209 results about "Speed loop" patented technology

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 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 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 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 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.

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 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 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.

The invention discloses a speed loop two-degree-of-freedom PI control method and device based on feedforward and a medium, and relates to the technical field of speed loop control methods.According to the method, on the premise that the bandwidth of an inner current loop is higher than that of a speed loop, a PI feedback steady state is adopted, and a disturbance observer is used for load disturbance estimation and compensation; feedforward forming is introduced to a given side, a'given-output 'closed loop is shaped into a first-order or critical damping second-order target model, and a disturbance observer time constant, a target bandwidth and a sampling period are systematically set. The device is composed of an error acquisition module, a PI feedback module, a disturbance observation module, a feed-forward forming module and an execution interface module. According to the scheme, under the condition that hardware is not changed, rapid low-overshoot tracking is achieved, the anti-interference performance is not weakened, parameters can be reused, and the method is suitable for servo scenes such as numerical control, robots and stabilized platforms.

The invention relates to an intelligent low-voltage double-shaft servo driving system, and belongs to the technical field of servo control. The system comprises a double-shaft servo driver, an azimuth motor, a pitching motor, an azimuth angle sensor and a pitching angle sensor, wherein the double-shaft servo driver consists of a control board and a driving board. The control panel receives the turning instruction and generates a PWM control signal based on an improved field-oriented control algorithm; the driving board adopts a power circuit with double MOS tubes connected in parallel to amplify signals, and a double-shaft motor is independently driven. The azimuth and pitch angle sensor detects the position in real time and feeds back the position, and the control panel adjusts PWM signals through a current loop, a speed loop and a position loop in a closed-loop mode. The control panel further executes double-shaft collaborative energy optimization management, including real-time power budget distribution, braking time sequence peak shifting and capacity energy buffering. According to the system, the driving reliability and energy efficiency under the low-pressure working condition are effectively improved.

The invention discloses a motor and a control method and device thereof, a storage medium and a computer program product, and the method comprises the steps: injecting a pulsating voltage with a preset frequency into a d-axis part outputted by a PI controller in a current loop at a zero-speed starting stage and a low-speed operation stage of the motor; in the whole stage of the motor, three-phase current of the motor is obtained; in the whole stage of the motor, in a current loop and a speed loop, according to the three-phase current of the motor, a full-order observation module, a phase locking module and a switching function module are utilized to obtain a rotor position estimation value and a rotating speed estimation value of the motor; and in the whole stage of the motor, starting and running of the motor are controlled according to the rotor position estimation value and the rotating speed estimation value of the motor. According to the scheme, the improved high-frequency injection algorithm is combined with the full-order observer based on the back electromotive force, and the exponential weighting function is adopted to smoothly switch the position and the speed of the motor rotor estimated by the high-frequency injection algorithm and the full-order observer, so that the complexity and the cost are reduced, and the reliability is improved.

The application relates to a compressor control method, a control system and an outdoor unit. The method comprises the following steps: S1, acquiring three-phase currents of a compressor and a direct-current bus voltage, and converting the three-phase currents to obtain q-axis and d-axis currents; S2, constructing a first current loop and a second current loop corresponding to the compressor; S3, confirming whether a real-time rotating speed of the compressor is within a first preset range of a preset rotating speed; if yes, executing S4, otherwise executing S6; S4, compensating speed loop output of the compressor within a preset time length before and after a current zero point of the compressor; S5, predicting and reconstructing the direct-current bus voltage of the compressor, generating a control signal corresponding to the compressor according to the reconstructed direct-current bus voltage of the compressor, and executing S7; S6, generating the control signal corresponding to the compressor according to the direct-current bus voltage of the compressor, and executing S7; and S7, controlling a driving circuit of the compressor through the control signal. The application can reduce three-phase current fluctuation of the compressor during operation and improve operation efficiency of the compressor.

The invention discloses a position synchronization control method for multiple permanent magnet synchronous motors based on a distributed observer. The position synchronization control method comprises the following steps: S1, establishing a mathematical model of a multi-permanent magnet synchronous motor system consisting of N permanent magnet synchronous motors; s2, dividing the motor into an informed motor group and an uninformed motor group according to whether the leader information can be directly acquired or not, and describing a position synchronization control problem of the multiple permanent magnet synchronous motors as a collaborative output adjustment problem of a multi-agent system; s3, establishing a directed communication topology to describe an information transfer relationship between agents in a multi-agent system formed by the external system and the multi-permanent magnet synchronous motor system; and S4, a cascade structure is adopted for controller design, a distributed observer is designed for the position-speed rings of the two motor sets, a PI controller is designed for the current rings, and a final controller is given. According to the method, the position synchronization control of the plurality of permanent magnet synchronous motors can be realized without speed information, and the method has anti-disturbance capability and good tracking performance.

The embodiment of the invention provides a motor speed observation method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining an electrical angle of a motor; then, gain processing is carried out based on the electrical angle, the observer proportional gain parameter and the observer integral gain parameter, and a proportional integral output value is obtained; next, feed-forward processing is carried out based on the electrical angle and a feed-forward gain parameter, a feed-forward output value is obtained, and the feed-forward gain parameter, an observer proportional gain parameter and an observer integral gain parameter are all generated based on the speed ring bandwidth of the speed ring; and finally, performing superposition processing based on the proportional integral output value and the feedforward output value to obtain a speed observation result of the motor, thereby greatly improving the observation real-time performance and accuracy of motor speed observation.

The invention provides a fault-tolerant control method and system for open-phase faults of a four-phase and three-phase permanent magnet synchronous motor, electronic equipment and a storage medium. Belongs to the technical field of motor control. The method is based on a 4DQ decoupling control framework, and an open-phase fault-tolerant control module is additionally arranged between a speed loop and a current loop. When the open-phase fault of the motor is detected, the module firstly identifies the number of sets of faulty windings, cuts off control signals of the faulty sets of windings, then averagely distributes q-axis total reference current output by a speed ring to the remaining healthy three-phase windings again according to the number of the faulty sets, and carries out necessary amplitude limiting processing. And finally, the current loop controller of each healthy winding drives the inverter to work according to the redistributed reference current. According to the invention, the structural advantage of independent isolation of the four-phase and three-phase motor windings is fully utilized, and the torque ripple is effectively suppressed and the stable operation of the motor is maintained through overload or derating operation of a healthy winding under the condition that a single set or multiple sets of windings have faults.

The invention discloses a servo system speed loop parameter self-tuning method based on digital-analog linkage. The method comprises the following steps: establishing an open-loop transfer function of a speed loop of a servo system; parameters of a speed ring are initialized, a same-frequency and same-amplitude speed instruction is sent to a motor to drive a load to operate, and the total rotation inertia of the motor is calculated; a mapping relation equation is determined, and parameters of a speed PI controller are obtained; discretizing the parameters of the speed PI controller by adopting a bilinear method to obtain a discrete proportional gain and a discrete integral gain; determining constraint conditions of the servo system and calculating an evaluation function value according to the ITAE performance evaluation function; obtaining optimal control parameters by adopting a coordinate rotation method; corresponding discrete proportional gain and discrete integral gain are calculated according to the optimal control parameters to serve as parameters of a speed PI controller to complete parameter setting, and load operation is achieved according to a speed instruction. According to the method, the setting process is more efficient, the calculation parameters are more accurate, the manual debugging time can be greatly shortened, and the universality is good.

The application relates to a kind of linear vernier permanent magnet motor deadbeat control methods, on the basis of traditional DTC control, by introducing speed backstepping controller to replace traditional speed loop PI regulator, using deadbeat controller to replace current loop PI regulator, using improved double-sampling double-update SVPWM to replace traditional SVPWM modulation module.According to multiple simulation, the application can effectively reduce the overshoot of the system and effectively reduce the thrust ripple of the system on the basis of maintaining traditional DTC control, and improve the dynamic performance of the system.

The application provides a kind of plug type fast response gas valve movement overshoot suppression control method, and adopts the three-ring nested control mode of valve core position-motor speed-motor phase current, improves the response speed and anti-disturbance ability of motor acceleration and deceleration process by controlling phase current, improves the speed regulation performance by speed loop, and finally realizes the accurate following of valve core target position by position control loop, which can realize zero static error control.The application provides a kind of plug type fast response gas valve movement overshoot suppression control method, effectively suppresses valve core movement overshoot, resists the disturbance of aerodynamic load change, and the control overshoot of valve core under load is less than 2% verified.

The present invention discloses a method, apparatus, device, and storage medium for detecting the performance of a motor encoder. The method includes: controlling a machine tool to run a preset distance at a plurality of target speeds; obtaining speed and displacement data generated by the machine tool running at each target speed; and determining, based on the speed and displacement data, whether the motor encoder has a performance problem of uneven output pulses. This solution detects encoder performance, which is often overlooked, and can help avoid ineffective adjustments to speed and position loop parameters during current machine tool debugging. This can improve the efficiency and accuracy of machine tool debugging, and eliminates the need for high-voltage power, reducing debugging risks.

The invention discloses a permanent magnet synchronous motor sliding mode integrated control method based on a disturbance observer, and the method comprises the steps: constructing a hyperlocal mathematical model of a speed ring of a permanent magnet synchronous motor, combining a state equation with a first-order nonlinear model, and reducing the dependence on a precise system model; designing a model-free adaptive fast integration terminal sliding mode controller; a current loop backstepping controller is designed, electromagnetic parameter disturbance is considered, d-axis and q-axis current control laws are recursively constructed, and the anti-interference capability of a current loop is enhanced; and designing an extended super-spiral disturbance observer, estimating total unknown disturbance of the system and performing feed-forward compensation, thereby improving the control precision. The speed tracking precision of the system is improved, and the steady-state error is reduced.