CN-122020991-A - DC motor dynamic event triggering iteration interval generation method based on ellipsoidal member estimation

CN122020991ACN 122020991 ACN122020991 ACN 122020991ACN-122020991-A

Abstract

The invention discloses a direct current motor dynamic event triggering iteration interval generation method based on ellipsoid set member estimation. The method comprises the steps of firstly designing an encoding-decoding scheme based on an event dynamic event trigger mechanism to meet the limit of the limited bit rate in network transmission, and then designing an iteration interval generating method based on a trigger sampling signal to estimate the state and external interference of the direct current motor and generate an interval. When the method is applied to a direct current motor, the interference estimation effect is good, the state interval is tightly generated, and the limit of the limited bit rate during transmission is met.

Inventors

SHEN MOUQUAN
GU YANG
LI LIWEI
QIN WEN
ZHANG ZHIHAO

Assignees

南京工业大学

Dates

Publication Date: 20260512
Application Date: 20260108

Claims (3)

1. A DC motor dynamic event triggering iteration interval generation method based on ellipsoid set member estimation is characterized by comprising the following steps: Designing an encoding-decoding scheme based on an event dynamic event triggering mechanism to meet the limit of the limited bit rate of network transmission; An iteration interval generation method based on trigger sampling signals is designed to estimate the state of a direct current motor and external interference and generate an interval.
2. The method for generating the dynamic event triggering iteration interval of the direct current motor based on ellipsoidal member estimation according to claim 1, wherein the method comprises the following specific steps of: The dynamics model of the direct current motor is as follows: Wherein F M denotes a friction coefficient, J denotes a rotor inertia, C M denotes a motor constant, R M denotes an armature resistance, L M denotes an armature inductance, ω denotes a rotational speed, i denotes a current, d denotes a load torque disturbance, and V denotes a voltage; Next, the sampling interval is set to T, and the continuous-time direct-current motor model described above is converted into a discrete system model as follows using the forward euler method: where x (k) = [ ωi ] T , v (k) represents sensor noise, C 1 ＝[0.8 0.6],C 2 ＝[1.6 -0.4],D 1 ＝0.02,D 2 =0.02, i represents a unitary matrix of appropriate dimensions; aiming at the discrete direct current motor model, in order to meet the limit of the limited bit rate in network transmission, a coding-decoding scheme based on an event dynamic event trigger mechanism is designed, firstly, a sampling signal is verified through trigger adjustment and then is transmitted to a decoder through a network after being coded, and the dynamic event trigger mechanism is constructed as follows: where m is the number of the sensor, e m,y (k)＝y m (k m,l )-y m (k) represents the trigger error output by the mth sensor, k m,l represents the last trigger time of the mth sensor, k m,l+1 represents the next trigger time of the mth sensor, and the dynamic threshold h m (k) of the mth sensor is updated by the following formula: Wherein α m ,β m is a preset trigger parameter of the mth sensor, h min represents a lower bound of a threshold, h max represents an upper bound of the threshold, arg min () represents a self-variable value of a function that takes a minimum value; when the signal of the mth sensor is determined to be required to trigger, the signal is encoded by an encoder, and the encoded sensor sampling signal is as follows: wherein y m,c (k) represents the encoded trigger output of the mth sensor, Representing the sensor tag, r m (k) payload index, and after the decoder receives the signal, it first analyzes To determine that the signal is being sent by sensor m, and then retrieve the code table through the payload index r m (k) to reconstruct the signal, the reconstructed signal is as follows: Where y m,d (k) denotes the decoded signal of the mth sensor, s m denotes a quantization interval, and w m denotes a uniform quantization level.
3. The method for generating the iteration interval triggered by the dynamic event of the direct current motor based on the ellipsoidal collector estimation according to claim 1, wherein the method for generating the iteration interval based on the triggering sampling signal is designed to estimate the state and the external interference of the direct current motor and generate the interval, and comprises the following specific steps: first, an iterative estimator is constructed as follows: wherein r represents an iteration number label; state estimation representing the r-th iteration; representing interference estimates for the r-th iteration; L a (k),L b (k),L c (k) is the estimator gain to be designed; Selecting The following error system can be obtained: Wherein, the E m,q (k)＝y m,d (k)-y m (k) denotes a quantization error, The iterative estimator can estimate the state and the interference of the direct current motor at the same time, and the proving process is as follows: b001 selecting And let g [r] (k) satisfy g [r]T (k)g [r] (k). Ltoreq.1, then Can be expressed as: Wherein, the From the equation The product can be obtained by the method, Generating a matrix for the ellipsoidal shape at the time k; B002, next, select Can be rewritten as: In the formula, B003 based on object And B002, can obtain In the formula, Generating a matrix for the ellipsoid shape at time k+1, Λ 0 =diag (-1,0,0,0,0,0,0,0,0), diag () representing the diagonal matrix; B004. Then, suppose The method can obtain: b005 next, using S process technology, B003 can be scaled as: Wherein, the Is a positive constant; Then, using the Shull's index for B005, the following stability conditions can be obtained:

Description

DC motor dynamic event triggering iteration interval generation method based on ellipsoidal member estimation Technical Field The invention relates to an iteration interval generation method, in particular to a direct current motor dynamic event triggering iteration interval generation method based on ellipsoidal collector estimation. Background In recent years, governments and enterprises are increasingly pushing the wide application of renewable energy sources, and actively advocating the use of clean energy sources for power production. Among them, wind energy is widely recognized as a clean and sustainable energy solution by virtue of its higher cost effectiveness compared to traditional fossil fuels and nuclear energy. This advantage motivates the academia to study the stability problem of wind turbine systems. In the field of wind power generation, direct current generators are widely used, mainly thanks to their direct drive capability, low rotational speed and low maintenance costs. However, industrial systems are inevitably subject to external disturbances, environmental noise and component failures, which may lead to abnormal operation or even shutdown of the wind turbine system. For this reason, developing an efficient fault estimation method to detect and compensate the influence of faults in time has become an important and challenging point of current research. In addition, with the rapid development of communication technology and the deep integration of the communication technology with industrial systems, networked control is becoming an important means for promoting the development of industrial systems. In a networked control framework, data exchanges are typically performed through time-triggered (periodic) based network channels. However, with the expansion of the system scale and the frequent transmission of redundant data packets, the problem of network congestion is increasingly prominent, and the performance of the system is seriously affected. Therefore, there is a need to introduce efficient communication strategies in networked control systems to reduce data transmission frequencies and conserve limited network resources. Existing research is mostly integrated with static event triggering strategies, which have limited effectiveness in reducing network load. For this reason, improving existing event-triggered strategies to further optimize bandwidth usage has become one of the key directions of current research. Disclosure of Invention The invention aims to provide a direct current motor dynamic event triggering iteration interval generation method based on ellipsoidal collector estimation, which can effectively improve the state interval generation effect of a direct current motor in an industrial network environment. The method for generating the dynamic event triggering iteration interval of the direct current motor based on ellipsoidal collector estimation comprises the following steps: an encoding-decoding scheme based on an event dynamic event trigger mechanism is designed to meet the limited bit rate limit of network transmission: The dynamics model of the direct current motor is as follows: Wherein F M denotes a friction coefficient, J denotes a rotor inertia, C M denotes a motor constant, R M denotes an armature resistance, L M denotes an armature inductance, ω denotes a rotational speed, i denotes a current, d denotes a load torque disturbance, and V denotes a voltage; Next, the sampling interval is set to T, and the continuous-time dc motor model described above is converted into a discrete system model as follows using the forward euler method: where x (k) = [ ωi ] T, v (k) represents sensor noise, C 1＝[0.8 0.6],C2＝[1.6 -0.4],D1＝0.02,D2 =0.02, i represents a unitary matrix of appropriate dimensions; aiming at the discrete direct current motor model, in order to meet the limit of the limited bit rate in network transmission, a coding-decoding scheme based on an event dynamic event trigger mechanism is designed, firstly, a sampling signal is verified through trigger adjustment and then is transmitted to a decoder through a network after being coded, and the dynamic event trigger mechanism is constructed as follows: where m is the number of the sensor, e m,y(k)＝ym(km,l)-ym (k) represents the trigger error output by the mth sensor, k m,l represents the last trigger time of the mth sensor, k m,l+1 represents the next trigger time of the mth sensor, and the dynamic threshold h m (k) of the mth sensor is updated by the following formula: Wherein α m,βm is a preset trigger parameter of the mth sensor, h min represents a lower bound of a threshold, h max represents an upper bound of the threshold, argmin () represents a self-variable value of a function that takes a minimum value; when the signal of the mth sensor is determined to be required to trigger, the signal is encoded by an encoder, and the encoded sensor sampling signal is as follows: wherein y m,c (k) represents the