716 results about "Vector control" patented technology

The invention discloses a real-time monitoring and early warning method and system for a variable-frequency energy-saving motor, and the method comprises the steps: collecting the operation parameters of the motor in real time through a multi-source sensor group disposed on the variable-frequency energy-saving motor; determining a current motor working condition according to the motor operation parameters, and determining a real-time load rate of the motor based on a preset load working condition correlation model; acquiring historical operation data of the variable-frequency energy-saving motor, and generating a dynamic threshold curve according to the historical operation data; generating a dynamic threshold according to the motor operation parameters and the dynamic threshold curve, performing health degree calculation on the variable-frequency energy-saving motor based on the dynamic threshold, and determining a life prediction value of the variable-frequency energy-saving motor according to the health degree; and when the life prediction value of the variable-frequency energy-saving motor is lower than a preset value, automatically triggering a frequency reduction instruction, switching to a field-oriented vector control mode, and synchronously generating an alarm and equipment health file of the variable-frequency energy-saving motor.

The embodiment of the invention discloses a vector control method and device for a steering wheel chassis. The method at least comprises the steps that the target speed and the target angular speed of a steering wheel chassis at the next moment are obtained; the target speed comprises a target transverse speed and a target longitudinal speed; obtaining pre-stored size parameters of each steering wheel; the size parameters at least include the distance between the mass center of the steering wheel chassis and each steering wheel in the coordinate system of the steering wheel chassis in the coordinate axis direction, and the original point of the coordinate system of the steering wheel chassis is located at the mass center of the steering wheel chassis; and calculating a control angle of a steering motor and a control speed of a driving motor corresponding to each steering wheel at the next moment based on a pre-constructed motion planning control strategy according to the target speed, the target angular speed and the size parameters of each steering wheel. By applying the scheme provided by the embodiment of the invention, the steering wheel chassis can be flexibly controlled.

The invention discloses a permanent magnet synchronous motor current dynamic coupling correction method, which comprises the following steps of collecting motor three-phase stator current, performing Clark transformation to obtain a current value under an alpha-beta static coordinate system, and meanwhile, collecting through a position sensor to obtain an electrical angle true value; performing low-pass filtering calculation on the current value under the alpha-beta static coordinate system to obtain a filtering current value, and performing operation through a sliding-mode observer and a PLL phase-locked loop to obtain an electrical angle observation value; calculating to obtain a compensation adjustment coefficient according to the true value and the observed value of the electrical angle, and further calculating to obtain a current value after phase offset compensation; and performing complementary filtering calculation on the filtering current value and the current value after phase offset compensation to obtain a coupling correction current value for current loop calculation, inputting the coupling correction current value into a motor control current loop PID algorithm, and generating a PWM driving signal to drive a motor in combination with vector control. According to the method, the problems of high-frequency interference and phase deviation of current sampling can be solved, so that the motor control efficiency and the dynamic performance are improved.

The invention discloses a motor control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a three-phase current, converting the three-phase current into a total current of a current period in a static coordinate system, and extracting a high-frequency current of the current period from the total current; extracting a rotor position and a rotor rotating speed from the high-frequency current; compensating the rotor rotating speed by using the expected rotating speed to obtain a quadrature-axis expected current; converting the total current into a quadrature-direct axis coordinate system, extracting a fundamental frequency current from the quadrature-direct axis coordinate system, compensating the fundamental frequency current by using a quadrature axis expected current and a direct axis bias current to obtain a first expected voltage, superposing the first expected voltage and a direct axis high-frequency voltage, and performing coordinate system conversion on a superposition result by using a rotor position to obtain a second expected voltage; obtaining a second expected voltage under the static coordinate system; and the three-phase current of the current period is controlled according to the second expected voltage to drive the motor, so that the motor has more obvious salient polarity through the direct-axis bias current, and vector control over the electrode is achieved.

The invention provides an electric energy metering error correction method and system based on vector analysis. Belongs to the technical field of electric energy metering in an electric power system, and comprises the following steps: collecting current and voltage data in a power grid in real time by using a high-precision current and voltage sensor, and transmitting the data to an electric energy metering error correction system for processing; carrying out vector analysis on the collected current and voltage data based on a vector control technology to obtain vector information of the voltage and the current; by collecting current and voltage data in a power grid in real time and utilizing a vector analysis technology, an electric energy metering error can be calculated more accurately, so that the accuracy of electric energy metering is improved.

The invention discloses an EHA drive control system three-closed-loop control system and a dynamic hysteresis compensation method. The technical problems that an existing electro-hydrostatic actuator is large in hydraulic hysteresis error, poor in dynamic response and insufficient in environmental adaptability are solved. The method comprises a three-stage control structure of a position control loop, a speed control loop and a current control loop, the position control loop introduces load disturbance feed-forward compensation based on a state observer, the speed control loop adopts an adaptive sliding mode control strategy, the current control loop executes a decoupling vector control algorithm, and the load disturbance feed-forward compensation is realized. And a dynamic hysteresis compensation model based on historical input and disturbance estimation is established in the controller. According to the system, the servo motor, the gear pump, the hydraulic cylinder and the sensor module are integrated into an integrated drive control structure, and the effects of improving the control precision, reducing the response time delay and correcting the hydraulic hysteresis error are achieved.

The invention discloses a frequency conversion vector control method for a digital energy-saving pump station, which belongs to the technical field of vector control and comprises the following steps: constructing a coupling vector model, simulating the running states of a pump unit under different working conditions through a virtual test signal, and automatically correcting the coupling vector model; operating data of a pump set are collected in real time, an operating situation feature set is constructed, predictive vector control is carried out, an optimal voltage vector sequence is generated, and meanwhile load fluctuation of a pipe network is predicted; demand pre-judgment is carried out on the starting and stopping time and the action amplitude of the anti-backflow device, a bidirectional disturbance suppression mechanism is constructed, current vector parameters are pre-adjusted, and calculus correction is carried out based on deviation judgment; when multiple pumps operate in parallel, the instantaneous operation efficiency point of the pump set is calculated in real time, the efficiency change trend is predicted, a load distribution scheme is generated, the comprehensive energy efficiency is evaluated, energy efficiency self-optimization is carried out, the comprehensive energy efficiency of the system is improved, and control experience reuse is achieved.

The invention provides a motor parameter identification method and device, equipment and a storage medium, and relates to the technical field of motors. The method comprises the following steps: respectively constructing a state matrix and an output equation of a motor; constructing a parameter matrix containing to-be-identified parameters, wherein the to-be-identified parameters at least comprise permanent magnet flux linkage and quadrature-axis inductance; performing iterative recursion on the parameter matrix based on the model equation, the state matrix and the output equation of the least square method; and determining an estimated value of the to-be-identified parameter as a target motor parameter in response to determining that the to-be-identified parameter meets a convergence condition and / or the number of iterations of the parameter matrix reaches a preset value. Therefore, motor parameters such as permanent magnet flux linkage and quadrature-axis inductance can be accurately identified, vector control is more accurate under the condition that the motor parameters mainly change due to motor temperature rise, magnetic saturation and running state change, the vector control can be realized under the auxiliary condition of existing load equipment, and extra cost does not need to be increased.

The invention discloses a wireless cooperative control system and method for a multi-node brushless motor, and the system employs a layered architecture design, and comprises a main control layer, a drive layer, a communication layer, and a software layer. The master control layer is composed of a master node and serves as a task instruction scheduling center of the system, the driving layer is composed of N slave nodes, and N is larger than or equal to 3; the driving layer drives the brushless motor by executing an FOC vector control algorithm and monitors the state of the brushless motor; the communication layer constructs a star network topology based on an ESP-NOW protocol, a direct communication link is established between a master node and N slave nodes, and multi-node cooperative control is realized by adopting a dynamic channel switching mechanism and a timestamp alignment mechanism; and the software layer establishes communication with the main control layer through a USART serial port, receives the state data of the brushless motor of each slave node concentrated by the main control layer, and sends an instruction to the main control layer at the same time. Not only are wireless multi-node synchronization and anti-interference problems solved, but also high-precision motor control is realized.

The invention provides a redundancy control method and system under a dual three-phase motor current sensor fault, and belongs to the technical field of three-phase motor control, actual current is estimated based on a current observer, and the current observer obtains an estimated value of phase current through inverse transformation based on a current instruction value of vector control; and comparing the current value estimated by the current observer with an actual sampling value, diagnosing the fault of the current sensor through a set error threshold value, and realizing redundancy control according to a diagnosis result. According to the invention, additional hardware does not need to be added, or the installation position of a conventional current sensor does not need to be changed, for example, the current sensor is additionally arranged on a direct-current bus; the torque output capability can still be realized under the condition that a plurality of current sensors fail at the same time. A basic control scheme does not need to be switched, and control is realized based on vector control under vector space decoupling transformation; when current information is estimated, motor parameters do not need to be used, and the method has high parameter robustness.

The invention belongs to the technical field of power system operation and motors, and particularly relates to an energy storage type phase modifier control method which comprises the steps that a rotating shaft of a double-fed motor is connected with a flywheel to serve as an energy storage type phase modifier; the rotor winding is connected to a power grid through an excitation system and a transformer in sequence, and the excitation system is electrically connected by a reactor, a back-to-back converter and a filter in sequence; the stator winding is directly connected to a power grid; the control system decouples reactive power and active power, vector control is carried out on exciting current to absorb or release power, and reactive power-voltage support and active power-frequency support of the power grid are completed. The method overcomes the defects that a traditional direct-current excitation phase modulation mode can only modulate phase and cannot modulate frequency, or is cumbersome and slow in response. The system can meet the requirement of wide-range variable-speed operation, quickly store / release a large amount of rotor kinetic energy, inhibit the voltage and frequency fluctuation of a power grid, and is especially suitable for stations with high new energy occupation ratio. The invention also provides a non-transitory readable recording medium storing the program of the method and a system comprising the medium, and the program can be called through a processing circuit to execute the method.

The invention discloses an outer rotor permanent magnet synchronous motor encoder data correction method and device, and aims to solve the problem of poor precision of encoder position detection of an existing outer rotor permanent magnet synchronous motor. The method comprises the following steps: acquiring a current motor position and a motor position in a previous sampling period through an encoder to obtain a first position increment; estimating the current rotating speed of the motor according to the output current of the permanent magnet synchronous motor; obtaining a second position increment according to the current motor rotating speed and the sampling period; and comparing the first position increment with the second position increment to judge whether the data collected by the encoder is abnormal or not, and correcting the abnormal data. The method is simple and reliable, the requirement for the encoder installation process is low, abnormal data errors caused by encoder installation errors or noise interference can be eliminated, the accuracy of encoder detection data is effectively guaranteed, and the stability of closed-loop vector control of the permanent magnet synchronous motor is effectively improved.

The invention provides a permanent magnet frequency conversion double-sine modulation swimming pool pump energy-saving control method, and relates to the technical field of motor driving and control, and the method comprises the steps: building a double-sine carrier modulation model of a permanent magnet synchronous motor, and calculating a dynamic harmonic suppression factor and a double-sine modulation depth in real time; feedforward compensation is carried out on the inverter current based on the DHSIF, and a q-axis current reference value is generated by adopting double-closed-loop vector control; dynamically adjusting a carrier frequency range according to the DSMD, generating double sine carriers with a phase difference of pi / 3, and superposing the double sine carriers into a composite modulated wave; the modulation wave amplitude is corrected through a DHSIF, and fifth and seventh harmonics are eliminated in combination with an adaptive filtering algorithm; a carrier wave ratio is dynamically optimized to generate a PWM signal, and a transient compensation mechanism is triggered to correct a voltage instruction when a load suddenly changes; and an energy efficiency optimization database is constructed to call historical optimal parameters, and nonlinear mapping of DHSIF and motor characteristics is established through parameter self-tuning. According to the invention, cooperative control is realized through dynamic harmonic suppression, modulation depth optimization and intelligent thermal protection.

The invention relates to a permanent magnet synchronous motor technology, in particular to a permanent magnet synchronous motor vector control method and system based on a current source type inverter. Constructing a self-adaptive harmonic elimination method model, defining a reference signal, obtaining a weight matrix of the reference signal at the current moment based on a given angular velocity and a tracking error of the angular velocity of the rotor of the permanent magnet synchronous motor at the current moment, a self-adaptive gain constant and the reference signal at the current moment; and respectively calculating the error compensation information of the d-axis current and voltage and the q-axis current and voltage at the current moment, and correcting the d-axis current and voltage and the q-axis current and voltage at the current moment based on the error compensation information of the d-axis current and voltage and the q-axis current and voltage at the current moment. Through a novel error correction method, current and voltage compensation measurement errors are corrected, so that the rotation pulsation of the motor is eliminated, and the three-phase current is symmetrically balanced.

The invention belongs to the technical field of electric power output control of motors, and particularly discloses a mute permanent magnet generator control system, which comprises the following steps of: defining information entropy of a motor load data set by acquiring a bearing working condition of a motor in a historical cycle operation process; accordingly, the corresponding complexity and uncertainty of the load change in the operation process of the motor are reflected, and then the power output demand of the generator in future periodic operation is predicted and evaluated; proper control modes of power output are selected according to actual requirements, including vector control and direct torque control, so that accurate matching of the power output of the generator and load power requirements is ensured; by detecting the influence state of each variable factor of motor operation in the vector control module and performing precision correction control on the voltage component in the corresponding voltage equation of the d-q rotating coordinate system, the precision control on each variable in the motor can be realized, and the efficiency and the stability of the generator can be improved.

The invention discloses a sampling current bias error compensation method for a permanent magnet synchronous motor. The sampling current bias error compensation method comprises the following steps: step 1, acquiring the shortest duration required by sampling current bias; 2, the permanent magnet synchronous motor is controlled in a vector mode; 3, the zero-voltage vector holding time is obtained, a sampling current compensation mode is selected according to the zero-voltage vector holding time and the shortest time needed by sampling current bias, and the compensation mode comprises the steps that when the zero-voltage vector holding time is larger than or equal to the shortest time needed by sampling current bias, a direct compensation mode is carried out; when the zero voltage vector holding duration is smaller than the shortest duration required by sampling current bias, terminal voltage integration is carried out to judge a compensation mode; and 4, performing vector control on the permanent magnet synchronous motor through the compensated sampling current, and performing closed-loop control. According to the invention, the operation precision of the permanent magnet synchronous motor can be improved, and the motor operation system can adapt to the dynamic change of the offset error.

The invention provides a self-adaptive control method and system for the cutting torque of an electric spindle, and relates to the technical field of cutting control. The method comprises the steps that control requirements are interacted, and rigid and flexible control standards are established; supervising and training an adaptive control module based on a cooperative coupling function, performing parameter control decision analysis in combination with rigid and flexible control standards, and determining a dynamic parameter control scheme; synchronously performing real-time control monitoring, and reading control response data; a feedback verification unit is set up to conduct deflection error verification and cutting torque feedback regulation and control on control response data; the auxiliary adaptive control module and the feedback verification unit carry out closed-loop vector control. According to the method and the device, the technical problems that the precision, the efficiency and the stability of control are poor due to the fact that the precision of cutting torque analysis is poor and the cutting torque cannot be precisely controlled in a targeted mode can be solved, closed-loop vector control over the cutting torque can be achieved, and the expected integrating degree of cutting torque control is improved.

The invention discloses a low-harmonic high-voltage speed regulation system based on a multi-pulse phase-shifting transformer, and particularly relates to the field of power electronic technology and motor speed regulation, which is characterized in that the primary side of the multi-pulse phase-shifting transformer is in star connection, and N groups of windings on the secondary side are in extended delta connection, so that phase difference is realized; the multi-path low-voltage alternating current is converted into multi-path low-voltage alternating current and low-order harmonics are High voltage is output through cascade H-bridge topology series connection, and reliable conversion is guaranteed through rectification filtering inversion and device redundancy design; the motor control module collects signals through multiple sensors, and PWM drive signals are generated through a vector control algorithm and coordinate transformation. The harmonic detection and compensation module detects harmonic waves based on an FFT algorithm, and injects a reverse compensation component through a modulation strategy to offset the harmonic waves; and the auxiliary protection module integrally realizes low-harmonic and high-precision high-voltage motor speed regulation through multi-dimensional monitoring and hardware protection.

Embodiments of the present disclosure relate to a method, device and medium for reducing noise of a motor, the motor being a permanent magnet synchronous motor based on vector control, the method comprising performing interruptions on the motor at a first frequency and a second frequency, respectively, based on a predetermined timing sequence; when the interruption is executed on the second frequency, performing filtering processing on a vector control PWM duty ratio signal of the motor by using a multi-order weighted sliding mean filter so as to filter out a high-frequency harmonic component; performing compensation of the target phase compensation amount on the rotor angle of the motor when the interruption is performed on the first frequency; and performing space vector modulation on the interrupted output of the vector control PWM duty cycle signal of the motor, thereby obtaining the PWM duty cycle signal for reducing the noise of the motor.

The invention discloses a high-speed sensorless control method in a permanent magnet synchronous motor, which relates to the technical field of motor control, constructs a current state equation of the motor based on an extended magnetic flux model, and designs a rotor position estimation scheme combining a super-twisted sliding mode observer, a complex coefficient filter and an enhanced extended state observer according to the current state equation. A control object is a built-in permanent magnet synchronous motor, a motor control strategy adopts rotating speed and current double-closed-loop vector control, an observation value of an extended magnetic flux differential term of the motor is obtained through a super-distortion sliding mode observer, after disturbance factors in the observation value are preliminarily filtered out through a complex coefficient filter, arc tangent calculation is carried out to obtain an estimated rotor position containing disturbance, and the position of the rotor is estimated. And then inputting the result into an enhanced extended state observer so as to obtain accurate rotor position and rotating speed. Compared with a traditional scheme, the method has better dynamic response, estimation precision and robustness.

The invention provides a zero-voltage ride-through control method for a self-synchronizing voltage source doubly-fed wind turbine generator, which comprises the following steps that: when the self-synchronizing voltage source doubly-fed wind turbine generator is in a transient state, a grid-side converter adopts vector control, and a rotor-side converter adopts additional virtual impedance and annular current limiting; the transient overcurrent of the grid-side converter and the rotor-side converter can be effectively suppressed, so that the continuous operation capability of the wind turbine generator in the zero-voltage ride-through period can be maintained; meanwhile, by improving the transient capacity and the transient reactive current amplitude of the converter, the transient voltage supporting capacity of the wind turbine generator during the zero voltage ride-through period can be effectively provided; when the self-synchronizing voltage source doubly-fed wind turbine generator set is in a transient state, overvoltage of direct-current bus voltage is limited by a Chopper circuit, active-priority current amplitude limiting control is adopted by a grid-side converter, parameters of a current inner ring PI controller of a rotor-side converter are optimized, energy balance of a direct-current side can be achieved in the zero-voltage ride-through period, and stability of the direct-current bus voltage is maintained.

The invention provides a multi-permanent magnet synchronous motor rotating speed tracking consistency control method based on local information interaction, and relates to the technical field of multi-permanent magnet synchronous motor rotating speed cooperative control. A vector control subsystem of a single motor in a multi-permanent magnet synchronous motor rotating speed cooperative control system is regarded as an intelligent agent, the intelligent agent interacts rotating speed information with a neighbor intelligent agent according to a designed communication topology, and expected q-axis current is updated in real time through a rotating speed tracking consistency protocol; therefore, the rotating speed tracking consistency is realized based on the local rotating speed information, and a rotating speed tracking controller does not need to be independently designed, so that mutual restriction of rotating speed tracking performance and synchronization performance can be avoided; in addition, distributed control has the advantages of simple structure, high flexibility, high expansibility and the like; the disturbance observer designed by the invention has continuous observation output values, and the system buffeting can be further weakened and the system robustness can be enhanced by utilizing the observer to estimate unknown disturbance and carry out feedforward compensation.

The invention discloses a multi-actuator full-vector control method and related equipment, and the method comprises the steps: obtaining vehicle motion state information and road adhesion information, the vehicle motion state information is obtained based on a vehicle-mounted sensor and / or a vehicle state estimation module, and the road adhesion information is obtained based on a road identification module; acquiring steering wheel angle information based on the vehicle motion state information to determine an expected yaw velocity tracking sequence; upper-layer control information is determined based on the vehicle motion state information, the road surface attachment information and the expected yaw velocity tracking sequence, and the upper-layer control information comprises an additional yaw moment, an additional roll moment, an additional pitch moment and a rear wheel steering angle; and lower-layer control information is determined based on the vehicle motion state information, the road surface attachment information and the upper-layer control information, the lower-layer control information is used for deploying a vehicle actuator, and the lower-layer control information comprises additional driving torque and suspension active force.

The invention discloses a permanent magnet synchronous motor non-inductive vector control method based on SOGI-QNPLL. The method comprises the following steps: constructing a current state equation of a permanent magnet synchronous motor under a two-phase static coordinate system; constructing a new switching function, and designing and improving a full-order sliding mode observer according to the new switching function and the current state equation; the convergence of the improved full-order sliding mode observer is analyzed, and the value ranges of the gain m and the gain n of the improved full-order sliding mode observer are calculated; analyzing the improved full-order sliding-mode observer, and discretizing the improved full-order sliding-mode observer by adopting a forward Euler method; establishing a phase-locked loop (PLL), performing normalization design on the phase-locked loop, and establishing a normalized phase-locked loop (QNPLL); a second-order generalized integrator (SOGI) is established and discretized by adopting a bilinear transformation method, the discrete SOGI is combined with the QNPLL to form SOGI-QNPLL, and the SOGI-QNPLL is utilized to estimate the rotor position. According to the SOGI-QNPLL provided by the invention, the rotor position can be accurately extracted, the observation precision is remarkably improved, and the reliability and performance of the system are enhanced.

The invention provides a stepping motor vector driving circuit and method, electronic equipment and a butterfly valve, and relates to the technical field of butterfly valve control, the driving circuit is used for controlling a stepping motor, and the stepping motor is used for driving a valve in the butterfly valve to act; the stepping motor is internally provided with at least two coils, the stepping motor vector driving circuit comprises at least two voltage control modules, and each target voltage control module comprises a first controlled unit, a second controlled unit, a third controlled unit and a fourth controlled unit; the controlled ends of the first controlled unit and the third controlled unit are connected to one end of a target coil; the controlled ends of the second controlled unit and the fourth controlled unit are connected to the other end of the target coil; the control ends of the first controlled unit, the second controlled unit, the third controlled unit and the fourth controlled unit are controlled by PWM signals to execute turn-off, and the voltage passing through the target coil is controlled. The safety of the butterfly valve is improved through vector control, and the manufacturing cost of the butterfly valve is reduced.

The invention discloses a hybrid excitation synchronous motor control method and system, and belongs to the technical field of motor control. The problem that a motor control system can operate at high precision when a position sensor breaks down is mainly solved. The method comprises the following steps that when a position sensor breaks down, a system is switched to an active short circuit protection (ASC) mode, and operation of a motor is controlled by giving instruction values of d-axis current and q-axis current in the mode; then, in an ASC mode, estimating a rotor angle through a voltage equation in a static coordinate system, so as to obtain an electrical angle of a rotor; after the rotor angle estimation is completed, the system is switched from the ASC mode to the vector control mode without the position sensor, and the d-axis voltage and the q-axis voltage are adjusted in the mode, so that the motor can be continuously and accurately controlled and stably run. The invention provides an efficient and safe motor control method, and the safety and reliability of the electric vehicle under the condition of sensor fault are effectively improved.

The invention provides a permanent magnet synchronous motor frequency conversion soft start and grid connection device and a control method. The device comprises a power supply grid (1), a permanent magnet synchronous motor (2), three-phase contactors (3), (4) and (5), a variable frequency controller composed of a rectifier (6), an inverter (7) and a control panel (8), a voltage sampling module (9), a current sampling module (10) and a filter inductor (11) at the output end of the inverter. One end of the three-phase contactor (3) is connected with a three-phase inlet wire of the power supply grid (1), and the other end of the three-phase contactor (3) is connected with the input end of the rectifier (6); one end of the three-phase contactor (4) is connected with the output end of the inverter (7), and the other end of the three-phase contactor (4) is connected with the input end of the motor (2); and one end of the three-phase contactor (5) is connected with a three-phase inlet wire of the power supply grid (1). VF open-loop pre-synchronization control is introduced in advance in vector control, power grid synchronization conditions are simulated, a motor is enabled to actively match power grid magnetic field parameters before grid connection, smooth transition of a control mode is realized, and large impact current and electromechanical oscillation are avoided.

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 discloses a backstepping active-disturbance-rejection control method and device for a permanent magnet synchronous motor and a medium, and relates to the field of motor control. The invention aims to solve the problem of overshoot in the control process of the traditional three-phase motor. The invention relates to a backstepping active-disturbance-rejection control method for a permanent magnet synchronous motor. The method comprises the following steps: constructing a permanent magnet synchronous motor second-order dynamics simplified model with an error disturbance factor; de-noising the model by using a differential tracker; observing the denoised model by using a first-order extended state observer; obtaining an error disturbance factor of the motor control system by using a nonlinear state error feedback control law based on the observation result, and compensating the error disturbance factor to obtain external disturbance of the motor control system after compensation; and designing a backstepping controller of the permanent magnet synchronous motor by adopting a backstepping method on the basis of the compensated external disturbance of the motor control system, obtaining a control quantity by utilizing the backstepping controller of the permanent magnet synchronous motor, and further controlling a rotating speed ring in vector control of the permanent magnet synchronous motor.

A driving circuit board of a vector control permanent magnet synchronous motor controller comprises a microprocessor integrated with an FOC algorithm; a bus voltage acquisition unit; a current acquisition unit; a rotary transformer, Hall and photoelectric speed sensor signal acquisition unit; a man-machine interaction unit; a six-path PWM driving unit; the connector is connected with a reliable monitoring unit. The driving circuit board provided by the utility model can be matched with three-phase full-bridge inversion power circuit boards with different power levels to quickly form a permanent magnet synchronous motor controller with different power levels. According to the utility model, the microprocessor is adopted to acquire various feedback signals such as speed, current, temperature, fault and the like and generate six paths of PWM driving waveforms, various types of speed acquisition units and communication units are integrated, the compatibility is better, the connector is added to connect the reliable monitoring unit, the safety is better, and the man-machine interaction unit is combined, so that control parameters can be adjusted, and the cost is reduced. And the permanent magnet synchronous motor supports various powers, voltages and electrical parameters.