motion mechanisms of the diesel engine are included, all kinetic parameters of the motion mechanisms of the diesel engine can be predicted, and the prediction result is complete. The influence of crankshaft rotating speed fluctuation caused by the load on the kinetic parameters of the diesel engine movement mechanism is considered, and the prediction result better conforms to engineering practice. Complex mathematical theories are not needed, a common numerical method can be adopted for solving, the calculation scale is small, and the calculation speed is high.