285 results about "Speed loop" patented technology

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.

The invention discloses a hybrid effective flux linkage observer and a permanent magnet synchronous motor control method, device and system. The method comprises the following steps: carrying out Clarke conversion on an obtained three-phase current of the permanent magnet synchronous motor to obtain a current in a static coordinate system, and carrying out park conversion based on rotor position information to obtain a current in a synchronous rotating coordinate system; the effective flux linkage of the permanent magnet synchronous motor is obtained through the hybrid effective flux linkage observer; on the basis of the obtained effective flux linkage of the permanent magnet synchronous motor, dead-zone compensation voltage is obtained through self-adaptive gain dead-zone compensation calculation based on back electromotive force reconstruction, and the rotating speed and the rotor position of the permanent magnet synchronous motor are obtained through phase-locked loop calculation; according to the rotating speed and the rotor position of the permanent magnet synchronous motor, the current under the synchronous rotating coordinate system, the dead zone compensation voltage and the obtained reference rotating speed and reference current, the reference voltage of the motor at the k moment is obtained through a rotating speed loop and a current loop and used for achieving low-speed position-sensorless control over the permanent magnet synchronous motor.

The invention discloses an open-phase self-fault-tolerant control method for a phase-shift-free dual three-phase permanent magnet synchronous motor. The method can automatically adjust a current distribution relation in the case of an open-phase fault and suppress torque pulsation in combination with neutral point voltage compensation. Comprising the following steps: driving two pairs of three-phase winding modules of the phase-shift-free DTP-PMSM in parallel by adopting two two-level three-phase voltage source inverters, and providing a mathematical model of the motor; current distribution is automatically adjusted; compensating the voltage of the neutral point, and calculating the offset of the fault module; the current is redistributed to suppress the torque ripple after the fault, and the secondary oblique wave component generated by the phase failure fault is eliminated; a current loop controller is improved through dead-beat predictive control; the speed ring controller is optimally designed into an improved sliding mode controller; an improved double-loop controller system is formed by combining improved sliding mode control and dead-beat prediction control, high-gain parameters are set to improve the dynamic response performance of the system, and a new self-fault-tolerant control system is formed.

The invention discloses a hot continuous rolling unit thickness detection and optimization method based on double closed-loop feedback control. In order to improve the problems of thickness control precision, response speed, a multi-rolling-mill cooperative operation mechanism and the like of an existing hot continuous rolling process, the comprehensive regulation and control method combining driving motor double-closed-loop speed regulation control, hydraulic cylinder pressing closed-loop control and thickness delay correction is provided. A multi-rolling-mill interconnection control system is constructed by coupling the rolling mills, the loops, the driving motors and the hydraulic cylinders, and high-precision dynamic adjustment of the tapping thickness is achieved. A double-closed-loop feedback control method is adopted, the rotating speed of a driving motor is adjusted by combining a rotating speed loop and a current loop, rolling force is dynamically adjusted through a hydraulic cylinder, and a thickness delay correction system is introduced to compensate thickness transmission errors between racks. According to the method, the thickness response time and overshoot of the hot rolling mill can be reduced, the thickness control precision and the system stability are improved, and the method has important guiding significance and engineering application value for high-precision hot continuous rolling production.

The invention relates to a mechanical arm control system and method, and belongs to the field of mechanical arm control, and the control system comprises a microkernel controller which calculates the joint angle of each joint of a mechanical arm according to the difference value between the current position and the target position of the tail end of the mechanical arm and sends the joint angle to a servo driver; the servo driver is responsible for closed-loop control of a current loop and a speed loop, accurately executes the position instruction sent by the microkernel controller and feeds back the actual state of each joint to the microkernel controller in real time; the multi-degree-of-freedom mechanical arm serves as an executing mechanism, receives the joint movement instruction from the servo driver, and drives an end effector to achieve any specified pose and complex track in a three-dimensional space through cooperative movement of a plurality of joints; and the instruction unit is used for communicating with the microkernel controller and issuing the target position information of the end effector of the multi-degree-of-freedom mechanical arm to the microkernel controller. By adopting the control method of the control system, the control precision and reliability of the mechanical arm can be improved.

The invention discloses a permanent magnet synchronous motor PI double-loop control method based on deep reinforcement learning. The method comprises the following steps: establishing a permanent magnet synchronous motor double-loop coupling mathematical model; a traditional FOC composite controller is constructed; designing a state feedback and reward mechanism of the double-ring TD3; constructing a speed loop and current loop TD3 + PI composite controller; and carrying out system stability analysis. According to the method, a system is divided into an inner ring and an outer ring based on hybrid cooperative control fusing deep reinforcement learning and classical control, the problem that robustness is insufficient under system disturbance through PI control and the problem that tracking precision is reduced due to load sudden change and noise interference in PMSM operation are combined, nonlinear disturbance is dynamically compensated through the strategy learning ability of a TD3 algorithm, and the tracking precision is improved. Meanwhile, soft update is introduced to improve convergence stability, and a compound control strategy based on double-loop TD3 + PI is provided. According to the invention, complex non-linear processing is simplified, and the stability of the system and the accuracy of rotating speed tracking are improved at the same time.

The invention provides a motor control PID parameter setting method and a motor control system. The method comprises the following steps: calculating a theoretical current loop PID parameter value according to a parameter when a motor is static and a discrete current loop model; performing actual control by using a theoretical current loop PID parameter value, and inputting a given current to a q axis during the actual control so as to obtain a feedback current; a comparison result of the feedback current and the given current is obtained based on multi-point FFT calculation; and based on the comparison result, adjusting the PID parameter value of the current loop until a new comparison result meets a predetermined condition. Theoretical PID parameters are obtained through calculation based on a discrete model, phase and amplitude changes of actual feedback current compared with given current are calculated through FFT, a current loop is adjusted in a self-adaptive mode according to the phase and amplitude changes, and PID parameters of a speed loop and a position loop can be further adjusted. According to the invention, the anti-noise capability of the FFT algorithm is utilized to improve the control precision, and the method is especially suitable for three-closed-loop servo control.

The invention discloses a PMSM speed regulation method (ILADRC) based on improved RLS identification and dynamic inverse control. According to the method, a layered framework is adopted; a linear expansion observer with fixed parameters is used for a bottom layer to ensure observation stability; the middle layer constructs a parameter identification regression model based on a generalized disturbance observation value by using an improved recursive least square algorithm, introduces an online correction mechanism, and performs online decoupling identification on input gain and pure physical disturbance of a speed ring by using the generalized disturbance observation value and a current instruction; and the upper layer reconstructs an adaptive dynamic inverse control law based on an identification result, weakens an algebraic coupling loop of observation and control, realizes no-static-error and no-overshoot rapid tracking of the system on a rotating speed instruction under a parameter mismatch working condition in combination with an acceleration error integral enhancement item, and effectively improves the dynamic performance and robustness of the motor under a parameter perturbation working condition.

The invention relates to a two-channel permanent magnet synchronous motor power supply imbalance harmonic suppression method based on ESO, and the method comprises the steps: collecting the actual rotating speed and phase current of a motor, and calculating the subspace current through a vector space decoupling scheme; the rotating speed and the lumped interference value are estimated online through ESO in a rotating speed ring, the actual rotating speed is replaced with the rotating speed estimated value, the lumped interference value is used for compensation, and then disturbance of q-axis current is restrained; eSO is adopted to observe a current estimation value and a total disturbance estimation value in an x-y subspace, the current estimation value replaces actual current, the total disturbance estimation value serves as a compensation value to reduce system interference, and harmonic sub-plane current suppression is achieved; and finally, carrying out inverse VSD conversion on the voltage after disturbance compensation to generate a six-phase phase voltage as an input signal of SVPWM (Space Vector Pulse Width Modulation). According to the method, balanced output of the current under power supply imbalance can be achieved, the problem that the harmonic current is too large is solved, the system calculation burden is small, the robustness is high, and the dynamic and steady state performance is good.

The invention discloses a permanent magnet synchronous motor speed regulation control method based on an all-drive system theory. The method comprises the following steps that A, an affine nonlinear standard model is constructed, and whether a PMSM system is an under-actuated system or not is judged based on the affine nonlinear standard model; b, obtaining a pseudo-strict feedback standard system of the PMSM according to the affine nonlinear state space model of the PMSM, and converting the pseudo-strict feedback standard system into an all-drive system model of the PMSM; c, according to the PMSM all-drive system model, constructing an all-drive control law with an expected feature structure and a linear closed-loop steady system; and D, obtaining an expected coefficient matrix through calculation, finally obtaining an all-drive control law with an expected characteristic structure, and carrying out speed regulation control on the permanent magnet synchronous motor by using the all-drive control law. According to the all-drive characteristic of the PMSM nonlinear system, accurate control over the rotating speed ring of the permanent magnet synchronous motor can be achieved, and the dynamic performance and the steady-state performance of the permanent magnet synchronous motor are improved.

The invention discloses a permanent magnet synchronous motor hybrid control method and system, a driving board outputs a control signal to drive a permanent magnet synchronous motor (PMSM) according to a residual error of an expected rotating speed and an actual rotating speed of the motor, and a speed ring controller is arranged in the driving board; the speed loop controller adopts hybrid control combining an integral type predefined time sliding mode controller and a Luenberger disturbance observer, and the Luenberger disturbance observer calculates a disturbance value needing to be compensated according to an error between an estimated rotating speed and an actual rotating speed and outputs an estimated disturbance value; and the speed ring controller updates the sliding mode surface according to the error between the expected rotating speed and the actual rotating speed and the estimated disturbance value, and updates the output of the speed ring controller according to the value of the sliding mode surface. The hybrid control method of the Luenberger disturbance observer and the integral predefined time sliding mode controller is adopted, and the stable time upper limit of the system can be simply and rapidly defined according to requirements; and meanwhile, global robustness is achieved, and dynamic performance and steady-state performance are considered.

The invention provides a permanent magnet synchronous motor sliding mode control method and system based on disturbance compensation, and the method comprises the steps: constructing a first motor state equation based on a permanent magnet synchronous motor mathematical model containing disturbance; secondly, on the basis of a sliding mode control theory, a novel adaptive reaching law and a non-singular fast terminal sliding mode surface are constructed, stability proving is completed, and the fast convergence capability is analyzed; designing a novel speed ring controller through the state equation, the reaching law and the sliding mode surface; designing a sliding mode disturbance observer for a disturbance part in the speed loop controller; and finally, carrying out FOC speed regulation control on the permanent magnet synchronous motor by using the designed speed ring controller and the disturbance observer. Compared with an existing well-known sliding mode control scheme, the hybrid control method of the speed loop controller and the sliding mode disturbance observer is adopted, system buffeting is effectively weakened, meanwhile, the dynamic response speed is considered, and the system robustness is improved.

The invention discloses a permanent magnet synchronous motor control method based on self-tuning prediction and a neural network, which aims at the inductance parameter mismatch problem in incremental dead-beat prediction control, adopts an inductance mismatch diagnosis and self-tuning mechanism to dynamically adjust model parameters and weight coefficients, and improves the robustness and dynamic response performance of a current loop. A neural network sliding mode control method is introduced into a speed ring, adaptive compensation of nonlinear disturbance and parameter uncertainty is realized by constructing an integral sliding mode surface and adjusting a sliding mode gain on line, and a stable and reliable current control instruction is output; meanwhile, the observer part constructs an improved super-spiral sliding-mode observer, the electrical angle and d-q axis composite disturbance can be estimated in real time with high precision, effective compensation information is provided for current control, and the overall stability and robustness of the system are further enhanced.

The invention discloses an annular permanent magnet linear synchronous motor speed feedforward compound control method considering disturbance compensation, and the method comprises the steps: taking an annular permanent magnet linear synchronous motor TPMLSM as a control object, and building a voltage model of the TPMLSM under a three-phase static coordinate system; based on this, establishing a control model under a d-q rotating coordinate system; determining a speed loop transfer function of the TPMLSM based on conventional integral proportion (PI) control, introducing a feed-forward controller on the basis, and designing a TPMLSM speed feed-forward composite controller through the transfer function of the feed-forward controller; a quasi-resonance extended state observer (ESO) is used for observing external disturbance, a disturbance observation value is equivalent to a q-axis current disturbance quantity, and feedforward compensation is carried out on the q-axis current disturbance quantity to a speed ring for output, so that the anti-disturbance capability of the speed ring is improved; proportional control is introduced into disturbance observation items of the ESO disturbance observer, dynamic response of the disturbance observer under low bandwidth is accelerated, the dynamic response of a motor control system is improved, and the anti-disturbance capability of the system is enhanced.

An offline flux-linkage and moment-of-inertia identification method for a permanent magnet synchronous motor, the method comprising: on the premise that a pole-pair number Pn, a stator resistance Rs, and a stator inductance Ls of a motor are known, tuning PI parameters of a current loop and a speed loop; in a dual closed-loop mode for current and speed, identifying the flux linkage of the motor by using a recursive least squares method with a forgetting factor; in a current closed-loop mode, injecting a low-frequency current signal having progressively increasing amplitude and frequency, and determining a current magnitude required to start the motor and rotate same to a preset rotation speed threshold; and using acceleration / deceleration methods to identify the moment of inertia of the motor, wherein the motor is rotated forward and backward and identification is performed multiple times, and a median value is obtained by ranking to improve identification accuracy. The flux-linkage and moment-of-inertia identification processes are simple, stable, and reliable, the accuracy of identification results is high, one-click parameter identification can be achieved, and the method has a wide range of applications and is applicable to permanent magnet synchronous motors with various parameters.

The invention discloses a rotating speed loop control method for stable magnetic adjustment of a magnetic flux adjustable permanent magnet synchronous motor, belongs to the field of motor control, and aims to solve the problem that reluctance torque changes drastically during online magnetic adjustment of the magnetic flux adjustable permanent magnet synchronous motor. The method comprises the following steps of: 1, training a neural network model by taking an inductance parameter and a permanent magnet flux linkage which change along with a magnetization state and a direct-axis current as a data set; step 2, obtaining motor quadrature-direct axis current according to the collected stator current and rotor position information, and obtaining prediction values of motor inductance parameters and permanent magnet flux linkage through the trained model; 3, inputting the motor quadrature-direct axis current, the inductance parameter prediction value and the permanent magnet flux linkage prediction value into a torque-current gain adjuster to obtain a reluctance torque corresponding component prediction value and an adjusted torque-current gain; 4, obtaining a given value of quadrature-axis current, and further obtaining a driving signal of the inverter; and repeating the steps 2-4, and suppressing the torque rotating speed pulsation during the magnetic adjusting period.

The invention relates to the technical field of motor control, and discloses a chip mounter Z-axis linear motor module end-process force control method, a driver, a medium and a method, and the method comprises the following steps: S1, after a preset end-process position is reached, motor control is switched from position loop control to speed loop control, so that a motor keeps uniform motion; s2, monitoring whether a real-time current value fed back by the motor reaches a threshold current Iset1 or not and maintaining the real-time current value for a preset time length; s3, if the real-time current value reaches Iset1 and is maintained for a preset time length, continuously monitoring whether the real-time current value reaches a threshold current Iset2 and is maintained for a preset time length; and S4, if the real-time current value reaches Iset2 and is maintained for a preset time length, judging that collision occurs. According to the scheme, the speed ring is adopted to control the motor to move at a constant speed to carry out precise force control, meanwhile, the dynamic current threshold value is set to carry out two times of collision detection, collision detection is achieved while force control is carried out, a sensor does not need to be additionally used, and the requirements for mounting precision and compact structure are met.

The invention discloses a hub motor vector control method based on an improved grey wolf particle swarm algorithm, and the method comprises the steps: building a mathematical model of a hub permanent magnet synchronous motor, building a double-closed-loop vector control simulation model containing a speed loop and a current loop in Simulink based on the mathematical model, and selecting a speed loop PID controller as a to-be-set object; improving the original grey wolf particle swarm algorithm to obtain an improved grey wolf particle swarm hybrid algorithm; and performing iterative optimization on the three parameters Kp, Ki and Kd of the speed loop PID controller through the improved grey wolf particle swarm hybrid algorithm, and outputting the finally obtained global optimal solution q as the optimal values of the three parameters Kp, Ki and Kd of the speed loop PID controller to complete the hub permanent magnet synchronous motor vector control.

The invention belongs to the technical field of permanent magnet synchronous motor control, and particularly discloses a permanent magnet synchronous motor finite time switching active-disturbance-rejection rotating speed control method, which comprises the following steps: acquiring a reference rotating speed and an actual rotating speed of a permanent magnet synchronous motor; the absolute value of the error between the reference rotating speed and the actual rotating speed is calculated and compared with a preset first threshold value and a preset second threshold value, and the stage of the permanent magnet synchronous motor is judged; constructing a finite time cascade expansion state observer comprising a first-stage finite time ESO and a second-stage linear ESO to observe the state and lumped disturbance of the permanent magnet synchronous motor; and based on the stage of the permanent magnet synchronous motor, selecting a composite state of the observation value of the first-stage finite time ESO, the observation value of the second-stage linear ESO or the observation value of the first-stage observer and the observation value of the second-stage observer generated based on the Bezier curve to generate the rotating speed loop control law of the permanent magnet synchronous motor. According to the invention, the problems that the transient anti-interference capability is weak and the current performance is reduced due to the fact that transient control and steady-state control are not distinguished in the prior art are solved.

The invention discloses a six-phase motor driver harmonic current suppression method based on multi-subspace control, and belongs to the technical field of motor control. In order to solve the problem that low-order harmonic current of a six-phase motor in a z1-z2 subspace is difficult to effectively suppress, the invention provides a scheme that a mathematical model of the six-phase permanent magnet synchronous motor is established, multi-subspace decomposition is carried out, and stator current is divided into a d-q subspace and the z1-z2 subspace; a double-closed-loop control architecture with a speed loop as an outer loop and a current loop as an inner loop is constructed, a d-q subspace adopts a PID regulator to realize fundamental current control, and z1-z2 subspaces realize suppression of fifth and seventh harmonic currents through a parallel structure of PI and a quasi-proportional resonance controller; and a PWM signal is synthesized through inverse transformation and dual three-phase space vector pulse width modulation, and an inverter is driven to realize stable output of fundamental wave energy and harmonic suppression. The method effectively reduces the harmonic distortion rate, improves the operation efficiency and stability, and is suitable for occasions of new energy vehicles, ship propulsion, rail transit and the like.

The invention provides a multi-motor cooperative control system based on an open-source real-time operating system, and relates to the technical field of multi-motor control, the system calculates a target rotating speed through an upper computer controller, and ensures that a rotating speed instruction can be simultaneously sent to a plurality of dynamometers by using a real-time controller. By means of the EtherCAT high-speed communication protocol, the system can synchronously transmit instructions with extremely low delay, and it is guaranteed that all the drivers receive and execute the same operation instructions at the same moment. In addition, by setting consistent acceleration and deceleration time and PI control parameters of a speed loop and a current loop in the driver, the synchronism and response performance of the system are further optimized. The invention aims to realize high-precision synchronous operation.

The invention discloses an intelligent low-voltage servo system based on three-ring control, and relates to the technical field of servo control, and the system comprises a double-shaft servo driver, an azimuth servo motor, a pitching servo motor, an azimuth angle sensor and a pitching angle sensor. The double-shaft servo driver comprises a control board assembly and a driving board assembly. The control panel assembly comprises a position loop controller, a speed loop controller and a current loop controller, and a three-ring cascaded closed-loop control structure is formed based on the position loop controller, the speed loop controller and the current loop controller; and the driving board assembly comprises a power amplification circuit and is used for driving an azimuth servo motor or a pitching servo motor to operate according to the pulse width modulation signal output by the current loop controller. According to the invention, a three-loop control structure of a position loop, a speed loop and a current loop is adopted, and feedforward compensation, disturbance observation and an intelligent management strategy are integrated to improve the dynamic performance and robustness of the system.

The invention belongs to the field of motor control, and discloses a rotating speed fluctuation suppression anti-interference control method for a low-speed permanent magnet direct drive motor. According to the method, a first-order linear active disturbance rejection controller is designed in a rotating speed loop, an improved LESO is designed by constructing a state observation error differential term and a coefficient thereof, an integral + differential parallel structure is constructed in a signal transmission path for estimating total disturbance of the rotating speed loop, and the medium-high frequency disturbance tracking speed is increased by using the phase lead characteristic of the differential term. And by combining a second-order IIR Butterworth high-pass filter, high-frequency noise introduced due to the increase of the bandwidth of the observer can be accurately separated and filtered out, the inherent contradiction between bandwidth improvement and noise amplification in the traditional LADRC is broken through, and the improvement of the rotation speed fluctuation suppression ratio under the low-speed working condition is realized. Model-free predictive control is adopted in a current loop, dependence of a system on accurate modeling of motor parameters is reduced, current tracking errors generated under the condition of parameter mismatch are reduced, torque pulsation caused by current fluctuation is reduced, and then rotating speed fluctuation is reduced.

The invention belongs to the technical field of electrical engineering, and particularly relates to a dynamic intelligent control method and system for a variable-frequency speed regulation system, and the method comprises the steps: in the offline stage of the system, automatically setting the total rotational inertia and the optimal compensation gain of the system through injecting a test torque and monitoring critical oscillation; in the online operation stage, active electromagnetic power is calculated by collecting bus voltage and current, theoretical inertia power is calculated by combining mechanical angular velocity, and the difference value of the active electromagnetic power and the theoretical inertia power is used as a disturbance power observation value after low-pass filtering; a singular-point-free equivalent angular velocity is constructed by using a set minimum effective rotating speed threshold value, disturbance power is converted into disturbance torque, and the zero-division singular problem of a low-speed region is effectively avoided; and calculating a compensation current, carrying out dynamic amplitude limiting according to the residual current margin of the frequency converter, and superposing the residual current to a speed ring for output. According to the method, the problem of calculation divergence of traditional power disturbance observation in a low-speed region is solved, and disturbance suppression and robust control in a full-speed region are realized on the premise of ensuring system safety.

The invention discloses a permanent magnet synchronous motor model-free sliding mode control method based on a novel reaching law, belongs to the field of power electronics, and aims at solving the problems that traditional sliding mode control is large in buffeting and high in steady-state error and depends on an accurate model. According to the method, based on a model-free theory, a permanent magnet synchronous motor rotating speed ring super-local model is constructed, then a novel reaching law containing a dynamic parameter delta = e-x beta is designed, and the contradiction between buffeting suppression and quick response is solved; meanwhile, designing a novel sliding-mode observer, and estimating an unknown part g of the system to realize disturbance feed-forward compensation; and finally, a q-axis current reference value control law is obtained through derivation in combination with a sliding mode surface and a mechanical motion equation. The method can weaken the buffeting of the sliding mode, improves the anti-interference performance and the steady-state precision of the system, guarantees the finite time convergence of the state, and is suitable for the control of the permanent magnet synchronous motor in the fields of aerospace and new energy automobiles.

The invention provides a consistent and stable operation control method for a net-forming type flywheel energy storage array, and relates to the technical field of flywheel energy storage. Comprising a distributed power distribution strategy based on a ratio consistency algorithm and a flywheel energy storage array control strategy based on'voltage-rotating speed-current 'three closed loops. For rotating speed control, the problems of energy-saving voltage stabilization, SOC management, flywheel unit rotating speed balance and the like do not need to be considered, only the rotating speed loop needs to be connected between the voltage loop and the current loop in series, and the structure is simpler. In terms of power distribution, the strategy does not depend on a central controller or a leader unit, each flywheel unit only needs to exchange information with the adjacent unit to complete power distribution, the reliability of the flywheel energy storage array is improved, and the robustness is good.

The invention discloses a high-efficiency and fast-response control method for a brushless non-inductive direct current motor, and the method employs a non-inductive vector control system which combines an improved rotating speed loop active-disturbance-rejection controller (ADRC) and an improved sliding-mode observer (SMO) to improve the anti-interference capability of a power system. The vector control of the brushless direct current motor at a high speed is realized by adopting an improved sliding-mode observer (SMO), and meanwhile, an active disturbance rejection controller (ADRC) is adopted by a rotating speed ring; according to the method, high-precision control is maintained, the parameter adjustment process is simplified, the implementation difficulty is reduced, the dependence on a high-precision sensor is reduced, the robustness and the anti-interference capability of the system are improved, and good stability and control precision can be maintained even under the condition that motor parameters change greatly or load fluctuation is large; the problems in the background technology are solved.

The invention belongs to the technical field of motor control, and discloses a control method for switching an open loop to a closed loop of a permanent magnet synchronous motor, which is used for switching the permanent magnet synchronous motor from speed loop open-loop operation to rotating speed current double-closed-loop operation. Calculating an included angle delta between the shafting of the virtual synchronous rotating coordinate system dvirqvir and the shafting of the real rotor synchronous coordinate system dq; and then instantaneous switching of a command value of a current regulator, instantaneous switching of a current space voltage vector, switching of an angle variable used by coordinate transformation, initialization of a previous value of a low-pass filter, initialization of an integral term of the current regulator and initialization of an integral term of a speed regulator are executed in sequence, and open-loop switching and closed-loop switching of the permanent magnet synchronous motor are completed. According to the invention, the switching time is effectively shortened, and the switching stability and universality are improved.

The invention relates to the technical field of mechanical arm control, in particular to a mechanical arm speed control method based on load torque feedforward. The method comprises the following steps: acquiring an angular velocity and a three-phase current of a motor, and performing coordinate transformation to obtain a direct-axis current and a quadrature-axis current; generating a voltage control signal by using a current loop controller; generating a quadrature-axis current reference signal by using a speed ring controller; constructing a load torque observer based on the angular velocity and the quadrature-axis current to estimate the load torque in real time; an acceleration start flag and a deceleration start flag of the motor are detected, the estimated load torque is added to an input of the current loop controller as a feed-forward amount within a first predetermined time after the acceleration start flag is detected, and the feed-forward amount is removed from the input of the current loop controller within a second predetermined time after the deceleration start flag is detected. The constant parameters of the current loop and the speed loop controller are kept when the load and the rotational inertia change, and the stable suppression of the speed fluctuation is realized.

The invention discloses a motor control method and device, a motor, a storage medium and a computer program product, which are applied to a motor driving system, and the method comprises the steps: obtaining a rotating speed given value of the motor at the last moment, and determining an initial value of the rotating speed given value at the current moment based on the rotating speed acceleration; subtracting the initial value of the set rotating speed value from the actual rotating speed of the motor to obtain a rotating speed error, and outputting a rotating speed loop current instruction after the rotating speed error is adjusted by a rotating speed loop; acquiring a rotating speed loop current instruction to form current instruction sampling data; calculating an evaluation index representing the stability of the system based on the current instruction sampling data; according to the relationship between the stability evaluation index and a preset stability threshold value, combining a preset mapping weight, and dynamically adjusting the rotation speed acceleration; and the rotating speed set value of the next moment is updated by using the adjusted rotating speed acceleration, and a self-adaptive control closed loop is formed. According to the scheme, the stability and the loading speed of the motor driving system are improved.