阅读说明：本技术 转子运行参数估计方法、电机控制系统和自抗扰控制器 (rotor operation parameter estimation method, motor control system and active disturbance rejection controller ) 是由 孙佃升 于 2019-10-25 设计创作，主要内容包括：本发明提供了一种基于改进型扩张状态观测器的转子运行参数估计方法、电机无位置传感器控制系统和自抗扰控制器,方法包括：获取两相静止坐标系下的电流i<Sub>α</Sub>、电流i<Sub>β</Sub>；根据以电流i<Sub>α</Sub>为主体变量构造的改进型扩张状态观测器估计反电势分量<Image he="68" wi="54" file="DDA0002247514510000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>以及根据以电流i<Sub>β</Sub>为主体变量构造的改进型扩张状态观测器估计反电势分量<Image he="73" wi="88" file="DDA0002247514510000012.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>根据反电势分量<Image he="75" wi="194" file="DDA0002247514510000013.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>以转子位置角为主体变量构造的改进型扩张状态观测器以及信号采样角频率ω<Sub>s</Sub>,估计转子运行参数,转子运行参数包括转子电角速度和转子位置角。通过本发明的方案,对转子运行参数进行估计,观测精度更高,收敛速度更快,参数的选择范围更大,并不受电机参数变化的影响,无位置传感器控制系统控制精确度较高,适用于永磁体表贴式同步电机。(the invention provides a rotor operation parameter estimation method based on an improved extended state observer, a motor position sensorless control system and an active disturbance rejection controller, wherein the method comprises the steps of obtaining current i α and current i β under a two-phase static coordinate system, estimating a back electromotive force component according to the improved extended state observer which is constructed by taking the current i α as a main variable, estimating a back electromotive force component according to the improved extended state observer which is constructed by taking the current i β as a main variable, estimating rotor operation parameters which comprise a rotor electrical angular velocity and a rotor position angle according to the back electromotive force component , and estimating the rotor operation parameters which are constructed by taking a rotor position angle as a main variable according to the back electromotive force component and a signal sampling angular frequency omega s .)

1. A rotor operation parameter estimation method based on an improved extended state observer is characterized by comprising the following steps:

Obtaining current i under a two-phase static coordinate system_αCurrent i_β；

According to the current i_αImproved extended state observer constructed for subject variables to estimate back emf componentsAnd according to the current i_βImproved extended state observer constructed for subject variables to estimate back emf components

According to the counter-potential componentimproved extended state observer with rotor position angle as main variable structure and signal sampling angular frequency omega_sand estimating rotor operating parameters, wherein the rotor operating parameters comprise rotor electrical angular speed and rotor position angle.

2. The improved extended state observer-based rotor operating parameter estimation method according to claim 1, wherein the improved extended state observer comprises any one of an improved second-order nonlinear extended state observer, an improved second-order linear extended state observer, an improved third-order nonlinear extended state observer, and an improved third-order linear extended state observer,

The improved second-order nonlinear extended state observer has the structure that:

Wherein, the x₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁And x₁deviation between, z₂Is x₂Observation value of beta₀₁、β₀₂Taking a positive value greater than 1 for the preset parameter, fal () is a nonlinear function, u (t) is a control quantity, b is a known constant, alpha is a nonlinear factor, delta is a filtering factor,

The nonlinear function fal () is fal (epsilon, alpha, delta):

wherein alpha is a nonlinear factor, epsilon is a deviation variable, delta is a filtering factor,

The improved second-order linear extended state observer has the structure that:

wherein, the x₁in order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁and x₁Deviation between, z₂Is x₂Observation value of a₁、a₂Taking a positive value greater than 1 for the preset parameter, u (t) as a control quantity, b as a known constant,

the improved third-order nonlinear extended state observer has the structure that:

Wherein, the x₁in order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁And x₁Deviation between, z₂Is x₂An observed value of z₃Is x₃Observation value of beta₀₁、β₀₂、β₀₃taking a positive value greater than 1 for presetting parameters, fal () as a nonlinear function, u (t) as a control quantity, b as a known constant, alpha₁、α₂is a non-linear factor, delta is a filter factor,

The nonlinear function fal () is fal (epsilon, alpha, delta):

Wherein alpha is a nonlinear factor, epsilon is a deviation variable, delta is a filtering factor,

The improved third-order linear extended state observer has the structure that:

Wherein, the x₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁And x₁Deviation between, z₂Is x₂an observed value of z₃is x₃Observation value of a₁、a₂、a₃For the preset parameters, a positive value greater than 1 is taken, u (t) is a control quantity, and b is a known constant.

3. The method of claim 2, wherein the method comprises estimating the operating parameters of the rotor based on an extended state observer based on a current i_αImproved extended state observer constructed for subject variables to estimate back emf componentsAnd according to the current i_βImproved extended state observer constructed for subject variables to estimate back emf componentsThe method specifically comprises the following steps:

Constructed with a current i in a two-phase stationary frame_αthe improved extended state observer is a main variable and specifically comprises the following steps:

Constructed with a current i in a two-phase stationary frame_βThe improved extended state observer is a main variable and specifically comprises the following steps:

A system disturbance estimated value Q determined according to the improved extended state observer_α、Q_βCalculating the back electromotive force component according to a first preset formula

The first preset formula is as follows:

wherein, theRespectively current i_αCurrent i_βEstimate of (e ∈)_αIs composed ofAnd i_αdeviation of between, ∈_βis composed ofand i_βdeviation between, Q_α、Q_βas an estimate of the system disturbance, beta_α1，β_α2，β_β1，β_β2，α₁₁，α₁₂，α₂₂Delta is a predetermined parameter, R_sis the stator phase winding resistance and L is the stator phase winding inductance.

4. Method for estimating the operating parameters of a rotor based on an improved extended state observer according to any one of claims 1 to 3, characterized in that said estimation is based on said back emf componentImproved extended state observer with rotor position angle as main variable structure and signal sampling angular frequency omega_sEstimating the rotor operating parameters, specifically comprising:

According to the counter-potential componentAnd the signal sampling angular frequency omega_sAccording to the second predictionSetting a formula and a third preset formula, and calculating the estimated value of the rotor position angle

The second preset formula is as follows:

the third preset formula is as follows:

Wherein, theFor the current rotor electrical angular velocity, Δ θ isCompensation value of omega_sIn order to sample the angular frequency of the signal,As an estimate of the electrical angular velocity of the rotor,. epsilon_θIn order to be a deviation of the rotor position angle,For said improved extended state observer estimation of the rotor position angle, θ_rIs the actual value of the rotor position angle,Q is the total disturbance, including the electromagnetic torque and the load torque, beta₀₁、β₀₂、β₀₃、α₁、α₂And delta is a preset parameter,

Constructing the rotor position angle theta according to the motor motion equation_rAs subject variablesThe extended state observer specifically comprises:

Estimating the rotor electrical angular velocity estimation value according to the improved extended state observerand updating the current rotor electrical angular velocityFor said rotor electrical angular velocity estimate

5. An improved extended state observer-based motor position sensorless control system, comprising: the rotor operation parameter estimation module based on the improved extended state observer is used for constructing a rotating speed closed loop by taking the rotor electrical angular velocity estimation value determined by the rotor operation parameter estimation method based on the improved extended state observer according to any one of claims 1 to 4 as a rotating speed feedback value, and constructing a current closed loop under a two-phase rotor synchronous rotating coordinate system, so that rotating speed current double closed loop voltage space vector control under a motor without a position sensor is realized.

6. The improved extended state observer-based machine position sensorless control system according to claim 5, further comprising:

The voltage type inverter circuit is connected with the direct-current voltage input circuit;

The permanent magnet surface-mounted synchronous motor is connected with the voltage type inverter circuit;

the current and voltage detection module is connected with the permanent magnet surface-mounted synchronous motor and is used for detecting the three-phase current and the three-phase voltage of the permanent magnet surface-mounted synchronous motor;

the first coordinate transformation module is connected between the current and voltage detection module and the rotor operation parameter estimation module based on the improved extended state observer and is used for transforming the three-phase current and the three-phase voltage detected by the current and voltage detection module into current and voltage under a two-phase static coordinate system;

The second coordinate conversion module is connected with the current and voltage detection module and used for converting the three-phase current detected by the current and voltage detection module into a current in a two-phase synchronous rotating coordinate system;

The voltage space vector pulse width adjusting and operating module is connected with the voltage type inverter circuit;

And the third coordinate transformation module is connected with the voltage space vector pulse width adjustment operation module and is used for transforming the voltage under the two-phase synchronous rotating coordinate system into the voltage under the two-phase static coordinate system.

7. An improved active disturbance rejection controller, comprising:

An improved extended state observer, a tracking differentiator and a nonlinear state error feedback control law are arranged in a matching way,

And after the input given signal is transited by the tracking differentiator, the given signal is compared with an output observation signal of the improved extended state observer to determine deviation, then the nonlinear state error feedback control law is input, and after the nonlinear state error feedback control law carries out nonlinear combination on the signals of the tracking differentiator and the improved extended state observer, the total disturbance observed by the improved extended state observer is added for real-time compensation, and the total disturbance is transmitted to a controlled object.

8. The improved ADRC of claim 7, wherein the improved extended state observer is an improved second-order nonlinear extended state observer or an improved second-order linear extended state observer,

The improved second-order nonlinear extended state observer has the structure that:

Wherein, the x₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁And x₁Deviation between, z₂Is x₂Observation value of beta₀₁、β₀₂taking a positive value greater than 1 for the preset parameter, fal () is a nonlinear function, u (t) is a control quantity, b is a known constant, alpha is a nonlinear factor, delta is a filtering factor,

The nonlinear function fal () is fal (epsilon, alpha, delta):

Wherein alpha is a nonlinear factor, epsilon is a deviation variable, and delta is a filtering factor;

The improved second-order linear extended state observer has the structure that:

Wherein, the x₁In order to be able to measure the variable,z₁Is x₁observed value of e₁is z₁And x₁Deviation between, z₂Is x₂Observation value of a₁、a₂For the preset parameters, a positive value greater than 1 is taken, u (t) is a control quantity, and b is a known constant.

9. the improved active-disturbance-rejection controller according to claim 7, wherein the improved extended state observer is an improved third-order nonlinear extended state observer, and the structure of the improved third-order nonlinear extended state observer is as follows:

Wherein, the x₁in order to be able to measure the variable,z₁is x₁Observed value of e₁Is z₁And x₁Deviation between, z₂Is x₂An observed value of z₃Is x₃Observation value of beta₀₁、β₀₂、β₀₃Taking a positive value greater than 1 for presetting parameters, fal () as a nonlinear function, u (t) as a control quantity, b as a known constant, alpha₁、α₂Is a non-linear factor, delta is a filter factor,

The nonlinear function fal () is fal (epsilon, alpha, delta):

Wherein alpha is a nonlinear factor, epsilon is a deviation variable, and delta is a filtering factor.

10. The improved ADRC of claim 7, wherein the improved extended state observer is an improved third order linear extended state observer,

the improved third-order linear extended state observer has the structure that:

Wherein, the x₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁and x₁Deviation between, z₂Is x₂An observed value of z₃is x₃Observation value of a₁、a₂、a₃For the preset parameters, a positive value greater than 1 is taken, u (t) is a control quantity, and b is a known constant.

Technical Field

The invention relates to the technical field of permanent magnet synchronous motor position sensorless control, in particular to a rotor operation parameter estimation method based on an improved extended state observer, a motor position sensorless control system based on the improved extended state observer and an improved active disturbance rejection controller.

Background

At present, permanent magnet surface-mounted synchronous motors are increasingly widely used. The traditional mode of adopting the sensor to detect the position of the rotor not only occupies the internal space of the motor and increases the volume of the motor, but also easily causes the reduction of the operation reliability of the system due to the fault of the sensor. Therefore, rotor-less position sensor control of a permanent magnet synchronous motor is an important research subject.

Active disturbance rejection control is a new type of control technology. The active disturbance rejection control does not depend on a mathematical model of the system, can estimate internal and external disturbance of the system and realize the control of a complex system containing unknown disturbance or uncertain quantity by compensating control quantity. The active disturbance rejection control has been proposed since, and has been generally accepted by scholars with its excellent performance, and has been gradually popularized and applied in the industrial field.

The Extended State Observer (ESO) is a key component of the active disturbance rejection control system, and has the function of observing or estimating state variables and internal and external disturbances in the system in real time. The performance of the extended state observer determines the performance of the active disturbance rejection control system. In engineering, variables observed by the extended state observer are often required to be used for obtaining estimated values of other variables through calculation, which puts high requirements on the observation accuracy of the extended state observer.

Since the introduction of active disturbance rejection control, researchers have been constantly trying to improve extended state observers. The previous improvement is mainly aimed at how to select more appropriate parameters and adopt the newly proposed nonlinear function. If the performance of the extended state observer is improved only in the aspects of reasonably setting parameters, selecting more suitable nonlinear functions and the like, the structure of the extended state observer is unchanged, and the performance such as observation accuracy and the like is difficult to be improved greatly fundamentally. Therefore, there is a need to develop an improved extended state observer with higher observation accuracy which is improved in structure.

disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

Therefore, the invention aims to provide a rotor operating parameter estimation method based on an improved extended state observer, a motor position sensorless control system based on the improved extended state observer and an improved active disturbance rejection controller.

In order to achieve the above object, the technical solution of the first aspect of the present invention provides a rotor operating parameter estimation method based on an improved extended state observer, including: obtaining current i under a two-phase static coordinate system_αcurrent i_β(ii) a According to the current i_αimproved extended state observer constructed for subject variables to estimate back emf componentsAnd according to the current i_βimproved extended state observer constructed for subject variables to estimate back emf componentsAccording to back-emf componentImproved extended state observer with rotor position angle as main variable structure and signal sampling angular frequency omega_sRotor operating parameters are estimated, including rotor electrical angular velocity and rotor position angle.

in the above technical solution, preferably, the modified extended state observer includes any one of a modified second-order nonlinear extended state observer, a modified second-order linear extended state observer, a modified third-order nonlinear extended state observer, and a modified third-order linear extended state observer,

The structure of the improved second-order nonlinear extended state observer is as follows:

Wherein x is₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁And x₁Deviation between, z₂is x₂Observation value of beta₀₁、β₀₂taking a positive value greater than 1 for the preset parameter, fal () is a nonlinear function, u (t) is a control quantity, b is a known constant, alpha is a nonlinear factor, delta is a filtering factor,

nonlinear function fal () is fal (ε, α, δ):

Wherein alpha is a nonlinear factor, epsilon is a deviation variable, delta is a filtering factor,

the structure of the improved second-order linear extended state observer is as follows:

Wherein x is₁in order to be able to measure the variable,z₁Is x₁observed value of e₁Is z₁And x₁Deviation between, z₂Is x₂observation value of a₁、a₂Taking a positive value greater than 1 for the preset parameter, u (t) as a control quantity, b as a known constant,

The structure of the improved third-order nonlinear extended state observer is as follows:

Wherein x is₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁And x₁Deviation between, z₂is x₂An observed value of z₃Is x₃Observation value of beta₀₁、β₀₂、β₀₃Taking a positive value greater than 1 for presetting parameters, fal () as a nonlinear function, u (t) as a control quantity, b as a known constant, alpha₁、α₂is a non-linear factor, delta is a filter factor,

Nonlinear function fal () is fal (ε, α, δ):

Wherein alpha is a nonlinear factor, epsilon is a deviation variable, delta is a filtering factor,

The structure of the improved third-order linear extended state observer is as follows:

Wherein x is₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁And x₁Deviation between, z₂Is x₂An observed value of z₃Is x₃Observation value of a₁、a₂、a₃For the preset parameters, a positive value greater than 1 is taken, u (t) is a control quantity, and b is a known constant.

the improved extended state observer controls the observed value of each state variable to track the actual value of each state variable by adjusting the derivative of the observed value of each state variable, wherein the adjustment of the derivative of the observed value of each state variable is based on the deviation between the observed value and the actual value of each state variable.

In any of the above solutions, preferably, the current is i_αImproved extended state observer constructed for subject variables to estimate back emf componentsAnd according to the current i_βImproved extended state observer constructed for subject variables to estimate back emf componentsThe method specifically comprises the following steps:

constructed with a current i in a two-phase stationary frame_αThe improved extended state observer is a main variable and specifically comprises the following steps:

Constructed with a current i in a two-phase stationary frame_βThe improved extended state observer is a main variable and specifically comprises the following steps:

System disturbance estimated value Q determined according to improved extended state observer_α、Q_βCalculating the back electromotive force component according to a first preset formula

The first predetermined formula is:

Wherein the content of the first and second substances,Respectively current i_αCurrent i_βestimate of (e ∈)_αIs composed ofAnd i_αDeviation of between, ∈_βIs composed ofand i_βDeviation between, Q_α、Q_βAs an estimate of the system disturbance, beta_α1，β_α2，β_β1，β_β2，α₁₁，α₁₂，α₂₂Delta is a predetermined parameter, R_sis the stator phase winding resistance and L is the stator phase winding inductance.

in any of the above solutions, preferably, the back-emf component is based onImproved extended state observer with rotor position angle as main variable structure and signal sampling angular frequency omega_sEstimating the rotor operating parameters, specifically comprising:

Based on rotor electrical angular velocity estimateBased on the back emf estimateAnd signal sampling angular frequency omega_sCalculating the estimated value of the rotor position angle according to a second preset formula and a third preset formula

The second predetermined formula is:

The third preset formula is:

Wherein the content of the first and second substances,For the current rotor electrical angular velocity,. DELTA.theta.compensation value of omega_sIn order to sample the angular frequency of the signal,as an estimate of the electrical angular velocity of the rotor,. epsilon_θin order to be a deviation of the rotor position angle,For improved extended state observers, estimation of rotor position angle, θ_rIs the actual value of the rotor position angle,Q is the total disturbance, including the electromagnetic torque and the load torque, beta₀₁、β₀₂、β₀₃、α₁、α₂And delta is a preset parameter,

Constructing the rotor position angle theta according to the motor motion equation_rThe improved extended state observer is a main variable and specifically comprises the following steps:

Estimation of rotor electrical angular velocity from improved extended state observerAnd updates the current rotor electrical angular velocityAs an estimate of rotor electrical angular velocity

it should be noted that the present invention is not limited to the above embodimentsSub-electric angular velocityis preset, and then the last estimated rotor electrical angular velocity is used as the estimated valueas current rotor electrical angular velocity

In the technical scheme, the improved extended state observer is adopted to estimate the operating parameters of the rotor, so that the observation precision is higher, the convergence speed is higher, and the parameter selection range is larger. Respectively with a current i_α、i_βBack emf component estimated for improved extended state observer of subject variableAnd the precision of the rotor position angle is higher, the precision of the rotor electric angular velocity estimated value obtained by the adopted improved extended state observer with the rotor position angle as a main variable is higher, and the algorithm only depends on the period information of the back electromotive force instead of the amplitude information and is not influenced by the change of motor parameters.

the technical scheme of the second aspect of the invention provides a motor position sensorless control system based on an improved extended state observer, which comprises: and a rotor operation parameter estimation module based on the improved extended state observer is used for constructing a rotating speed closed loop by taking the rotor electrical angular velocity estimation value determined by any one of the rotor operation parameter estimation methods based on the improved extended state observer provided by the technical scheme as a rotating speed feedback value, and constructing a current closed loop under a two-phase rotor synchronous rotating coordinate system, so that rotating speed current double closed loop voltage space vector control under a motor position-free sensor is realized.

In the above technical solution, preferably, the motor position sensorless control system based on the improved extended state observer further includes: the voltage type inverter circuit is connected with the direct-current voltage input circuit; the permanent magnet surface-mounted synchronous motor is connected with the voltage type inverter circuit; the current and voltage detection module is connected with the permanent magnet surface-mounted synchronous motor and is used for detecting the three-phase current and the three-phase voltage of the permanent magnet surface-mounted synchronous motor; the first coordinate transformation module is connected between the current and voltage detection module and the rotor operation parameter estimation module based on the improved extended state observer and is used for transforming the three-phase current and the three-phase voltage detected by the current and voltage detection module into current and voltage under a two-phase static coordinate system; the second coordinate transformation module is connected with the current and voltage detection module and used for transforming the three-phase current detected by the current and voltage detection module into current under a two-phase synchronous rotating coordinate system; the voltage space vector pulse width adjusting and operating module is connected with the voltage type inverter circuit; and the third coordinate transformation module is connected with the voltage space vector pulse width adjustment operation module and is used for transforming the voltage under the two-phase synchronous rotating coordinate system into the voltage under the two-phase static coordinate system.

In the technical scheme, the motor position sensorless control system based on the improved extended state observer is suitable for a permanent magnet surface-mounted synchronous motor and uses current i_α、i_βback emf component estimated for improved extended state observer of subject variableThe algorithm only depends on the period information of back electromotive force but not amplitude information and is not influenced by the change of motor parameters, and the rotor electrical angular velocity estimation value is used as a rotation speed feedback value to construct a rotation speed closed loop and construct a current closed loop under a two-phase rotor synchronous rotation coordinate system by matching a voltage type inverter circuit, a current voltage detection module, a coordinate transformation module, a voltage space vector pulse width adjustment operation module, a rotor operation parameter estimation module based on the improved extended state observer and the like, so that the rotation speed current double closed loop voltage space vector control under the motor without a position sensor is realized, and the control accuracy is higherHigher.

The third aspect of the present invention provides an improved active disturbance rejection controller, including: the improved extended state observer, the tracking differentiator and the nonlinear state error feedback control law are matched, an input given signal is compared with an output observation signal of the improved extended state observer to determine deviation after being transited by the tracking differentiator, then the nonlinear state error feedback control law is input, the nonlinear state error feedback control law carries out nonlinear combination on the signals of the tracking differentiator and the improved extended state observer, total disturbance observed by the improved extended state observer is added to carry out real-time compensation, and the total disturbance is transmitted to a controlled object.

In the above technical solution, preferably, the improved extended state observer is an improved second-order nonlinear extended state observer or an improved second-order linear extended state observer,

The structure of the improved second-order nonlinear extended state observer is as follows:

Wherein x is₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁is z₁And x₁Deviation between, z₂Is x₂Observation value of beta₀₁、β₀₂Taking a positive value greater than 1 for the preset parameter, fal () is a nonlinear function, u (t) is a control quantity, b is a known constant, alpha is a nonlinear factor, delta is a filtering factor,

Nonlinear function fal () is fal (ε, α, δ):

wherein alpha is a nonlinear factor, epsilon is a deviation variable, and delta is a filtering factor;

Structure of improved second-order linear extended state observerComprises the following steps:

Wherein x is₁In order to be able to measure the variable,z₁Is x₁observed value of e₁Is z₁And x₁Deviation between, z₂Is x₂Observation value of a₁、a₂for the preset parameters, a positive value greater than 1 is taken, u (t) is a control quantity, and b is a known constant.

In any one of the above technical solutions, preferably, the improved third-order nonlinear extended state observer is an improved third-order nonlinear extended state observer, and the structure of the improved third-order nonlinear extended state observer is as follows:

Wherein x is₁in order to be able to measure the variable,z₁Is x₁observed value of e₁is z₁And x₁Deviation between, z₂Is x₂An observed value of z₃Is x₃Observation value of beta₀₁、β₀₂、β₀₃Taking a positive value greater than 1 for presetting parameters, fal () as a nonlinear function, u (t) as a control quantity, b as a known constant, alpha₁、α₂Is a non-linear factor, delta is a filter factor,

Nonlinear function fal () is fal (ε, α, δ):

where α is a nonlinear factor, ε is a deviation variable, and δ is a filter factor.

In any of the above technical solutions, preferably, the improved third-order linear extended state observer has a structure that:

Wherein x is₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁And x₁Deviation between, z₂Is x₂An observed value of z₃is x₃Observation value of a₁、a₂、a₃For the preset parameters, a positive value greater than 1 is taken, u (t) is a control quantity, and b is a known constant.

In the technical scheme, the improved extended state observer is adopted to observe or estimate the state variables and internal and external disturbances in the system in real time, the observation precision is high, and the control precision of the active disturbance rejection controller is improved.

Through the technical scheme, the improved extended state observer is provided, and compared with the traditional extended state observer, the improved extended state observer is higher in observation precision, higher in convergence speed, larger in parameter selection range and higher in engineering practical value. The rotor operation parameters are estimated based on the improved extended state observer, the estimated rotor position angle and the rotor electrical angular velocity are high in precision, and the current i is used_α、i_βback emf component estimated for improved extended state observer of subject variableAnd the precision of the rotor position angle is higher, the precision of the rotor electric angular velocity estimated value obtained by the adopted improved extended state observer with the rotor position angle as a main variable is higher, and the algorithm only depends on the period information of the back electromotive force instead of the amplitude information and is not influenced by the change of motor parameters. A motor position sensorless control system based on an improved extended state observer detects current and voltage through a voltage type inverter circuitThe measurement module, the coordinate transformation module, the voltage space vector pulse width adjustment operation module, the rotor operation parameter estimation module based on the improved extended state observer, and the like are matched, a rotating speed closed loop is constructed by taking the rotor electrical angular velocity estimation value as a rotating speed feedback value, and a current closed loop under a two-phase rotor synchronous rotating coordinate system is constructed, so that the rotating speed and current double closed loop voltage space vector control of the permanent magnet surface-mounted synchronous motor under the condition that the motor has no position sensor is realized, the estimation values of the rotor position angle and the rotor electrical angular velocity are high in precision and are not influenced by the change of motor parameters, the control precision is high, and the method is suitable for the permanent magnet surface-mounted synchronous motor. The improved active disturbance rejection controller adopting the improved extended state observer has higher control accuracy.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

the above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 shows a schematic structural diagram of an improved extended state observer-based electric machine position sensorless control system according to an embodiment of the present invention;

FIG. 2 illustrates a schematic structural diagram of an active disturbance rejection controller according to an embodiment of the present invention;

FIG. 3 shows a conventional second order extended state observer and an improved second order extended state observer pair x proposed by the present invention₁Tracking z₁Observation error e of₁(t) a comparison graph;

FIG. 4 shows a conventional second order extended state observer and an improved second order extended state observer pair x proposed by the present invention₂Tracking z₂an observation comparison chart of (1);

FIG. 5 shows a conventional second order extended state observer and an improved second order extended state observer pair x proposed by the present invention₂tracking z₂Observation error e of₂(t) a comparison graph;

FIG. 6 is a graph showing the actual value of the rotor position angle at a sudden load change compared to the estimated value of the rotor position angle determined according to the improved extended state observer-based rotor operating parameter estimation method proposed by the present invention;

FIG. 7 is a graph showing the variation of the deviation between the true value of the rotor position angle at the time of sudden load change and the estimated value of the rotor position angle determined according to the rotor operation parameter estimation method based on the improved extended state observer provided by the invention;

FIG. 8 is a graph showing the real values of rotor electrical angular velocity with increasing resistance of the motor phase windings compared to estimated values of rotor electrical angular velocity determined according to the method for estimating rotor operating parameters based on the modified extended state observer proposed in the present invention;

Fig. 9 shows a variation diagram of the estimated value of the rotor electrical angular velocity determined according to the rotor operating parameter estimation method based on the improved extended state observer provided by the invention when the inductance of the motor is increased.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The structure of the traditional three-order linear extended state observer is shown as formula (1):

the structure of the traditional three-order nonlinear extended state observer is as follows (2):

In the formulas (1) and (2): x is the number of₁In order to be able to measure the variable,z₁Is x₁Observed value of e₁Is z₁and x₁Deviation between, z₂Is x₂an observed value of z₃is x₃Observation value of a₁、a₂、a₃、β₀₁、β₀₂、β₀₃Taking a positive value greater than 1 for presetting parameters, fal () as a nonlinear function, u (t) as a control quantity, b as a known constant, alpha₁、α₂Is a nonlinear factor, delta is a filter factor, and it can be seen that the traditional extended state observer enables z to be in the working process₁Tracking, x₁、z₂Track x₂、z₃track x₃I.e. z₁、z₂、z₃Are each x₁、x₂、x₃The observed value of (1). To z₁、z₂、z₃Are adjusted by adjusting their derivatives, each according to z₁And x₁Deviation e of₁(t) of (d). To z₁、z₂、z₃although the adjustments of (a) are made simultaneously, there is a sequence in which the adjustments are made because at z₁For x₁Before the tracking of z is completed, for z₂And z₃Tracking x separately₂、x₃The control significance of (2) is not great. However, for a conventional extended state observer, for z₁After the control of (2) is completed, for z₂And z₃Becomes difficult because e is the time₁The value of (t) is already small. Using equation (2) as an example, to enable the extended state observer to continue to complete z₂For x₂tracking adjustment and z₃For x₃is adjusted by tracking, parameter beta₀₂and beta₀₃Larger values must be selected in turn. And the excessive setting of the parameters can cause the operation of the extended state observer to oscillate and even become unstableAnd (4) determining.

In order to improve the performance of the extended state observer, the invention proposes to improve the extended state observer, taking a third-order linear extended state observer as an example, and the following improved basis is obtained by formula (1):

Further, it is possible to obtain:

Can be seen by z₁And x₁Z1, e1(t) to adjust the derivative of z1₂And x₂A deviation therebetween ofz₃And x₃A deviation therebetween of

Therefore, the structure of the improved third-order linear extended state observer is constructed as the formula (5),

The improvement of other improved extended state observers is based on the same principle, and is not described in detail herein.

firstly, the stability of the improved extended state observer is proved.

1. Improved second-order linear extended state observer stability demonstration

The structure of the improved second-order linear extended state observer is shown in the formula (6),

In the formula (6), a₁、a₂Are all parameters greater than 1. Let X₁＝e₁(t)＝z₁(t)-x₁(t)，e₂(t)＝z₂(t)-x₂(t)。A system equation that can be constructed with observation errors:

When the disturbance ω (t) is 0, the characteristic equation of equation (7) is:

λ²+(a₁a₂)λ+(a₁+a₂)＝0 (8)

According to the Hall's theorem, the essential condition for all characteristic roots to have a negative real part is that₁a₂＞0，a₁+a₂is greater than 0. It can be seen that all of the conditions are true. Thus, the zero solution (e) of the system shown in equation (7)₁(t)＝0，e₂(t) ═ 0) is globally asymptotically stable.

When the disturbance ω (t) ≠ 0, the observed value of the system has a certain error. Stipulate | omega (t) | not more than omega₀，ω₀Is a normal number. After the system reaches the steady state, the following conditions are met:

The steady state error ranges are easily obtained according to the formulas (6) and (7)

2. Stability proof of improved second-order nonlinear extended state observer

The structure of the improved second-order nonlinear extended state observer is as follows (12):

Parameter β in formula (12)₀₁、β₀₂And is always positive. Since the nonlinear function fal (-) is a smooth and continuous function with monotonous increment, the fal (-) can be regarded as a linear function in a small neighborhood with any argument, namely the fal (-) is considered to be formed by splicing a plurality of linear functions. Thus, the nonlinear extended state observer shown in equation (12) may become a time-varying parameter linear extended state observer:

In the formula (13), a₁＝β₀₁> 0, time-varying parameter a₂(t) is formed by a non-linear function fal (-) and its parameter α₁δ and a₁And (6) determining. Due to fal (e)₁(t),α₁δ) about e₁(t) monotonically increasing, and combining the above analyses to obtain a₂(t) > 0. The method can be proved by imitating a linear extended state observer to obtain the stable error system.

3. Stability proof of improved third-order linear extended state observer

In the improved third-order linear extended state observer, which has a structure shown in formula (5), and in the improved third-order linear extended state observer shown in formula (5), the deviation between the observed value and the actual value of each state variable is: e.g. of the type₁(t)＝z₁(t)-x₁(t)，Can obtain

Let Y₁＝e₁(t)，Y₂＝e₂(t)-a₁e₁(t)，Y₃＝e₃(t)-(a₂+a₁)e₂(t)+a₁ ²e₁(t)，The available error system:

Let a ═ a₁+a₂+a₃，b'＝a₁a₂+a₁a₃+a₂a₃，c'＝a₁a₂a₃。

When the disturbance ω (t) is 0, the characteristic equation of the equation (15) is

λ³+a'λ²+b'λ+c'＝0 (16)

The essential conditions for all characteristic roots to have a negative real part are a '> 0, c' > 0, a 'b' -c '> 0, according to the Hall's theorem. The conclusion that all the conditions are satisfied is easy to be obtained. Therefore, the zero solution (e) of the system shown in equation (15)₁(t)＝0，e₂(t)＝0，e₃(t) ═ 0) is globally asymptotically stable.

When the disturbance ω (t) ≠ 0 is considered, the system has steady-state error. Stipulate | omega (t) | not more than omega₀，ω₀Is constant if > 0. When the system reaches steady state, there are

Calculating the steady state error according to the equations (13) and (15)

4. Stability proof of improved third-order nonlinear extended state observer

The structure of the improved third-order nonlinear extended state observer is as follows (21):

in the improved third-order nonlinear extended state observer shown in formula (21), the nonlinear function fal (-) is a smooth and continuous function, and within a small neighborhood with any independent variable, fal (-) can be regarded as a linear function, namely fal (-) is considered to be formed by splicing innumerable linear functions. Thus, the nonlinear extended state observer represented by equation (21) can be changed to a time-varying parameter linear extended state observer:

a in formula (22)₁＝β₀₁time-varying parameter a₂(t) is formed by a non-linear function fal (-) and its parameter α₁δ and parameter a₁Determining a time-varying parameter a₃(t) is formed by a non-linear function fal (-) and a parameter α₂δ and parameter β₀₂And (6) determining. Due to the non-linear function fal (e (t), α₁δ) parameter β with respect to e (t) monotonically increasing₀₁、β₀₂And is always a positive value greater than 1. By combining the above analysis, a constant alpha can be obtained₂(t) > 0 and a₃(t) > 0, and a₂(t)、a₃(t) bounded conclusions.

In this way, the proof of stability for the nonlinear extended state observer shown in equation (21) is converted into the proof of stability for the time-varying coefficient linear extended state observer shown in equation (22).

Let e₁(t)＝z₁(t)-x₁(t)，e₂(t)＝z₂(t)-x₂(t)，e₃(t)＝z₃(t)-x₃(t) can be obtained

Let Y₁＝e₁(t)，Y₂＝e₂(t)-a₁e₁(t)，Obtaining an equation of an extended state observer error system:

Let a ═ a₁+a₂(t)+a₃(t)，b'＝a₁a₂(t)+a₁a₃(t)+a₂(t)a₃(t)，c'＝a₁a₂(t)a₃(t)。

When the disturbance ω (t) is 0, the characteristic equation of the equation (24) is

λ³+a'λ²+b'λ+c'＝0 (25)

The essential conditions for all characteristic roots to have a negative real part are a '> 0, c' > 0, a 'b' -c '> 0, by the Hall's theorem. It can be seen that all of the conditions are true. Therefore, the zero solution (e) of the system shown in equation (24)₁(t)＝0，e₂(t)＝0，e₃(t) ═ 0) is globally asymptotically stable.

When the disturbance ω (t) ≠ 0 is considered, the system has steady-state error. Stipulate | omega (t) | not more than omega₀，ω₀Is constant if > 0. When the system reaches steady state, there are

then, according to the equations (21) and (24), the steady state error is calculated

Secondly, the observation error comparison between the improved extended state observer and the traditional extended state observer provided by the invention

1. compared with the traditional second-order linear extended state observer, the observation error of the improved second-order linear extended state observer and the traditional second-order linear extended state observer has the following structure:

The structure of the traditional second-order nonlinear extended state observer is as follows:

For the conventional second-order linear extended state observer, let X₁＝e₁(t)＝z₁(t)-x₁(t)，The error system state equation can be obtained

The zero solution (e) of the system shown in equation (30) can be verified using a method similar to the modified second order extended state observer₁(t)＝0，e₂(t) ═ 0) is globally asymptotically stable. When the disturbance ω (t) ≠ 0, the error range after the system reaches the steady state is as follows:

As can be seen from the comparison of equations (10) and (11), if the same error coefficient is adopted, the steady-state observation error of the improved second-order linear extended state observer is much smaller than that of the conventional second-order linear extended state observer. The traditional extended state observer needs to improve the observation precision and the error coefficientTake a larger value, and a₂Ratio a₁Several times larger.

2. Contrast of observation errors of improved three-order linear extended state observer and traditional three-order linear extended state observer

The same definition can be applied to the traditional three-order linear extended state observer

Y₁＝e₁(t),Y₂＝e₂(t)-a₁e₁(t),The error system state equation is

When the disturbance ω (t) is 0, the characteristic equation of the equation (33) is

λ³+a₁λ²+a₂λ+a₃＝0 (34)

The essential condition for all characteristic roots to have a negative real part according to the Hall's theorem is

If the condition a is satisfied₁a₂＞a₃Equation (35) holds, and the zero solution (e) of the error system₁(t)＝0，e₂(t)＝0,e₃(t) ═ 0) is globally asymptotically stable. When the disturbance omega (t) ≠ 0, the system has steady-state error. Stipulate | omega (t) | not more than omega₀，ω₀Is constant if > 0.

When the system reaches steady state, there are

Can calculate the steady state error

To ensure extended state observer convergence and improve observation accuracy, the extended state observer parameter a₁、a₂、a₃All values of (A) are greater than 1. Under the condition, comparing the expressions (37), (38) and (39) with the expressions (18), (19) and (20), when the error coefficients take on the same values, the steady-state error of the improved three-order extended state observer is much smaller than that of the conventional three-order extended state observer. In addition, the conventional three-order extended state observer needs to satisfy the condition a₁a₂＞a₃Can be stabilized, a₃Must not be greater than a₁and a₂Too large, which also limits the improvement of its steady-state accuracy.

More specifically, by taking a second-order nonlinear extended state observer as an example, the observation accuracy of the improved extended state observer provided by the invention is compared with that of the traditional extended state observer,

For the system shown in equation (40), the system input u (t) is cos (0.6t) and the coefficient b is 3.5. Let f (t) be 2.5. sin (cost) as unknown function, write f (t) as x₂(t),x₂(t) is an expansion state variable. Suppose thatis an unknown disturbance. The following respectively constructs a traditional extended state observer and an improved extended state observer, optimizes the parameters of the traditional extended state observer and the improved extended state observer, and compares the traditional extended state observer and the improved extended state observer under the condition of respectively achieving better performance.

The improved second-order extended state observer is constructed as

Wherein: the parameter value is a₁＝50，a₂＝600，α＝0.5，δ＝0.01。

Constructing a traditional second-order extended state observer as

the parameter value is a₁＝200，a₂＝2000，α＝0.5，δ＝0.01。

the conventional second-order extended state observer and the improved second-order extended state observer pair x provided by the invention₁tracking z₁Observation error e of₁(t) comparison is shown in FIG. 3, the conventional second order extended state observer and the improved second order extended state observer of the present invention are paired with x₂Tracking z₂as shown in fig. 4, the conventional second-order extended state observer and the improved second-order extended state observer pair x proposed by the present invention₂tracking z₂Observation error e of₂as shown in fig. 5, it can be seen from fig. 3 to 5 that, when the parameters of the conventional extended state observer and the improved extended state observer are both optimally selected, the improved second-order extended state observer operates with faster adjustment time and better dynamic performance, and the observation accuracy of the state variables is higher than that of the conventional second-order extended state observer.

As shown in fig. 1, the position sensorless control system of the motor based on the improved extended state observer includes: the rotor operation parameter estimation module 102 based on the improved extended state observer and the voltage type inverter circuit 104 are connected with a direct current voltage input circuit; a permanent magnet surface-mounted synchronous motor 106 connected to the voltage-type inverter circuit 104; the current and voltage detection module 108 is connected with the permanent magnet surface-mounted synchronous motor 106 and is used for detecting the three-phase current and the three-phase voltage of the permanent magnet surface-mounted synchronous motor; the first coordinate transformation module 110 is connected between the current and voltage detection module 108 and the rotor operation parameter estimation module 102 based on the improved extended state observer, and is used for transforming the three-phase current and the three-phase voltage detected by the current and voltage detection module into current and voltage under a two-phase static coordinate system; a second coordinate transformation module 112, connected to the current and voltage detection module 108, for transforming the three-phase current detected by the current and voltage detection module into a current in a two-phase synchronous rotating coordinate system; a voltage space vector pulse width adjustment operation module 114 connected to the voltage type inverter circuit 104; and a third coordinate transformation module 116, connected to the voltage space vector pulse width adjustment operation module 114, for transforming the voltage in the two-phase synchronous rotating coordinate system into the voltage in the two-phase stationary coordinate system.

Specifically, U_dcFor the DC voltage, u, input to the inverter circuit_a、u_b、u_cIs the three-phase voltage i of the motor_a、i_b、i_cFor three-phase currents of the motor i_α、i_βis the motor current u under a two-phase static coordinate system obtained after coordinate transformation_α、u_βThe motor voltage under the two-phase static coordinate system is obtained after coordinate transformation,as an estimate of the rotor electrical angular velocity, i.e. a feedback value of the rotational speed, omega^*for a given value of the rotor speed, Δ ω is the deviation between the given value and the feedback value, i_d、i_qThe motor current under the two-phase synchronous rotating coordinate system is obtained after coordinate transformation,is a given value of d-axis current under a two-phase synchronous rotating coordinate system,Is a given value of q-axis current under a two-phase synchronous rotating coordinate system,Voltage under two-phase synchronous rotating coordinate system output by current PI regulatorgiven values of the first and second light-emitting diodes,The voltage set value under the two-phase static coordinate system is obtained after coordinate transformation. The rotor operation parameter estimation module 102 based on the improved extended state observer determines an estimated value of the rotor electrical angular velocity, and in the motor position sensorless control system based on the improved extended state observer, the estimated value of the rotor electrical angular velocity is used as a rotating speed feedback value to construct a rotating speed closed loop, and a current closed loop under a two-phase rotor synchronous rotating coordinate system is constructed at the same time, and more specifically, the current and voltage detection module 108 detects a three-phase current i of the permanent magnet surface-mounted synchronous motor 106_a、i_b、i_cand three phase voltage u_a、u_b、u_cthe three-phase current and the three-phase voltage are converted into a current i under a two-phase stationary coordinate system by the first coordinate conversion module 110_α、i_βAnd voltage u_α、u_βCurrent i in two-phase stationary frame_α、i_βand voltage u_α、u_βthe rotor operation parameter estimation module 102 based on the improved extended state observer is input to determine the rotor electrical angular velocity estimation valuegiven value omega of rotor speed^*comparing to obtain deviation delta omega, and generating a given value of q-axis current under a two-phase synchronous rotating coordinate system through a PI regulatorMeanwhile, the three-phase current and the three-phase voltage detected by the current and voltage detection module 108 are converted into a current i under a two-phase synchronous rotating coordinate system by the second coordinate conversion module 112_d、i_qCurrent set value under two-phase synchronous rotating coordinate systemComparing to obtain deviation, and generating given voltage value under two-phase synchronous rotating coordinate system by PI regulatorConverted into voltage under a two-phase static coordinate system by a third coordinate conversion module 116The voltage space vector pulse width is transmitted to the voltage space vector pulse width adjustment operation module 114, and then transmitted to the voltage type inverter circuit 104.

By adopting the motor position sensorless control system based on the improved extended state observer, the number of pole pairs P of the motor is 1, and the permanent magnet flux linkage psi is adopted_f0.175Wb, stator phase winding resistance R_s2.875 Ω, inductance L4 mH, and moment of inertia J on the motor shaft 0.1 × 10^-3kg·m²The simulation step length is 1 x 10^-6And s. The simulation experiment conditions were set as follows: the motor starts with a load of 1 Nm, and the load suddenly increases to 2 Nm at 0.3 s. The comparison between the actual value of the rotor position angle when the load is suddenly changed and the estimated value of the rotor position angle determined by the improved extended state observer-based rotor operation parameter estimation method is shown in fig. 6. The variation of the deviation between the actual value of the rotor position angle when the load is suddenly changed and the estimated value of the rotor position angle determined by the rotor operation parameter estimation method based on the improved extended state observer is shown in fig. 7, and it can be seen that the deviation between the actual value of the rotor position angle and the estimated value of the rotor position angle is small.

In order to verify that the rotor operation parameter estimation method provided by the invention does not depend on motor parameters, the conclusion of the rotating speed estimation precision can be greatly improved, and simulation is respectively carried out under the two conditions that the resistance and the inductance are changed.

the simulation when the resistance parameter changes is set as follows: the motor phase winding resistance was increased gradually from 2.875 to 3.275 over the 0.2 to 0.4 second interval, with the other settings being as above. The comparison between the actual value of the rotor electrical angular velocity when the resistance of the motor phase winding is increased and the estimated value of the rotor electrical angular velocity determined by the rotor operation parameter estimation method based on the improved extended state observer provided by the invention is shown in fig. 8, and it can be seen that the estimated value of the rotating speed estimated by the method provided by the invention does not change obviously when the resistance parameter of the motor changes.

The simulation when inductance parameters change is set as: the motor inductance is gradually increased from 4mH to 4.5mH in the interval of 0.2 seconds to 0.4 seconds, and other settings are the same as above. When the inductance of the motor is increased, the change of the estimated value of the rotor electrical angular velocity determined by the rotor operation parameter estimation method based on the improved extended state observer is shown in fig. 9, and the actual value of the rotating speed is the same as that in fig. 8. Therefore, when the inductance parameter of the motor changes, the estimated rotating speed value estimated by the method provided by the invention does not obviously change.

As shown in fig. 2, the improved auto-disturbance-rejection controller according to the embodiment of the present invention includes an improved extended state observer 202, a tracking differentiator 204, and a nonlinear state error feedback control law 206, which are cooperatively arranged, and v is obtained after an input given signal v is transited by the tracking differentiator 204₁、And the output observed signal z of the modified extended state observer 202₁、z₂Comparing to determine the deviation epsilon₁、ε₂then the signal is inputted into the nonlinear state error feedback control law 206, and the nonlinear state error feedback control law 206 nonlinearly combines the signals of the tracking differentiator 204 and the modified extended state observer 202 to obtain u₀Adding total disturbance observed by improved extended state observerand performing real-time compensation, transmitting the obtained u to a controlled object, and transmitting the measurable variable y of the controlled object to the improved extended state observer 202.

The technical scheme of the invention is explained in detail by combining the attached drawings, and the invention provides the improved extended state observer which is used for estimating the operating parameters of the rotor, so that the observation precision is higher, the convergence speed is higher, the parameter selection range is wider, and the engineering practical value is very high. With a current i_α、i_βBack emf component estimated for improved extended state observer of subject variableAnd the precision of the rotor position angle is higher, the precision of the rotor electric angular velocity estimated value obtained by the adopted improved extended state observer with the rotor position angle as a main variable is higher, and the algorithm only depends on the period information of the back electromotive force instead of the amplitude information and is not influenced by the change of motor parameters. A motor position sensorless control system based on an improved extended state observer is characterized in that a rotor electrical angular velocity estimation value is used as a rotating speed feedback value to construct a rotating speed closed loop and construct a current closed loop under a two-phase rotor synchronous rotating coordinate system through the matching of a voltage type inverter circuit, a current voltage detection module, a coordinate transformation module, a voltage space vector pulse width adjustment operation module, a rotor operating parameter estimation module based on the improved extended state observer and the like, so that the rotating speed current double closed loop voltage space vector control of a permanent magnet surface-mounted synchronous motor under the motor position sensorless system is realized, the rotor position angle and the rotor electrical angular velocity estimation value are high in precision and are not influenced by the motor parameter change, the control precision is high, and the system is generally suitable for the permanent magnet surface-mounted synchronous motor. The improved active disturbance rejection controller adopting the improved extended state observer has higher control accuracy.

the steps in the method of the invention can be sequentially adjusted, combined and deleted according to actual needs.

The units in the device of the invention can be merged, divided and deleted according to actual needs.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.

the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.