350 results about "Speed loop" patented technology

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 invention discloses a permanent magnet synchronous motor active disturbance rejection speed control method based on a double-error correction extended state observer, and the method comprises the steps: constructing a double-error correction extended state observer structure combining a speed estimation error and a position estimation error, and outputting a speed ring lumped disturbance observation value to a feedback control law. An optimized observer parameter setting strategy is designed based on the control structure, decoupling configuration of a zero point and a pole point in a disturbance suppression function is achieved, the position of the zero point in the disturbance suppression function is optimized by combining time domain and frequency domain analysis, and the disturbance suppression performance of the system is enhanced. Therefore, the method has the advantages that on the premise that pole assignment of an original closed-loop system is not affected, the dynamic response and steady-state performance of disturbance suppression are enhanced through the additional zero-point movement track, and the degree of freedom of performance adjustment of the linear expansion state observer and the upper limit of disturbance suppression performance are widened.

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 motor and a control method and device thereof, a storage medium and a computer program product, and the method comprises the steps: enabling the actual q-axis current of the motor to be equal to the given q-axis current of the motor, employing a preset current-frequency starting mode, and controlling the open-loop starting of the motor in a speed loop; determining target switching time, switching point q-axis current and a target rotor angle of the motor according to the target torque, the set rotor angular speed and the actual rotor angle of the motor; and in combination with the given q-axis current of the motor, the switching point q-axis current, the target switching time, the actual rotor angle and the target rotor angle, adopting a preset sectional gentle reduction control strategy to control the given q-axis current of the motor to be reduced to the switching point q-axis current of the motor in a sectional manner, and switching from an open loop to a closed loop to realize stable starting of the motor. According to the scheme, the q-axis current is reduced in a three-section gentle slope mode, speed open-loop starting gentle slope smooth switching to closed-loop control is achieved, and the motor is started stably.

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 PMSM (permanent magnet synchronous motor) AC servo system speed control method based on improved particle swarm optimization optimization RBF (radial basis function) fuzzy neural network PID control, the system is composed of a speed outer ring and a current inner ring, and the current ring adopts a PI regulator. A speed loop is designed to be an RBF fuzzy neural network PID speed controller, an RBF fuzzy neural network is optimized by improving a particle swarm optimization algorithm, and optimal parameters kp, ki and kd suitable for the PID controller are output. Simulation analysis and experiment results show that compared with a common PID control strategy, a BP algorithm optimization fuzzy neural network PID control strategy and a particle swarm algorithm optimization RBF fuzzy neural network PID control strategy, the particle swarm algorithm optimization RBF fuzzy neural network PID control strategy based on the improved particle swarm algorithm has optimal control performance; the method has the advantages of being high in dynamic response speed, good in control stability, resistant to load disturbance and high in robustness, and the excellent speed control effect of the PMSM alternating current servo system can be achieved.

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 direct-current brushless motor FOC control method for a high-speed air duct. According to the method, the field oriented control (FOC) technology is adopted, the running state of the motor is monitored in real time through current, voltage and temperature sensors, current decoupling control is carried out in combination with a back electromotive force (BEMF) estimation algorithm, CLARK conversion and PARK conversion algorithms, and efficient and accurate adjustment of the motor is achieved. A current loop and a speed loop are respectively adjusted through a double-PID control algorithm, and stable operation of the motor under the conditions of load change and temperature fluctuation is ensured. A three-phase voltage signal is generated by adopting an SVPWM algorithm to drive the motor, and meanwhile, a dynamic adjustment module and a fault detection module are integrated, so that control parameters can be intelligently optimized, faults such as over-current and over-temperature can be responded in real time, and safe and efficient operation of the motor is guaranteed. Compared with the prior art, the method has the remarkable advantages in response speed, energy efficiency, load stability, fault protection and the like, and is suitable for the fields of high-speed air ducts, electric tools, precision equipment and the like.

The invention discloses a sewage treatment motor control system and method based on an FPGA. The system comprises an FPGA controller, an ADC sampling device, an inverter, a Hall sensor and an upper computer. An encoder interface on the FPGA controller performs position decoding on a signal transmitted by the motor to calculate the real-time rotating speed of the motor so as to realize closed-loop control of a speed loop; the ADC sampling device completes current reconstruction by collecting voltage information of the Hall sensor and transmits the voltage information to the FPGA controller through the ADC sampling device interface, the problem that a traditional PLC controller in a sewage plant is insufficient in real-time performance and accuracy is solved, the FPGA adopts a parallel processing mechanism, the calculation speed and the response speed are high, flexibility is high, and the system can be widely applied to the field of sewage treatment. And high-precision and high-reliability control can be carried out on a lift pump system and an air blower system in the sewage treatment process.

The invention discloses a vehicle control method and system. The vehicle comprises a motor, a battery and a controller. The controller is connected between the battery and the motor, and the controller is used for converting electric power output by the battery; the control method of the vehicle is executed by the controller. The vehicle control method comprises the steps that when the duration that the output current of a battery is larger than the maximum current of the battery reaches a first preset duration, a current limiting adjustment strategy is started; and circularly executing the steps of determining a target regulating variable according to the current-limiting regulation strategy, regulating the maximum output value of a speed loop control strategy of the motor according to the target regulating variable, determining a target current according to the regulated maximum output value and the speed loop control strategy, and controlling the rotating speed of the motor according to the target current and a current loop control strategy. And the duration for starting the current-limiting adjustment strategy reaches a second preset duration. According to the technical scheme, components and a battery can be better protected, it is guaranteed that the motor does not run slowly, and therefore running of a vehicle is guaranteed.

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 tension anti-interference control method based on an event trigger mechanism, and the method comprises the steps: S1, building a surface-mounted permanent magnet synchronous servo motor model, describing the built mathematical model, and obtaining the speed and position output of a motor, and the state quantities in a speed loop and a current loop; s2, analyzing the obtained data, and designing a sliding mode controller and a fractional order PID controller; s3, designing a disturbance observer, estimating and compensating the interference in the system through the state quantity of the double loop, and improving the robustness of the system; and S4, designing an event triggering mechanism based on nonlinear sliding mode control, reducing the calculation amount of sliding mode control, reducing the operation demand of the whole system, and completing the control target. According to the invention, the accuracy and response speed of motor control are improved, and the energy efficiency ratio and application range of the system are improved by reducing the calculated amount and optimizing the control algorithm; and in the application occasion of high-precision tension control, the stability of the production process and the product quality can be remarkably improved.

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 provides a permanent magnet synchronous motor model prediction control method and system for an air compressor. The system comprises an improved rotating speed controller based on rotating speed loop disturbance observation, a target current corrector, a double-step ideal voltage calculator and a double-step current prediction controller based on current loop disturbance observation. The improved rotating speed controller based on rotating speed loop disturbance observation outputs target quadrature-axis current; the target current corrector corrects the target current value in real time; the two-step ideal voltage calculator calculates an ideal voltage vector considering two-step prediction; according to the two-step current prediction controller based on current loop disturbance observation, current loop disturbance and change of rotating speed in a sampling period are added into a prediction equation, and two-step prediction is carried out. According to the method, a series of problems caused by parameter mismatch due to reasons such as ultrahigh rotating speed and temperature rise of the air compressor driving motor are effectively solved, the fluctuation of the current of the motor is finally reduced, and accurate control over the rotating speed of the air compressor is achieved.