180 results about "Motor model" patented technology

The invention relates to the technical field of servo control, in particular to a high-precision current closed-loop control system and method for a servo driver, and the method comprises the steps: collecting three-phase current, rotor position, winding temperature and bus voltage, and constructing a state data set; constructing a parameter identification model fusing physical prior and an attention mechanism, deducing inductance and flux linkage parameters influenced by temperature, saturation and cross coupling, and correcting a motor model in real time; the correction parameters are injected into an FOC decoupling and feedforward link, and a self-adaptive PI regulator is linked to set the gain of a current loop on line; calculating a d-q axis voltage command according to the update model to respectively control excitation and torque components; an extended state observer is introduced to estimate load abrupt change and parameter disturbance, feed-forward compensation is carried out, and three-phase PWM is generated through anti-Parker and SVPWM; and an inverter nonlinear compensation model of a dead zone and switch delay is constructed, PWM is pre-distorted and output to a power device, and robust and low-ripple current closed-loop control of the servo motor is realized.

The method comprises the following steps: judging whether each wheel clamping force sensor works normally, if so, directly obtaining a brake clamping force as a final brake clamping force, if not, obtaining a first brake clamping force through a motor model, and if not, obtaining a second brake clamping force through a motor model; second brake clamping force is obtained through the brake friction plate model, and fusion is conducted through the fuzzy logic weight algorithm to obtain final brake clamping force; judging whether the wheel has a locking risk or not, if not, calculating the current ground longitudinal force of the wheel according to a kinetic model of the wheel, if so, triggering longitudinal force locking logic, and acquiring the current locking ground longitudinal force as the current ground longitudinal force of the wheel; calculating the current utilization adhesion coefficient of each wheel in combination with the vertical force; and determining the road surface type of the vehicle by using a fuzzy rule based on the adhesion coefficient of each wheel. According to the invention, the problem of low identification precision is solved.

The invention provides a motor parameter online identification method based on an improved golden section method, and belongs to the technical field of motor parameter identification, and the method comprises the steps: S1, obtaining a residual function of a recursive least square method with a forgetting factor when parameter identification is not carried out on a motor model for the first time; s2, detecting whether the residual function exceeds a preset threshold value or not, and executing a step S3 when the residual function exceeds the preset threshold value; s3, taking the residual function as a target function, and adjusting the forgetting factor by using a golden section method to obtain an optimized forgetting factor; and S4, carrying out motor parameter online identification by using a recursive least square method with the optimized forgetting factor. The method has the advantages that the forgetting factor is dynamically adjusted through the golden section method, the residual function serves as the target function, the optimal solution of the forgetting factor under the corresponding working condition can be found when the system changes rapidly, the tracking speed is increased, the steady-state precision is further improved, and therefore the overall performance of parameter identification is improved.

The invention discloses an encoder delay compensation method and system and a related device, which are used for effectively compensating angle lag caused by encoder signal processing delay in different rotating speed ranges and improving the control performance of a motor. The method comprises the following steps: under the steady-state condition of constant-speed no-load operation of a motor, acquiring current and electrical angular velocity in a motor controller and first voltage output by a control loop; calculating a second voltage based on a motor model according to the current, the electrical angular velocity and the motor operation parameters; calculating an initial angle deviation of the encoder according to the first voltage and the second voltage; performing iterative adjustment on the initial angle deviation until the difference value between the first voltage and the second voltage meets a preset error threshold value; establishing a fitting model according to the at least two groups of electrical angular velocities and the corresponding angular deviation data to obtain a compensation coefficient; and when the motor runs, performing delay compensation on the output angle of the encoder according to the compensation coefficient and the real-time electrical angular velocity.

The invention discloses a deadbeat predictive current control method based on a composite disturbance observer, and belongs to the technical field of dual three-phase permanent magnet motor control. The dual three-phase permanent magnet motor is composed of two sets of stator three-phase windings, and the space phase shift angle is 30 degrees. The method comprises the following steps: establishing a discretized motor model containing total disturbance under a double-dq coordinate system; a composite disturbance observer is designed, and direct current disturbance and alternating current disturbance are synchronously estimated through a second-order disturbance expansion state observer embedded into a generalized integrator; and performing feed-forward compensation by using the disturbance estimation value, and calculating a voltage control quantity in combination with deadbeat prediction. By introducing the second-order disturbance expansion state observer and the generalized integrator, synchronous compensation of direct current disturbance and alternating current disturbance is realized, so that current harmonics are effectively reduced, and the current waveform quality is improved. Meanwhile, complete decoupling of the current control loop and the disturbance suppression loop is realized. In addition, the method still shows high robustness under the condition of motor parameter mismatch.

The invention discloses a model prediction control method for a low-common-mode-voltage dual three-phase motor with improved steady-state performance, and belongs to the technical field of dual three-phase permanent magnet synchronous motor control. The method comprises the following steps: firstly, suppressing harmonic current by synthesizing virtual voltage vectors with a specific duty ratio, and synthesizing a candidate output voltage vector by using two adjacent virtual voltage vectors according to a predefined duty ratio; designing a value function without a weight coefficient to select an optimal voltage vector; designing a dual duty ratio technology to calculate the duty ratios of the two virtual voltage vectors for synthesizing the optimal voltage vector; a specific switching sequence in which virtual zero vectors are arranged on two sides and in the middle of a control period is designed, and the switching sequence is generated by using a phase-shifting carrier method. According to the invention, the common-mode voltage can be effectively reduced without adding any hardware circuit, the current harmonic wave and the torque ripple are obviously reduced by expanding the modulation range, the steady-state performance of the system is improved, and the method is suitable for a dual three-phase motor driving system with high requirements on performance and reliability.

The invention relates to the field of airplane airborne pod servo control algorithm design, and provides a method and a system for calculating external force disturbance resistance according to current feedback of a servo motor. The method comprises the steps that three-phase currents Ia, Ib and Ic and an electrical angle theta are collected, two-phase currents Id and Iq are obtained through Clarke conversion and Park conversion, and the Iq is defined as an external force disturbance resistance estimator IQ; establishing a set value r (t) and a deviation e (t) = r (t)-IQ, calculating an output u (t) of a PID controller, and writing the u (t) as a q-axis control reference into a driver: mapping to Vq and Vd in a voltage control mode for inverse transformation and PWM modulation, mapping to q-axis current reference Iqref in a current control mode, converting the q-axis current reference Iqref into a corresponding voltage instruction by a driver current loop, and driving a servo motor to generate an electromagnetic torque for counteracting disturbance and reactance. A complex motor model and a high-end inertial sensor are not needed, the calculation amount is small, disturbance can be rapidly and accurately estimated, and the stable control performance of the aircraft pod in a complex flight environment is guaranteed.

The invention provides a driving anti-slip control method, device and equipment for an electrically driven vehicle based on road surface recognition and a medium. The method comprises the following steps: establishing a vehicle system model comprising a single-wheel dynamics model and a motor model; a road surface recognizer is constructed based on the Burckhardt tire mathematical model and similar road surface matching, the road surface recognizer adopts a double-layer screening strategy to carry out similar road surface matching, and the optimal slip rate and the maximum road surface adhesion coefficient of the current road surface are recognized through the road surface recognizer; a composite PID-SMC controller is constructed based on the optimal slip rate and the real-time slip rate of the wheels; based on the slip rate error, a smooth switching function is adopted to determine the weight factor of a sliding mode controller, the total anti-slip correction torque is calculated, and the weights of the two controllers are adaptively adjusted for smooth control, so that the technical problem that the buffeting phenomenon is still difficult to completely eliminate under high-gain switching of the distributed electric drive vehicle is solved.

This invention discloses a dynamic weighted adaptive predictive control method and apparatus based on twin model fidelity feedback. The method includes: establishing a digital twin model of the motor to obtain the predicted current of the motor's future state, addressing the impact of motor model uncertainty and time-varying parameters on control performance; calculating the prediction fidelity of the motor's digital twin model in real time based on the predicted current and the measured current of the motor; dynamically adjusting weight factors using a fuzzy logic decision system based on the motor's real-time operating conditions and the prediction fidelity to achieve switching of the control objective; calculating the optimal voltage vector corresponding to minimizing the cost function using model predictive control theory based on the predicted current and the dynamically adjusted weight factors; and achieving operation of the permanent magnet synchronous motor at low switching frequencies based on the optimal voltage vector. This invention can effectively compensate for control delay and model uncertainty at low switching frequencies, significantly improving the high dynamic response performance and robustness of the permanent magnet synchronous motor.

A method for controlling operation of a brushless winch motor includes comparing an actual first-moment operating parameter with a predicted first-moment operating parameter in first predicted operating data to obtain a first offset, outputting a first feedback parameter based on the first offset and a motor model and adjusting operation of the winch motor based on the first feedback parameter, obtaining an actual second-moment operating parameter of the adjusted winch motor, and comparing the actual second-moment operating parameter and the predicted second-moment operating parameter to obtain a second offset, correcting the operating model of the winch motor based on the second offset, outputting the predicted second-moment operating data based on the corrected operating model of the winch motor and adjusting motor operation based on a difference between the actual operating parameter of the winch motor and the predicted second-moment operating data as a second feedback parameter.

The application discloses a kind of closed space temperature rise evaluation method and device of Stirling with cylindrical linear motor, method includes: building motor model;According to the fluid domain model of closed space obtained from motor model;According to the convection heat dissipation coefficient obtained by CFD simulation of fluid domain model;Obtain the loss and heat generation rate of heat source component;According to motor model, fluid domain model and loss and heat generation rate, obtain first model;Based on the first condition, steady-state thermal simulation is carried out according to first model, and steady-state temperature distribution is obtained;First condition includes eliminating the convection heat dissipation of cylindrical linear motor and fluid domain contact surface;The convection heat dissipation coefficient is introduced into first model, and second model is obtained;With steady-state temperature distribution as initial temperature distribution, according to second model, transient thermal simulation is carried out, and simulation result is used as initial temperature distribution of next time step transient thermal simulation, until the calculation of preset maximum time step is completed, and the motor operating temperature rise is obtained.

The application discloses an improved flux linkage observer position sensor observation method and system, comprising the following steps: constructing a motor model, and estimating a flux linkage vector; performing amplitude normalization processing on the flux linkage vector, and constructing a quadrature error signal; inputting a phase-locked loop, and obtaining a motor angle and a motor estimated rotating speed. The application has high adaptability, is small in system dependence degree, and is convenient to transplant in different systems.

1. Name of the product in this design: Motor (Model XG80H). 2. Purpose of this design: This motor is used to drive a hydraulic oil pump. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

This invention relates to the field of servo control algorithm design for aircraft airborne pods, providing a method and system for calculating external disturbance reactance based on servo motor current feedback. The method acquires three-phase currents Ia, Ib, and Ic, and electrical angle θ, and obtains two-phase currents Id and Iq through Clarke and Park transforms, defining Iq as the external disturbance reactance estimate IQ. A setpoint r(t) and deviation e(t) = r(t) - IQ are established, and the PID controller output u(t) is calculated. u(t) is used as the q-axis control reference and written to the driver. In voltage control mode, it is mapped to Vq and Vd for inverse transformation and PWM modulation; in current control mode, it is mapped to the q-axis current reference Iqref and converted into corresponding voltage commands by the driver's current loop, driving the servo motor to generate electromagnetic torque to cancel out disturbance reactance. This invention eliminates the need for complex motor models and high-end inertial sensors, has low computational complexity, and can quickly and accurately estimate disturbances, ensuring stable control performance of the aircraft pod in complex flight environments.

The utility model discloses a fishpond aerator which comprises a driving system, a transmission mechanism, an aeration assembly, a connecting assembly and a buoyancy device. The lower end of the driving system is connected with the transmission mechanism, the connecting assembly is arranged on the periphery of the transmission mechanism, and the buoyancy device is arranged at the outer end of the connecting assembly. The oxygenation assembly is mounted at the bottom end of the transmission mechanism; the driving system comprises an outer housing, an outer rotor assembly, an inner stator assembly, a motor shaft and a supporting assembly; the inner stator assembly sleeves and is fixed on the motor shaft, and the bottom of the inner stator assembly is connected with the supporting assembly; the outer rotor assembly sleeves the motor shaft and wraps the periphery of the inner stator assembly; and the outer housing is arranged on the outermost side of the driving system. Through reasonable optimization of motor model selection and overall structure design, unnecessary material consumption and processing technology complexity are reduced, so that the production cost of equipment is effectively reduced, and the market competitiveness is improved.

The application belongs to the technical field of motor control, and discloses a motor model prediction control method based on asymmetric hybrid vector pulse width modulation. Six sectors of a space voltage vector are divided into odd sectors and even sectors. In the odd sectors, only zero vectors and corresponding non-zero effective vectors are used for two-stage asymmetric synthesis, so that switching state changes only occur once in a period. In the even sectors, three-stage asymmetric synthesis is performed on non-zero effective vectors in the sector, non-zero effective vectors in adjacent odd sectors selected by a cost function and zero vectors, so that current tracking performance is ensured while unnecessary switching actions are avoided. Through the above manner, targeted control of switching times in different sectors is realized, and the average switching frequency is reduced. In the even sectors, optimization is performed between non-zero effective vectors in adjacent odd sectors, so that current prediction errors are further optimized without significantly increasing switching times, and current performance is ensured.

The invention discloses a dual three-phase permanent magnet synchronous motor parameter identification method and a related device, and the method comprises the steps: determining a voltage basic equation and a flux linkage basic equation of a dual three-phase permanent magnet synchronous motor, and a dual-dq six-dimensional transformation matrix and a vector space decoupling rotation transformation matrix; integrating the two basic equations by using a double-dq six-dimensional transformation matrix to obtain a first motor model under a double-dq coordinate system, integrating the two basic equations by using a vector space decoupling rotation transformation matrix to obtain a second motor model under a vector space decoupling coordinate system, and performing parameter unification on the two motor models to obtain a full-rank equation set; and the parameter identification of the dual three-phase permanent magnet synchronous motor is completed by solving the full-rank equation set. According to the method, the simultaneous identification of various parameters of the dual three-phase permanent magnet synchronous motor is realized by unifying the motor parameters of the first motor model of the dual three-phase permanent magnet synchronous motor under the dual dq coordinate system and the second motor model of the dual three-phase permanent magnet synchronous motor under the vector space decoupling coordinate system and constructing the full-rank equation set.

This utility model discloses a motor housing explosion-proof pressure-resistant testing device, including a base and two mounting mechanisms mounted on the base. Each mounting mechanism includes a transverse groove vertically extending along the length of the base on one side of its upper surface. A threaded rod is laterally rotatably connected to the middle of the inner surface of the groove, and a threaded sleeve is threadedly connected to the outer surface of the threaded rod. A slider adapted to the length of the groove is slidably connected inside the transverse groove. A through groove adapted to the threaded sleeve is laterally extended through the middle of the side surface of the slider, and the threaded sleeve is vertically slidably connected inside the through groove. Bolt slots extending along the length of the base are vertically extended through the upper surface of the slider and at both ends of the threaded rod. This device features two mounting mechanisms on the base, with elongated bolt slots on the sliders of both mechanisms, and both sliders are capable of lateral movement. This allows the device to adapt to various motor models, thereby improving its versatility.

The invention relates to the technical field of aviation propulsion, in particular to a distributed electric propulsion system combined test platform. The device is used for exploring power layout combination design, and a plurality of propelling unit combination modules are connected in series and loaded to form a wing pneumatic structure. According to the combination module, parameters such as position distribution and power source size can be changed, the combination mode is not affected, and more distributed electric propulsion power layout combination conditions can be explored. In addition, a traditional bent knife support is combined for half-model experiment support design, and the problem that due to the limitation of wind tunnel size and motor model selection, design limitation is generated on the wing length of wings of the distributed electric propulsion system is solved. According to the invention, the problem that the pneumatic test is affected due to the complex combination scheme and the limited test space size existing in the distributed electric propulsion power configuration research is solved.

The invention provides a fault-tolerant control method and system for a local demagnetization fault of a permanent magnet motor based on parameter robust model predictive control, and the method is characterized in that the method comprises the steps: carrying out the super-localization processing of a permanent magnet motor model after the local demagnetization fault, and obtaining a super-localization model; a generalized proportional-integral observer is designed, and lumped disturbance caused by demagnetization is estimated in real time and subjected to feedforward compensation; voltage and current data of adjacent sampling periods are used as real-time updating of super-local model gain, estimated values of current and disturbance are obtained from a generalized proportional-integral observer, and online self-tuning of input gain is achieved. According to the method, super localization is carried out on a motor model after a fault, unbiased estimation is carried out on disturbance introduced by the fault and a high-order derivative thereof through a generalized proportional-integral demagnetization disturbance observer, and input gain in the super localization model can be calculated in real time only by utilizing voltage and current data of two continuous periods through an input gain self-tuning algorithm. And the operation quality of the motor and the robust performance after the fault are improved.

The invention belongs to the technical field of motor control, and discloses a motor model prediction control method based on asymmetric hybrid vector pulse width modulation. Six sectors of a space voltage vector are divided into odd number sectors and even number sectors. In a singular sector, only a zero vector and a corresponding non-zero effective vector are adopted to perform two-section asymmetric synthesis, so that only one switching state change occurs in one period; in an even number sector, a non-zero effective vector in the sector, a non-zero effective vector in an adjacent odd number sector screened by a cost function and a zero vector are adopted to carry out three-section type asymmetric synthesis, and unnecessary switching actions are avoided while the current tracking performance is ensured. By means of the method, targeted control over the switching times is achieved in different sectors, and the average switching frequency is reduced. In the even-number sectors, optimization is carried out between the non-zero effective vectors of the adjacent odd-number sectors, the current prediction error is further optimized under the condition that the switching frequency is not obviously increased, and the current performance is ensured.

The utility model discloses a motor box, and relates to the field of motor boxes, the motor box comprises a box main body, the side wall of a connecting part is provided with an adjusting mechanism, through the above structure arrangement, the motor box can drive a fixed sliding block to vertically move through a threaded rod by means of a rotary knob, so that the fixed sliding block is driven to be clamped with a vertical sliding block and the bottom of a fixed part; the top of the horizontal sliding block is attached to the bottom of the sliding strip, so that the horizontal sliding block and the vertical sliding block are clamped and fixed through continuous rotation, and the periphery of the motor is fixed in a surrounding mode through mutual cooperation of the sliding strip, the sliding shell, the fixed shell and the auxiliary strip. When the box body is partially vibrated, the whole shell cannot fall off, and the distance between the fixed plate and the sliding plate can be adjusted, so that the box body can adapt to models of motors with different sizes, the application range of the box body is widened, the application range of the box body is widened, and the adaptability of the box body and motor parts is improved.

The application provides a permanent magnet motor local demagnetization fault tolerance control method and system based on a parameter robust model predictive control, and is characterized in that the permanent magnet motor model after local demagnetization fault is subjected to super-localization processing to obtain a super-local model; a generalized proportional integral observer is designed to estimate and feed forward compensate the lumped disturbance caused by demagnetization in real time; the voltage and current data of adjacent sampling periods are used as real-time updates of the super-local model gain, the estimated values of the current and disturbance are obtained from the generalized proportional integral observer, and input gain online self-tuning is realized. The motor model after the fault is subjected to super-localization, the disturbance and high-order derivatives introduced by the fault are unbiasedly estimated through the generalized proportional integral demagnetization disturbance observer, and through the input gain self-tuning algorithm, the input gain in the super-local model can be calculated in real time only by using the voltage and current data of two continuous periods, so that the motor operation quality and the robust performance after the fault are improved.

The present application belongs to the field of structure design control, and relates to a wide-range efficient low-noise control method based on structure electrical control collaborative matching. The method comprises: constructing a multi-rotor unmanned aerial vehicle maneuvering model; constructing four maneuvering models of propeller model, motor model, electronic speed controller model and battery model according to environmental information, propeller parameters, motor parameters, electronic speed controller parameters and battery parameters; correcting the maneuvering model; modeling analysis and correcting the battery model in the maneuvering model according to the influence of different temperatures on the battery performance, and then iteratively correcting the battery parameters to realize electrical control collaborative matching. The method provided by the present application updates the multi-rotor unmanned aerial vehicle maneuvering model according to environmental factors, iteratively corrects different propeller and battery parameters to realize electrical control collaborative matching, and finally realizes robust application at a wide-range altitude of 0-5000 meters.

The application relates to the motor technical field and is a method for changing the slot torque of a permanent magnet synchronous motor. First, a slot torque expression based on an energy method is established, and a distribution function relationship expression before and after the change of the air gap length is derived; second, a motor model is established, the tooth crest height is changed, the air gap length is increased, and the slot torque is weakened; finally, the air gap length of the motor is further optimized through arc cutting of the tooth tip, and the slot torque is further weakened. Since the motor also affects other performances during optimization, the output torque and loss before and after optimization are compared and analyzed, the output torque is reduced, the loss is increased by less than 0.5%, and the efficiency and power of the motor are ensured.

This invention relates to a drive control method and system for a micro motor, belonging to the field of intelligent control. The method includes: acquiring real-time sound signals and the motor model during micro motor operation; obtaining a reference sound signal based on the motor model; comparing the real-time sound signal with the reference sound signal to determine if there is a sound anomaly in the micro motor; if a sound anomaly is determined, obtaining abnormal acoustic signature features and sound acquisition location information based on the real-time sound signal; combining the abnormal acoustic signature features and sound acquisition location information to locate the specific anomaly location; matching the anomaly handling method according to the specific anomaly location and abnormal acoustic signature features, and controlling a preset actuator to perform the corresponding processing operation according to the anomaly handling method, while simultaneously reporting a sound anomaly handling prompt. This application has the effect of improving the timeliness of fault early warning.

The invention discloses a doubly-fed motor loss and temperature simulation system and method based on finite elements, and belongs to the technical field of motor simulation, and the system comprises a model construction module which is used for constructing a 3D motor model of a motor, carrying out the motion domain setting and rotor speed setting of the 3D motor model, and carrying out the current excitation of a winding of the 3D motor model; the first grid division module is used for carrying out surface layered grid division on a winding of the 3D motor model and calculating the layer grid depth; the loss set total value is used for dividing a winding in the 3D motor model into a plurality of winding areas, and the loss set total value of each winding area is obtained; the loss simulation module calculates the equivalent alternating-current resistance of the winding based on the loss set total value, and calculates the iron core loss in the motor based on the equivalent alternating-current resistance; the second mesh generation module is used for importing the 3D motor model into PeraSim and performing mesh generation on the 3D motor model; and the fluid thermal simulation module performs motor fluid thermal simulation by using the k-e turbulence model.

The application discloses a tension anti-interference control method based on an event triggering mechanism, which comprises the following steps: S1, a surface-mounted permanent magnet synchronous servo motor model is established, and a mathematical model is described to obtain state variables in a speed loop, a current loop, speed and position output of the motor; S2, the obtained data is analyzed to design a sliding mode controller and a fractional order PID controller; S3, a disturbance observer is designed to estimate and compensate the disturbance in the system through the state variables of the double loop, and the robustness of the system is improved; S4, an event triggering mechanism based on nonlinear sliding mode control is designed to reduce the calculation amount of the sliding mode control, reduce the operation demand of the overall system, and complete the control target. The application not only improves the accuracy and response speed of motor control, but also improves the energy efficiency ratio and application range of the system by reducing the calculation amount and optimizing the control algorithm; in the application occasion of high-precision tension control, the stability of the production process and the quality of the product can be remarkably improved.

The invention belongs to the technical field of unmanned aerial vehicle power systems, and discloses an unmanned aerial vehicle power system and an observation method based on a set membership filtering algorithm, and the method comprises the steps: firstly carrying out the modeling of an electric power part of the unmanned aerial vehicle power system, building a motor model under a static coordinate, and then building a motor state space model and an observer model; modeling errors in the observer model, limiting the errors in an ellipsoid set, establishing an error system comprising noise variables, obtaining a recursive relation of errors at adjacent moments, solving and obtaining gains of a filter in the observer model, and realizing dynamic updating of the gains of the observer, thereby realizing high-precision observation of the unmanned aerial vehicle power system. According to the method, the observer of the unmanned aerial vehicle power system is constructed based on the set membership theory, so that better observation performance is realized under the condition of time-varying model parameters, meanwhile, modeling is performed on noise inside a motor, unknown but bounded noise characteristics are described by using an ellipsoid set, and the observation precision in a noise environment is improved.

The invention discloses a demagnetization diagnosis method and system based on a multi-cascade expansion observer, and relates to the technical field of permanent magnet motor control. The method comprises a data acquisition step, a coordinate conversion step, a motor model construction step, a state equation definition step, an ESO model construction step, an inductance identification step and a demagnetization fault diagnosis step. The system is simplified while high observation precision is guaranteed, the requirement for parameter adjustment is lowered, and the method is worthy of deep research.