CN108809169B - Method and device for controlling chaotic rotating speed based on time delay feedback - Google Patents
Method and device for controlling chaotic rotating speed based on time delay feedback Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/2855—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Abstract
The invention discloses a method and a device for controlling chaotic rotating speed based on time delay feedback. The control method comprises the following steps: detecting the motor rotating speed omega (t) in the motor system, and inputting the detection result into a time delay feedback control unit; the time delay feedback control unit carries out time delay feedback operation processing on the motor rotating speed omega (t) to obtain a feedback voltage value u' (t); the feedback voltage u' (t) is compared with a given reference voltage u*＝V0Superimposed to obtain the sum of the voltages u (t) u*+ u' (t); calculating and outputting the steady-state rotating speed average value omega of the motor systemavgAnd the rotational speed oscillation amplitude delta omegamax(ii) a With Fobj＝f(ωavg,Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function0And adjusting the optimal solution of the feedback voltage amplitude A and the optimal solution of the feedback voltage amplitude A to reach optimal values; and carrying out operation processing on the voltage and the value u (t) after the control parameter optimization to obtain a switching signal of a driving circuit. The technical scheme of the invention is not only beneficial to finding out the optimal chaotic state, but also can improve the working effect and the working efficiency of the chaotic motor.
Description
Technical Field
The invention relates to the technical field of control of motor systems, in particular to a chaotic rotating speed control method and device based on time delay feedback.
Background
In the fields of industrial stirring, grinding, vibratory compaction and the like, the research of chaotic application has achieved substantial results. The japanese scholars Shunji ITO et al found that the system sanding effect was best when the grinding motor was operating in a chaotic state. Chau et al, k.t. university in hong kong, have found that in stirring at a low reynolds number, a better stirring effect can be obtained when the stirring speed reaches the chaotic speed, compared with ordinary uniform stirring. The chaos exciter is used for a heavy chaos vibration road roller by Longyujia and other people of Chinese agriculture university, vibration and compaction tests are carried out on the chaos exciter, the chaos road roller can improve the work efficiency by more than 10 percent compared with a conventional heavy road roller with the same tonnage, and the chaos road roller is used for northwest highway construction in China. Chau et al, utilize chaotic motor to drive vibratory compactor, and the result shows that chaotic vibratory compactor has better compaction effect than traditional uniform velocity and period vibratory compactor.
However, the current chaotic anti-control method can only realize the chaotization of the system, cannot find an optimal chaotic state, and cannot improve the working effect and the working efficiency of the chaotic motor in the fields of industrial stirring, grinding, vibration compaction and the like.
Disclosure of Invention
The invention mainly aims to provide a time delay feedback-based chaotic rotating speed control method and a time delay feedback-based chaotic rotating speed control device, so as to seek an optimal chaotic state and improve the working effect and the working efficiency of a chaotic motor in industrial application.
In order to achieve the above object, according to an aspect of the present invention, a method for controlling a chaotic rotating speed based on a time delay feedback is provided. The control method is used for a motor system which comprises a direct current motor. The control method comprises the following steps:
detecting the motor rotating speed omega (t) in the motor system, and inputting the detection result into a time delay feedback control unit;
the time delay feedback control unit carries out time delay feedback operation processing on the motor rotating speed omega (t) to obtain a feedback voltage u' (t);
the feedback voltage u' (t) is compared with a given reference voltage u*＝V0Superimposed to obtain the sum of the voltages u (t) u*+ u' (t), where V0Is an open loop control voltage;
calculating and outputting the steady-state rotating speed average value omega of the motor systemavgAnd the rotational speed oscillation amplitude delta omegamaxWherein the steady-state rotation speed average value ωavgHas an analytic expression of ωavg＝f(V0) Said amplitude of rotation speed oscillation Δ ωmaxHas an analytical expression of Δ ωmax＝f(A)，f(V0) And f (A) are related to the open-loop control voltage V0And a function with respect to the amplitude a of the feedback voltage;
with Fobj＝f(ωavg,Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function for an optimization solution process0And the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjDefined by chaotic performance indicators;
and carrying out operation processing on the voltage and the value u (t) after the control parameter optimization to obtain a switching signal of a driving circuit, wherein the driving circuit is used for driving the motor, and the switching signal is used for adjusting the armature voltage of the motor.
Further, in the step of performing a time delay feedback operation on the motor rotation speed ω (t) by the time delay feedback control unit to obtain the feedback voltage u' (t), an analytic expression of the time delay feedback operation is a time delay feedback form based on a sine function.
Further, the analytic expression of the delay feedback operation processing is as follows: u' (t) ═ a sin [ σ ω (t- τ) ], where a is the feedback voltage amplitude, and σ and τ are the feedback frequency and delay time, respectively.
Further, the steady state rotation speed average value ωavgAnd said rotational speed oscillation amplitude Δ ωmaxThe analytical expressions of (a) are respectively:
in the formula, KT、KETorque coefficients of the motor and induction potential coefficients of the motor are respectively; b is the viscous friction coefficient of the motor; j is the rotor moment of inertia of the motor; raIs the resistance of the motor; t islIs the load torque.
Further, the compound is Fobj＝f(ωavg,Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function for an optimization solution process0And the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjDetermined by chaotic performance indexIn the step of defining, calculating said open-loop control voltage V by using genetic algorithm0And an optimal solution of the feedback voltage amplitude a.
Further, in the step of performing operation processing on the voltage and the value u (t) after the control parameter optimization to obtain the switching signal of the driving circuit, the operation processing is proportional-integral control operation.
Further, the manner of adjusting the rotation speed ω (t) of the motor is PWM speed regulation, and the armature voltage of the motor is adjusted by the duty ratio of the PWM signal.
According to another aspect of the present invention, there is provided a control apparatus of chaotic rotating speed based on time delay feedback. The control device includes:
the rotating speed detection unit is used for detecting the rotating speed omega (t) of the motor in the motor system and inputting a detection result into the time delay feedback control unit;
the time delay feedback control unit is used for carrying out time delay feedback operation processing on the motor rotating speed omega (t) to obtain feedback voltage u' (t);
a superposition operation unit for superposing the feedback voltage u' (t) with a given reference voltage u*＝V0Superimposed to obtain the sum of the voltages u (t) u*+ u' (t), where V0Is an open loop control voltage;
a rotation speed calculation unit for calculating and outputting a steady state rotation speed average value omega of the motor systemavgAnd the rotational speed oscillation amplitude delta omegamaxWherein the steady-state rotation speed average value ωavgHas an analytic expression of ωavg＝f(V0) Said amplitude of rotation speed oscillation Δ ωmaxHas an analytical expression of Δ ωmax＝f(A)，f(V0) And f (A) are related to the open-loop control voltage V0And a function with respect to the amplitude a of the feedback voltage;
an optimum value solving unit for solving the optimum value by Fobj＝f(ωavg,Δωmax)＝f(V0A) is an optimizationSolving an objective function of the process, calculating the open-loop control voltage V0And the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjDefined by chaotic performance indicators;
the voltage control unit is used for carrying out operation processing on the voltage and the value u (t) after the control parameters are optimized so as to obtain a switching signal of a driving circuit, the driving circuit is used for driving the motor, and the switching signal is used for adjusting the armature voltage of the motor.
According to yet another aspect of the present invention, a computer-readable storage medium is provided. The computer readable storage medium stores computer readable instructions, and when the computer readable instructions are executed by a processor, the processor executes the steps of the control method of the chaotic rotating speed based on the time delay feedback.
According to yet another aspect of the present invention, a computer device is provided. The computer device comprises a memory and a processor, wherein computer readable instructions are stored in the memory, and when the computer readable instructions are executed by the processor, the processor executes the steps of the control method of the chaotic rotating speed based on the time delay feedback.
By adopting the technical scheme, compared with the prior art, the invention has the following characteristics:
(1) the chaotic rotating speed control method can be used for respectively controlling the steady-state rotating speed average value and the rotating speed oscillation amplitude of the system, establishing a target function to quantitatively evaluate the mixing degree characteristic, and further improving the working efficiency of the chaotic motor.
(2) The chaotic rotating speed control method in the application can effectively generate chaotic motion in the direct current motor by combining the time delay feedback control method with the motor transmission, and has the advantages of simple structure, high controllability and the like, so the applicability is wide.
(3) According to the chaotic rotating speed control method, the output rotating speed of the motor can be freely switched among constant-speed motion, periodic motion and chaotic motion by adjusting the amplitude of the feedback voltage in the time delay feedback control, and the chaotic rotating speed control method is high in automation degree and strong in transportability.
Drawings
FIG. 1 is a schematic structural diagram of a motor system based on time delay feedback according to the present invention;
FIG. 2 is a schematic diagram of the chaotic speed control of a motor;
FIG. 3 is a flow chart of control parameter optimization based on chaotic performance indicators;
in the figure, 1-voltage control unit; 2-a drive circuit; 3-a direct current motor; 4-a rotation speed detection unit; 5-a time delay feedback control unit; 6-superposition operation unit.
Detailed Description
In one embodiment, a method for controlling a chaotic rotating speed based on time delay feedback is provided. The control method is applied to a motor system, and referring to fig. 1, the motor system includes a dc motor. Referring to fig. 2-3, the control method includes the following steps:
detecting the motor rotating speed omega (t) in the motor system, and inputting the detection result into a time delay feedback control unit;
the time delay feedback control unit carries out time delay feedback operation processing on the motor rotating speed omega (t) to obtain a feedback voltage u' (t);
the feedback voltage u' (t) is compared with a given reference voltage u*＝V0Superimposed to obtain the sum of the voltages u (t) u*+ u' (t), where V0Is an open loop control voltage;
calculating and outputting the steady-state rotating speed average value omega of the motor systemavgAnd the rotational speed oscillation amplitude delta omegamaxWherein the steady-state rotation speed average value ωavgHas an analytic expression of ωavg＝f(V0) Said amplitude of rotation speed oscillation Δ ωmaxHas an analytical expression of Δ ωmax＝f(A)，f(V0) And f (A) are related to the open-loop control voltage V0And a function related to the amplitude A of the feedback voltage, the system parameters of the DC motor are determined and then adjusted by the open loopControl voltage V0Controlling said steady state speed average ω of the motor∞Controlling the rotation speed oscillation amplitude delta omega by adjusting the feedback voltage amplitude AmaxThe chaotic rotating speed can be controlled to change in an expected rotating speed interval;
with Fobj＝f(ωavg,Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function for an optimization solution process0And the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjDefined by chaotic performance indicators;
and carrying out operation processing on the voltage and the value u (t) after the control parameter optimization to obtain a switching signal of a driving circuit, wherein the driving circuit is used for driving the motor, and the switching signal is used for adjusting the armature voltage of the motor so as to control the output rotating speed of the motor.
By establishing an objective function F based on chaos performance indexesobjSolving for the open-loop control voltage V0The optimal value of the feedback voltage amplitude A and the optimal value of the feedback voltage amplitude A can quantitatively evaluate the chaotic characteristic, so that the optimal chaotic state is sought, and the working efficiency of the chaotic motor is improved.
In particular, for example in a chaotic vibratory roller system, the objective function F is defined according to the mean compaction energy density of chaotic compactionobjIs arranged as
Wherein the content of the first and second substances,
Mp、Mel, W and r0Are all the parameters of the system, and are,
is the response speed of the system.
By said steady state speed average ω of the motor∞And said rotational speed oscillation amplitude Δ ωmaxTo characterize. That is, by establishing the objective function FobjThe optimum control parameter of the system, i.e. the open-loop control voltage V, can be sought0And the optimal value of the feedback voltage amplitude A, so that the working efficiency of the whole chaotic vibratory roller system is further improved.
As shown in FIG. 2, when the system parameters of the motor are determined, the open-loop control voltage V is adjusted0Can control the steady-state average rotating speed omega of the direct current motoravg(ii) a And the oscillation amplitude delta omega of the chaotic rotating speed can be controlled by adjusting the feedback voltage amplitude A fed back by the nonlinear time delaymaxThereby controlling the chaotic rotation speed within a desired rotation speed interval.
FIG. 3 shows a process for searching for optimal control parameters according to an objective function. Establishing a system control equation based on time delay feedback, and carrying out simulation analysis on the system; establishing an objective function F defined based on chaos performance indexesobj＝f(ωavg,Δωmax)＝f(V0A), calculating the open-loop control voltage V using a genetic algorithm0And feeding back the optimal solution of voltage amplitude A and adjusting open-loop control voltage V0And the feedback voltage amplitude a reaches an optimum value.
In another embodiment, in the step of performing the time-delay feedback operation processing on the motor rotation speed ω (t) by the time-delay feedback control unit to obtain the feedback voltage u' (t), an analytic expression of the time-delay feedback operation processing is a time-delay feedback form based on a sine function. The sine function is a bounded continuous function and is relatively simple to implement.
In another embodiment, the analytic expression of the delay feedback operation process is: u' (t) ═ a sin [ σ ω (t- τ) ], where a is the feedback voltage amplitude, and σ and τ are the feedback frequency and delay time, respectively. And selecting proper feedback frequency sigma and delay time tau, and adjusting the feedback voltage amplitude A to enable the rotating speed of the motor to respectively realize constant-speed motion, periodic motion and chaotic motion.
In another embodiment, the stabilizer isMean value of the state speed omegaavgAnd said rotational speed oscillation amplitude Δ ωmaxThe analytical expressions of (a) are respectively:
in the formula, KT、KETorque coefficients of the motor and induction potential coefficients of the motor are respectively; b is the viscous friction coefficient of the motor; j is the rotor moment of inertia of the motor; raIs the resistance of the motor; t islIs the load torque. Introducing steady-state rotating speed average value omegaavgAnd said rotational speed oscillation amplitude Δ ωmaxThe chaotic characteristic can be quantitatively evaluated.
In another embodiment, the compound is Fobj＝f(ωavg,Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function for an optimization solution process0And the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjIn the step defined by the chaos performance index, the open-loop control voltage V is calculated by adopting a genetic algorithm0And an optimal solution of the feedback voltage amplitude a. The genetic algorithm can quickly and efficiently find the optimal control parameter combination defined based on the chaos performance index, namely the open-loop control voltage V0And feeding back an optimal solution corresponding to the voltage amplitude A. Specifically, the genetic algorithm is a multi-target genetic algorithm.
In another embodiment, in the step of performing operation processing on the voltage and the value u (t) after the control parameter optimization to obtain the switching signal of the driving circuit, the operation processing is proportional-integral control operation. The proportional-integral algorithm is the most widely applied algorithm in the field of industrial control, is simple and practical, has strong adaptability and has certain robustness. Specifically, the proportional integral control operation is completed by an operational amplifier.
In another embodiment, the manner of adjusting the motor speed ω (t) is PWM speed regulation, and the armature voltage of the motor is adjusted by the duty ratio of the PWM signal. By adopting the PWM technology, the output voltage and current waveform can be improved, the harmonic wave of a power supply system can be reduced, and the anti-interference capability of the system can be enhanced. Specifically, the PWM waveform generation mode can select a hysteresis comparison mode and a triangular wave comparison mode; the width of the PWM pulse is adjusted by the error signal of the voltage, namely, the voltage type PWM control.
In one embodiment, a control device of chaotic rotating speed based on time delay feedback is provided. The control device includes:
the rotating speed detection unit is used for detecting the rotating speed omega (t) of the motor in the motor system and inputting a detection result into the time delay feedback control unit;
the time delay feedback control unit is used for carrying out time delay feedback operation processing on the motor rotating speed omega (t) to obtain feedback voltage u' (t);
a superposition operation unit for superposing the feedback voltage u' (t) with a given reference voltage u*＝V0Superimposed to obtain the sum of the voltages u (t) u*+ u' (t), where V0Is an open loop control voltage;
a rotation speed calculation unit for calculating and outputting a steady state rotation speed average value omega of the motor systemavgAnd the rotational speed oscillation amplitude delta omegamaxWherein the steady-state rotation speed average value ωavgHas an analytic expression of ωavg＝f(V0) Said amplitude of rotation speed oscillation Δ ωmaxHas an analytical expression of Δ ωmax＝f(A)，f(V0) And f (A) are related to the open-loop control voltage V0And a function with respect to the amplitude a of the feedback voltage;
an optimum value solving unit for solving the optimum value by Fobj＝f(ωavg,Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function for an optimization solution process0Of (2) an optimal solutionAnd an optimal solution of the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjDefined by chaotic performance indicators;
the voltage control unit is used for carrying out operation processing on the voltage and the value u (t) after the control parameters are optimized so as to obtain a switching signal of a driving circuit, the driving circuit is used for driving the motor, and the switching signal is used for adjusting the armature voltage of the motor.
Specifically, as shown in fig. 1, the motor system includes a voltage control unit 1, a driving circuit 2, a dc motor 3, a rotation speed detection unit 4, a time delay feedback control unit 5, and a superposition operation unit 6.
After the motor system is started, the rotating speed detection unit 4 detects the rotating speed of the motor, a rotating speed signal is input into the time delay feedback control unit 5, after a series of processing such as time delay, multiplication and sine operation is executed by the time delay feedback control unit 5, a feedback voltage value is input into the input end of the superposition operation unit 6, the feedback voltage value and a reference voltage value of the other input end are superposed and then input into the voltage control unit 1, and the voltage control unit 1 performs proportional-integral algorithm processing on the input voltage and value signal, so that a switching signal is obtained. The switching signal is input to the driving circuit 2 to change the armature voltage of the dc motor 1, thereby controlling the output rotation speed of the motor.
In one implementation, a computer-readable storage medium is provided. The computer readable storage medium stores computer readable instructions, and when the computer readable instructions are executed by a processor, the processor executes the steps of the control method of the chaotic rotating speed based on the time delay feedback.
In one embodiment, a computer device is provided. The computer device comprises a memory and a processor, wherein computer readable instructions are stored in the memory, and when the computer readable instructions are executed by the processor, the processor executes the steps of the control method of the chaotic rotating speed based on the time delay feedback.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program that instructs the relevant hardware to complete the processes, and the processes can be stored in a non-volatile computer readable storage medium, and when executed, the processes can include the processes of the embodiments of the methods described above. The computer readable storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.
In the description of the specification, reference to the terms "one embodiment," "another embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A control method of chaotic rotating speed based on time delay feedback is used for a motor system, the motor system comprises a direct current motor, and the control method is characterized by comprising the following steps:
detecting the motor rotating speed omega (t) in the motor system, and inputting the detection result into a time delay feedback control unit;
the time delay feedback control unit carries out time delay feedback operation processing on the motor rotating speed omega (t) to obtain a feedback voltage u' (t);
the feedback voltage u' (t) is compared with a given reference voltage u*＝V0Superimposed to obtain the sum of the voltages u (t) u*+ u' (t), where V0Is an open loop control voltage;
calculating and outputting the steady-state rotating speed average value omega of the motor systemavgAnd the rotational speed oscillation amplitude delta omegamaxWherein the steady-state rotation speed average value ωavgHas an analytic expression of ωavg＝f(V0) Said amplitude of rotation speed oscillation Δ ωmaxHas an analytical expression of Δ ωmax＝f(A)，f(V0) Is about the open-loop control voltage V0And f (a) is a function of the feedback voltage amplitude a;
with Fobj＝f(ωavg，Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function for an optimization solution process0And the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjDefined by chaotic performance indicators;
and carrying out operation processing on the voltage and the value u (t) after the control parameters are optimized to obtain a switching signal of a driving circuit, wherein the driving circuit is used for driving the motor, and the switching signal is used for adjusting the armature voltage of the motor.
2. The method for controlling the chaotic rotating speed based on the time delay feedback as claimed in claim 1, wherein in the step of performing the time delay feedback operation processing on the rotating speed ω (t) of the motor by the time delay feedback control unit to obtain the feedback voltage u' (t), an analytical expression of the time delay feedback operation processing is a time delay feedback form based on a sine function.
3. The method for controlling the chaotic rotating speed based on the time delay feedback as claimed in claim 2, wherein the analytic expression of the time delay feedback operation processing is as follows: u' (t) ═ Asin [ σ · ω (t- τ) ], where a is the feedback voltage amplitude, and σ and τ are the feedback frequency and delay time, respectively.
4. The time-delay feedback-based chaotic speed control method according to claim 1, wherein the steady-state speed average value ω isavgAnd said rotational speed oscillation amplitude Δ ωmaxThe analytical expressions of (a) are respectively:
in the formula, KT、KETorque coefficients of the motor and induction potential coefficients of the motor are respectively; b is the viscous friction coefficient of the motor; raIs the resistance of the motor; t islIs the load torque.
5. The method for controlling the chaotic rotating speed based on the time delay feedback of claim 4, wherein the F is usedobj＝f(ωavg，Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function for an optimization solution process0And the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjIn the step defined by the chaos performance index, the open-loop control voltage V is calculated by adopting a genetic algorithm0And an optimal solution of the feedback voltage amplitude a.
6. The method for controlling the chaotic rotating speed based on the time delay feedback according to any one of claims 1 to 5, wherein in the step of performing operation processing on the voltage and the value u (t) after the control parameter optimization to obtain the switching signal of the driving circuit, the operation processing is proportional-integral control operation.
7. The method for controlling the chaotic rotating speed based on the time delay feedback of claim 6, wherein the rotating speed ω (t) of the motor is regulated by PWM (pulse-width modulation), and the armature voltage of the motor is regulated by the duty ratio of a PWM signal.
8. A chaos rotational speed control device based on time delay feedback, the control device is used for the motor system, the motor system includes direct current motor, characterized in that, the control device includes:
the rotating speed detection unit is used for detecting the rotating speed omega (t) of the motor in the motor system and inputting a detection result into the time delay feedback control unit;
the time delay feedback control unit is used for carrying out time delay feedback operation processing on the motor rotating speed omega (t) to obtain feedback voltage u' (t);
a superposition operation unit for superposing the feedback voltage u' (t) with a given reference voltage u*＝V0Superimposed to obtain the sum of the voltages u (t) u*+ u' (t), where V0Is an open loop control voltage;
a rotation speed calculation unit for calculating and outputting a steady state rotation speed average value omega of the motor systemavgAnd the rotational speed oscillation amplitude delta omegamaxWherein the steady-state rotation speed average value ωavgHas an analytic expression of ωavg＝f(V0) Said amplitude of rotation speed oscillation Δ ωmaxHas an analytical expression of Δ ωmax＝f(A)，f(V0) And f (A) are related to the open-loop control voltage V0And a function with respect to the amplitude a of the feedback voltage;
an optimum value solving unit for solving the optimum value by Fobj＝f(ωavg，Δωmax)＝f(V0And A) calculating the open-loop control voltage V as an objective function for an optimization solution process0And the feedback voltage amplitude A, and adjusting the open-loop control voltage V0And the feedback voltage amplitude A reaches an optimal value, wherein the objective function FobjDefined by chaotic performance indicators;
and the voltage control unit is used for carrying out operation processing on the optimized voltage and the value u (t) to obtain a switching signal of a driving circuit, the driving circuit is used for driving the motor, and the switching signal is used for adjusting the armature voltage of the motor.
9. A computer readable storage medium having computer readable instructions stored thereon, which, when executed by a processor, cause the processor to perform the steps of the time-delay feedback-based chaotic speed control method according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions, which, when executed by the processor, cause the processor to carry out the steps of the method of controlling a chaotic speed based on time-lapse feedback according to any one of claims 1 to 7.
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