CN113437920A - Control method, device and equipment of driving motor and computer readable storage medium - Google Patents
Control method, device and equipment of driving motor and computer readable storage medium 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
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Abstract
The invention discloses a control method of a driving motor, which comprises the steps of obtaining a controlled dissipation Hamilton model of the driving motor; determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information; obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a second-order differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system; obtaining an passivity control law according to the expected state equation; and controlling the driving motor through the passive control law. The invention greatly simplifies the calculation method of the passive control law, ensures stronger robustness, effectively inhibits the tracking error caused by the resistance change of the rotor and improves the control accuracy. The invention also provides a control device and equipment of the drive motor and a computer readable storage medium with the beneficial effects.
Description
Technical Field
The present invention relates to the field of automation control, and in particular, to a method, an apparatus, a device, and a computer-readable storage medium for controlling a driving motor.
Background
The driving motor is a common driving source for mechanical equipment, and people have extensively studied the control method in recent years in order to improve the static performance, dynamic performance and anti-interference capability of the speed regulation of the driving motor. In most cases, the driving motor is a typical nonlinear, multivariable and strongly coupled system, and the existing driving motor mostly adopts a nonlinear control method, such as feedback linearization, a backstepping method and the like. The feedback linearization method adopts nonlinear feedback to completely eliminate nonlinear items in the motor, and the backstepping method introduces virtual control, which is essentially a static compensation idea, but still has many problems, such as high parameter precision of the driving motor is needed, the design control method is complex, and the tracking effect is poor.
Therefore, the technical staff in the field needs to solve the problem of how to improve the static and dynamic characteristics of the existing driving motor control method, realize the gradual tracking of flux linkage and rotation speed under the condition that the load torque is time-varying unknown, and effectively reduce the tracking error caused by the resistance variation of the stator and the rotor.
Disclosure of Invention
The invention aims to provide a control method, a control device, control equipment and a computer readable storage medium of a driving motor, which aim to solve the problem that the gradual tracking error of flux linkage and rotating speed is larger under the condition that the load torque is time-varying unknown in the prior art, so that the control of the driving motor is inaccurate.
In order to solve the above technical problem, the present invention provides a method for controlling a driving motor, including:
acquiring a controlled dissipation Hamilton model of a driving motor;
determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information;
obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system;
obtaining an passivity control law according to the expected state equation;
and controlling the driving motor through the passive control law.
Optionally, in the control method of the driving motor, obtaining an expected state equation according to the system expected energy function and the controlled dissipation hamiltonian model includes:
obtaining an injection dissipation matrix and a damping matrix according to the controlled dissipation Hamiltonian model;
obtaining a primary state equation according to the system expected energy function and the controlled dissipation Hamiltonian model;
and obtaining an expected state equation through an expected energy function formula of a closed loop system according to the primary state equation, the injection dissipation matrix and the damping matrix.
Optionally, in the control method of the driving motor, the obtaining a controlled dissipation hamiltonian model of the driving motor includes:
acquiring an electrical subsystem state equation and a mechanical subsystem state equation of a driving motor;
and obtaining a controlled dissipation Hamilton model according to the state equation of the electrical subsystem and the state equation of the mechanical subsystem.
Optionally, in the control method of the driving motor, obtaining an inactive control law according to the desired state equation includes:
determining a corresponding state reference value according to a preset system state variable;
determining a sliding mode opening and closing surface according to the state reference value;
determining a rotating speed control law according to preset proportional gain, integral gain and the sliding mode opening and closing surface;
and obtaining an passivity control law according to the rotating speed control law and the expected state equation.
A control device of a drive motor, comprising:
the acquisition module is used for acquiring a controlled dissipation Hamilton model of the driving motor;
the processing module is used for determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information;
the expecting module is used for obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system;
the control law module is used for obtaining an passivity control law according to the expected state equation;
and the execution module is used for controlling the driving motor through the passive control law.
Alternatively, in the control device of a drive motor, the expectation module may include:
the matrix extraction unit is used for obtaining an injection dissipation matrix and a damping matrix according to the controlled dissipation Hamiltonian model;
the primary state unit is used for obtaining a primary state equation according to the system expected energy function and the controlled dissipation Hamiltonian model;
and the high-level state unit is used for obtaining an expected state equation through a closed-loop system expected energy function formula according to the primary state equation, the injection dissipation matrix and the damping matrix.
Optionally, in the control device of a driving motor, the obtaining module includes:
the subsystem equation acquisition unit is used for acquiring an electrical subsystem state equation and a mechanical subsystem state equation of the driving motor;
and the Hamilton unit is used for obtaining a controlled dissipation Hamilton model according to the state equation of the electrical subsystem and the state equation of the mechanical subsystem.
Optionally, in the control device for a driving motor, the control law module includes:
the state unit is used for determining a corresponding state reference value according to a preset system state variable;
the sliding mode unit is used for determining a sliding mode opening and closing surface according to the state reference value;
the rotating speed control law unit is used for determining a rotating speed control law according to preset proportional gain, integral gain and the sliding mode opening and closing surface;
and the enhancement control law unit is used for obtaining an passivity control law according to the rotating speed control law and the expected state equation.
A control apparatus of a drive motor, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the control method of the drive motor as described in any one of the above when executing the computer program.
A computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of controlling a drive motor according to any one of the preceding claims.
The control method of the driving motor provided by the invention comprises the steps of obtaining a controlled dissipation Hamilton model of the driving motor; determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information; obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system; obtaining an passivity control law according to the expected state equation; and controlling the driving motor through the passive control law.
Aiming at the situation that the load torque is unknown in time varying, the control law of the driving motor based on the interconnection matrix expected by the system and the damping matrix expected by the system is established by using the passive control method of nonlinear feedback control in nature through the controlled dissipation Hamilton system model of the driving motor, namely, the rotor resistance self-adaptive identification link is added, the magnetic linkage asymptotic tracking when the load torque and the rotor resistance are unknown in time varying is realized, the passive control law calculation method is greatly simplified, the stronger robustness is ensured, the static and dynamic characteristics of the passive control law are improved, the tracking error caused by the rotor resistance variation can be effectively inhibited, and the control accuracy is improved. The invention also provides a control device and equipment of the drive motor and a computer readable storage medium with the beneficial effects.
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In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a control method of a driving motor according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another embodiment of a control method of a driving motor according to the present invention;
fig. 3 is a schematic structural diagram of a control device of a driving motor according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the basic principle of sliding mode control;
fig. 5 is a schematic structural diagram of a drive motor control system based on the control method of the drive motor provided by the present invention;
fig. 6 to 8 are simulation result diagrams of a control device of a driving motor according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the present invention is to provide a method for controlling a driving motor, wherein a flowchart of one embodiment of the method is shown in fig. 1, which is referred to as a first embodiment, and the method includes:
s101: a controlled dissipation hamilton model of the drive motor is obtained.
Of course, the controlled dissipation hamiltonian model in this step also includes relevant parameters, and as a specific implementation, this step includes:
s1011: and acquiring an electrical subsystem state equation and a mechanical subsystem state equation of the driving motor.
The following explains this step, in which system state variables are defined, as a concrete case for easy understanding, by way of example
Wherein isd、isq、ird、irqD, q components, omega, of stator and rotor currents, respectivelyrIs the rotor voltage angular speed; system control variable [ u ]1 u2 u3]＝[usd usq ωs]Wherein u issd、usqD, q components, ω, of the stator voltage, respectivelysFor the stator voltage angular velocity, the power pipeline inspection robot driving motor is regarded as a negative feedback connection system formed by an electric subsystem and a mechanical subsystem, and then the state equation of the power pipeline inspection robot driving motor under the synchronous rotation coordinate system can be expressed as a fourth-order electric differential equation (1) and a first-order mechanical differential equation (2):
in the formula: rs、RrRespectively a stator resistance, a rotor resistance, Ls、LrRespectively stator and rotor inductances, LmIs mutual inductance, J is moment of inertia, D is damping coefficient, ylFor load torque, npIs the polar logarithm and p is the differential operator.
S1012: and obtaining a controlled dissipation Hamilton model according to the state equation of the electrical subsystem and the state equation of the mechanical subsystem.
Taking the above example, the (1) and (2) are arranged into a unified mathematical model as follows:
and then combining the state equation of the driving motor of the power pipeline inspection robot to obtain a controlled dissipation Hamilton model of the driving motor of the power pipeline inspection robot:
in the formula: omegasIs the slip angular velocity, omegas＝ω1-ωr，ω1Is the stator angular velocity; coefficient matrix
Load torque matrix h ═ 0000 yl]TCoefficient matrix
Control variable matrix u ═ u1 u2 0 0 u3]TCorrelation matrix
Wherein the d-axis component of the stator flux linkage
Q-axis component of stator flux linkage
S102: and determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information.
As an example, the desired output torque of the drive motor of the power line inspection robot is set to ydDesired rotor flux linkage is psirdThen, in order to realize the rotor magnetic field asymptotic vector control and the electromagnetic torque asymptotic tracking, the control target is made as follows:
electromagnetic torque asymptotic tracking:
asymptotic orientation of the magnetic field of the rotor:
and (c) asymptotically tracking the rotor flux linkage amplitude:
selecting a system state reference value
Make the system satisfy equations (5) - (7) corresponding to control targets (c) - (c):
according to the control target equations (5) - (7), the obtained system state reference value needs to satisfy:
according to the control target, selecting an orthodefinite quadratic energy function:
designing a system expected energy function
Comprises the following steps:
in the formula:
energy stored in a driving motor of the power pipeline inspection robot is stored;
to control the energy injected into the system by introducing state feedback.
S103: obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; and the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system.
As a specific embodiment, the present step includes:
s1031: and obtaining an injection dissipation matrix and a damping matrix according to the controlled dissipation Hamiltonian model.
S1032: and obtaining a primary state equation according to the system expected energy function and the controlled dissipation Hamiltonian model.
In the previous example, according to equation (9):
thus, there are:
binding formula (4) to obtain:
combining formulae (11) to (12), to obtain:
order to
ξ＝-D-1h，
Then there is a primary equation of state:
s1033: and obtaining an expected state equation through an expected energy function formula of a closed loop system according to the primary state equation, the injection dissipation matrix and the damping matrix.
Configuring injection dissipation matrices
And damping matrix
The expected state equation of the drive motor of the power pipeline inspection robot is derived from the expected energy function equations (15) and (14) of the closed-loop system as follows:
in the formula:
in order to be the desired interconnect matrix for the system,
a desired damping matrix for the system is provided,
s104: and obtaining an passivity control law according to the expected state equation.
The state feedback control law obtained by a system expected energy function formula (9) and a power pipeline inspection robot driving motor expected state equation (16) is as follows:
to make the passive control law simple and feasible and the system convergence rate controllable, the selection is made
Wherein r isa1、ra2、ra3、ra4、ra5Is the injected positive damping parameter. Defining actual states
And a state reference value
Inter tracking error
The desired energy function is then:
the passivity control law obtained from equations (17) and (19) is:
suitably adjust ra1、ra2、ra3、ra4、ra5The actual values of the rotor flux linkage and the electromagnetic torque can quickly follow the reference value, and the dynamic and static performances expected by a control system under the condition that the load torque is time-varying unknown are realized.
S105: and controlling the driving motor through the passive control law.
The control method of the driving motor provided by the invention comprises the steps of obtaining a controlled dissipation Hamilton model of the driving motor; determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information; obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system; obtaining an passivity control law according to the expected state equation; and controlling the driving motor through the passive control law. Aiming at the situation that the load torque is unknown in time varying, the control law of the driving motor based on the interconnection matrix expected by the system and the damping matrix expected by the system is established by using the passive control method of nonlinear feedback control in nature through the controlled dissipation Hamilton system model of the driving motor, namely, the rotor resistance self-adaptive identification link is added, the magnetic linkage asymptotic tracking when the load torque and the rotor resistance are unknown in time varying is realized, the passive control law calculation method is greatly simplified, the stronger robustness is ensured, the static and dynamic characteristics of the passive control law are improved, the tracking error caused by the rotor resistance variation can be effectively inhibited, and the control accuracy is improved.
On the basis of the first specific embodiment, a method for obtaining the passive control law is further improved to obtain a second specific embodiment, a flow diagram of which is shown in fig. 2, and the method includes:
s201: a controlled dissipation hamilton model of the drive motor is obtained.
S202: and determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information.
S203: obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; and the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system.
S204: and determining a corresponding state reference value according to a preset system state variable.
S205: and determining the opening and closing surfaces of the sliding mode according to the state reference value.
In an example of the first embodiment, the opening and closing surfaces of the sliding mode are selected as follows:
in the formula: k is a radical ofS> 0 is a bounded constant. When in use
S is 0, at the moment, the sliding mode exists and can reach, the speed gradual tracking target is realized, kSThe speed at which the rotation speed error converges to zero when S is 0 is determined.
S206: and determining a rotating speed control law according to preset proportional gain, integral gain and the sliding mode opening and closing surface.
The proportional gain and the integral gain are proportional gain k set according to the system stability requirementpAnd integral gain kiThe design rotation speed control law is as follows:
yd＝kpS+ki∫Sdt (22)
in the above formula (22), ydFor desired speed of rotation, yd、kp、kiIf known, the real-time S value can be obtained by (22).
S207: and obtaining an passivity control law according to the rotating speed control law and the expected state equation.
In order to accelerate the dynamic response of the system, a stator frequency acceleration term may be added to the system to obtain an improved passive control law, which is exemplified by u in the above3The description is as follows:
in the formula: r isa3> 0, adjust ra3The rotational speed error can be made to approach zero at a desired speed.
The stator frequency acceleration term is-ra3S, wherein-ra3And S are both obtained by the above-mentioned functional expression, so that the corrected u can be obtained3。
S208: and controlling the driving motor through the passive control law.
In this specific embodiment, a sliding mode control strategy is added, which can be changed according to the current state of the system in a dynamic process, so as to force the system to move according to a state track of a predetermined "sliding mode", and the basic idea of sliding mode control is shown in fig. 4, thereby further improving the control accuracy and improving the effect of gradual tracking of the rotating speed.
A power pipeline inspection robot driving motor control system shown in fig. 5 is built based on dSPACE, and effectiveness test and verification are performed on asymptotic tracking control of flux linkage and rotating speed under the condition that load torque is time-varying unknown by using a rapid prototype online real-time simulation function. The simulation results are shown in fig. 6, 7 and 8, and after the driving motor of the power pipeline inspection robot is controlled by adopting an passivity sliding mode based on a controlled dissipation hamilton model, the actual values of the rotor flux linkage and the electromagnetic torque can be quickly tracked along with the reference value and the expected rotating speed. The parameters of the induction motor used in the experiment are shown in table 1, after the motor enters a steady state and is suddenly loaded, the rotating speed response performance of the passive sliding mode control and the rotating speed response performance of the traditional PI control are compared, and the result is shown in table 2.
Table 1 electric power pipeline inspection robot driving motor parameters
TABLE 2 comparison of passive sliding mode control and PI control rotational speed response performance based on controlled dissipation Hamiltonian model
The following describes a control device for a driving motor according to an embodiment of the present invention, and the control device for a driving motor described below and the control method for a driving motor described above may be referred to correspondingly.
Fig. 3 is a block diagram of a control device of a driving motor according to an embodiment of the present invention, which is referred to as a third embodiment, where the control device of the driving motor according to fig. 3 may include:
the obtaining module 100 is used for obtaining a controlled dissipation Hamiltonian model of the driving motor;
the processing module 200 is configured to determine a system expected energy function according to the controlled dissipation hamiltonian model and preset injection system energy information;
an expectation module 300, configured to obtain an expected state equation according to the system expected energy function and the controlled dissipation hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system;
a control law module 400, configured to obtain an passivity control law according to the expected state equation;
and an execution module 500, configured to control the driving motor through the passive control law.
As a preferred embodiment, the expectation module 300 includes:
the matrix extraction unit is used for obtaining an injection dissipation matrix and a damping matrix according to the controlled dissipation Hamiltonian model;
the primary state unit is used for obtaining a primary state equation according to the system expected energy function and the controlled dissipation Hamiltonian model;
and the high-level state unit is used for obtaining an expected state equation through a closed-loop system expected energy function formula according to the primary state equation, the injection dissipation matrix and the damping matrix.
As a preferred embodiment, the obtaining module 100 includes:
the subsystem equation acquisition unit is used for acquiring an electrical subsystem state equation and a mechanical subsystem state equation of the driving motor;
and the Hamilton unit is used for obtaining a controlled dissipation Hamilton model according to the state equation of the electrical subsystem and the state equation of the mechanical subsystem.
As a preferred embodiment, the control law module 400 includes:
the state unit is used for determining a corresponding state reference value according to a preset system state variable;
the sliding mode unit is used for determining a sliding mode opening and closing surface according to the state reference value;
the rotating speed control law unit is used for determining a rotating speed control law according to preset proportional gain, integral gain and the sliding mode opening and closing surface;
and the enhancement control law unit is used for obtaining an passivity control law according to the rotating speed control law and the expected state equation.
The control device of the driving motor is used for acquiring a controlled dissipation Hamilton model of the driving motor through the acquisition module 100; the processing module 200 is configured to determine a system expected energy function according to the controlled dissipation hamiltonian model and preset injection system energy information; an expectation module 300, configured to obtain an expected state equation according to the system expected energy function and the controlled dissipation hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system; a control law module 400, configured to obtain an passivity control law according to the expected state equation; and an execution module 500, configured to control the driving motor through the passive control law. Aiming at the situation that the load torque is unknown in time varying, the control law of the driving motor based on the interconnection matrix expected by the system and the damping matrix expected by the system is established by using the passive control method of nonlinear feedback control in nature through the controlled dissipation Hamilton system model of the driving motor, namely, the rotor resistance self-adaptive identification link is added, the magnetic linkage asymptotic tracking when the load torque and the rotor resistance are unknown in time varying is realized, the passive control law calculation method is greatly simplified, the stronger robustness is ensured, the static and dynamic characteristics of the passive control law are improved, the tracking error caused by the rotor resistance variation can be effectively inhibited, and the control accuracy is improved.
The control device of the driving motor of this embodiment is configured to implement the foregoing control method of the driving motor, and thus specific embodiments of the control device of the driving motor may be found in the foregoing embodiments of the control method of the driving motor, for example, the obtaining module 100, the processing module 200, the expecting module 300, the control law module 400, and the executing module 500, which are respectively configured to implement steps S101, S102, S103, S104, and S105 in the control method of the driving motor, so that the specific embodiments thereof may refer to descriptions of corresponding embodiments of various parts, and are not repeated herein.
A control apparatus of a drive motor, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the control method of the drive motor as described in any one of the above when executing the computer program. The control method of the driving motor provided by the invention comprises the steps of obtaining a controlled dissipation Hamilton model of the driving motor; determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information; obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system; obtaining an passivity control law according to the expected state equation; and controlling the driving motor through the passive control law. Aiming at the situation that the load torque is unknown in time varying, the control law of the driving motor based on the interconnection matrix expected by the system and the damping matrix expected by the system is established by using the passive control method of nonlinear feedback control in nature through the controlled dissipation Hamilton system model of the driving motor, namely, the rotor resistance self-adaptive identification link is added, the magnetic linkage asymptotic tracking when the load torque and the rotor resistance are unknown in time varying is realized, the passive control law calculation method is greatly simplified, the stronger robustness is ensured, the static and dynamic characteristics of the passive control law are improved, the tracking error caused by the rotor resistance variation can be effectively inhibited, and the control accuracy is improved.
A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of the method of controlling a drive motor according to any one of the above. The control method of the driving motor provided by the invention comprises the steps of obtaining a controlled dissipation Hamilton model of the driving motor; determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information; obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system; obtaining an passivity control law according to the expected state equation; and controlling the driving motor through the passive control law.
Aiming at the situation that the load torque is unknown in time varying, the control law of the driving motor based on the interconnection matrix expected by the system and the damping matrix expected by the system is established by using the passive control method of nonlinear feedback control in nature through the controlled dissipation Hamilton system model of the driving motor, namely, the rotor resistance self-adaptive identification link is added, the magnetic linkage asymptotic tracking when the load torque and the rotor resistance are unknown in time varying is realized, the passive control law calculation method is greatly simplified, the stronger robustness is ensured, the static and dynamic characteristics of the passive control law are improved, the tracking error caused by the rotor resistance variation can be effectively inhibited, and the control accuracy is improved.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, apparatus, device and computer readable storage medium for controlling the driving motor provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A control method of a drive motor, characterized by comprising:
acquiring a controlled dissipation Hamilton model of a driving motor;
determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information;
obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system;
obtaining an passivity control law according to the expected state equation;
and controlling the driving motor through the passive control law.
2. The method of claim 1, wherein said deriving a desired equation of state from said system desired energy function and said controlled dissipation hamiltonian model comprises:
obtaining an injection dissipation matrix and a damping matrix according to the controlled dissipation Hamiltonian model;
obtaining a primary state equation according to the system expected energy function and the controlled dissipation Hamiltonian model;
and obtaining an expected state equation through an expected energy function formula of a closed loop system according to the primary state equation, the injection dissipation matrix and the damping matrix.
3. The method of controlling a drive motor of claim 1, wherein said obtaining a controlled dissipation hamiltonian model of the drive motor comprises:
acquiring an electrical subsystem state equation and a mechanical subsystem state equation of a driving motor;
and obtaining a controlled dissipation Hamilton model according to the state equation of the electrical subsystem and the state equation of the mechanical subsystem.
4. The control method of a drive motor according to claim 1, wherein said deriving a passive control law according to the desired equation of state comprises:
determining a corresponding state reference value according to a preset system state variable;
determining a sliding mode opening and closing surface according to the state reference value;
determining a rotating speed control law according to preset proportional gain, integral gain and the sliding mode opening and closing surface;
and obtaining an passivity control law according to the rotating speed control law and the expected state equation.
5. A control device of a drive motor, characterized by comprising:
the acquisition module is used for acquiring a controlled dissipation Hamilton model of the driving motor;
the processing module is used for determining a system expected energy function according to the controlled dissipation Hamiltonian model and preset injection system energy information;
the expecting module is used for obtaining an expected state equation according to the system expected energy function and the controlled dissipation Hamiltonian model; the expected state equation is a differential quantity of a system state variable expressed by an interconnection matrix expected by the system and a damping matrix expected by the system;
the control law module is used for obtaining an passivity control law according to the expected state equation;
and the execution module is used for controlling the driving motor through the passive control law.
6. The control device of the drive motor according to claim 5, wherein the expectation module includes:
the matrix extraction unit is used for obtaining an injection dissipation matrix and a damping matrix according to the controlled dissipation Hamiltonian model;
the primary state unit is used for obtaining a primary state equation according to the system expected energy function and the controlled dissipation Hamiltonian model;
and the high-level state unit is used for obtaining an expected state equation through a closed-loop system expected energy function formula according to the primary state equation, the injection dissipation matrix and the damping matrix.
7. The control device of the drive motor according to claim 5, wherein the acquisition module includes:
the subsystem equation acquisition unit is used for acquiring an electrical subsystem state equation and a mechanical subsystem state equation of the driving motor;
and the Hamilton unit is used for obtaining a controlled dissipation Hamilton model according to the state equation of the electrical subsystem and the state equation of the mechanical subsystem.
8. The control apparatus of the drive motor according to claim 5, wherein the control law module includes:
the state unit is used for determining a corresponding state reference value according to a preset system state variable;
the sliding mode unit is used for determining a sliding mode opening and closing surface according to the state reference value;
the rotating speed control law unit is used for determining a rotating speed control law according to preset proportional gain, integral gain and the sliding mode opening and closing surface;
and the enhancement control law unit is used for obtaining an passivity control law according to the rotating speed control law and the expected state equation.
9. A control apparatus of a drive motor, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the control method of the drive motor according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of the control method of a drive motor according to any one of claims 1 to 4.
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