CN104300842A - Three-motor synchronization speed-decoupling-free control system and method based on active disturbance rejection - Google Patents
Three-motor synchronization speed-decoupling-free control system and method based on active disturbance rejection Download PDFInfo
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Abstract
The invention discloses a three-motor synchronization speed-decoupling-free control system and method based on active disturbance rejection. The control system comprises a control part, a driving part, a feedback detection part and a load part. The control part comprises a PC and a programmable logic controller (PLC), wherein the PC and the PLC are connected through an MPI bus, the PC is used as an upper computer for running STEP7 programming software to write and download all programs in the PLC and read real-time data in the PLC, and the PLC is used for transmitting the frequency value obtained after DSP processing to a frequency converter through a Profibus-DP communication interface to achieve three-motor synchronization speed-decoupling-free control. The speed of the control system is increased, the accuracy of the control system is improved, the reliability of the system is enhanced, the application range of the system is expanded, the installation, debugging and maintenance cost of the system is reduced, and the control system has high practical value.
Description
Technical field
The present invention relates to three motor in synchrony cooperation control and motor speed identifications, the auto-disturbance rejection technology particularly based on Speedless sensor controls new departure, belongs to industrial production automation field.
Background technology
Along with improving constantly of modern industry automatization level, multi-drive synchronization driving control system has become electric-control system indispensable in current industrial production.For the feature that motor in three electric systems is coupled because of the connection phase mutual of belt, Auto Disturbances Rejection Control Technique is utilized to realize high-precision Synchronization Control.
In high-performance AC motor vector control, in order to improve the control performance of system, speed closed loop in system, must be adopted to control.Current industrial control field generally adopts velocity transducer (as photoelectric encoder) to feed back tach signal.But (1) photoelectric encoder is expensive, use photoelectric encoder must increase the cost of system; (2) photoelectric encoder is installed loaded down with trivial details, and it installs effect has larger impact to certainty of measurement, reduces the Mechanical Reliability of system; (3) encoder is poor to environment-adapting ability, and its precision is subject to the impact of operational environment change; (4) encoder is installed and adds motor shaft volume upwards, reduce the range of application of governing system.
Summary of the invention
The object of the invention is to for the operation of photoelectric encoder in current three-motor synchronous control system easily affected by environment, and expensive problem of installing complexity, propose a kind of three motor synchronous system based on active disturbance rejection without speed uneoupled control, the self adaptation full rank flux observer that this system can be formed for state variable with stator current and rotor flux is to replace photoelectric encoder, achieve the control of three-motor synchronous control system, have a extensive future, there is stronger practical value.
The present invention is achieved by the following technical programs:
Based on three motor in synchrony of active disturbance rejection without a speed decoupling and controlling system, comprise control section, drive part, feedback test section, loading section; Described control section comprises a PC and a programmable controller PLC, described PC is connected by MPI bus with described PLC, described PC is used for, as the host computer running STEP7 programming software, completing writing and downloading of each program in PLC, and reads the real time data in PLC; Described PLC is used for the frequency values obtained after DSP process to be transferred to frequency converter by Profibus-DP communication interface, realizes three motor in synchrony without speed uneoupled control; Described drive part comprises three Siemens MMV frequency converters and three AC induction motor, and three frequency converters drive three motors respectively; Described feedback test section comprises DSP, Signal-regulated kinase, tension pick-up, voltage sensor, current sensor, described DSP is connected by RS232 with PC, and described tension pick-up, voltage sensor, current sensor are input in DSP through Signal-regulated kinase; The physical quantity that described feedback test section is used for utilizing the stator voltage of detection in dsp, electric current easily detects carries out velocity estimation, realizes the identification of Sensorless Speed and the process of active disturbance rejection algorithm; Described loading section is coaxially connected with three reductors and three head rolls respectively by three motor shafts, and three head rolls have installed magnetic powder brake respectively, simulates load under actual condition by adding exciting current to magnetic powder brake.
Further, the model of described PC is INDUSTRIAL COMPUTER 610.
Further, that described PLC selects is Siemens S7-300, comprises PS307 power module, uses for the direct current supply PLC system realizing civil power to convert to 24v; A model is the CPU of 315-2DP, and containing two communication interfaces, one is used for realizing MPI communication, and another is Profibus-DP communication interface; A model is the digital quantity input module of SM321 (D116x DC24V), is used for realizing the control of switching value.
Further, described frequency converter be Siemens Micromaster Vector frequency converter, its model is XAN283MV397C.
Further, described reductor to be speed reducing ratio be 15: 1 cycloidal planetary gear speed reducer.
Further, described current sensor is the model that LEM company produces is the current sensor of LA55-P, the voltage sensor of described voltage sensor to be model that LEM company produces be LV25-P.
The technical scheme of method of the present invention is: a kind of three motor in synchrony based on active disturbance rejection, without speed decoupling control method, comprise the steps:
Step 1, PLC hardware configuration is arranged, and in STEP7, generation one and the actual identical system of hardware system, arrange frame and modules, the control system that configuration one is identical with actual hardware, make software restraint one_to_one corresponding;
Step 2, the parameter of each hardware composition part is set, each hardware module of installing has a corresponding article No., the analogue device of respective model is selected according to article No., in frame, the parameter of all modules is arranged in the process of hardware configuration, wherein the relevant parameter of CPU can be kept in system data, and the parameter arranged in other modules can be kept in CPU;
Step 3, Structured Programming is carried out to STEP7 in the basis of step 2, organize and manage with the form of project, by automation Task-decomposing for several can reflect production process, function or can reusable little task (FC module or FB module), then call these task block as required by OB1 module;
Step 4, DSP2812 realizes the process of voltage, current signal and two tension pick-up signals under CCS3.3 programmed environment, namely realize rotating speed effectively identification accurately, and carry out the automatic disturbance rejection controller algorithm of rotating speed and two tension force, the result obtained is converted into frequency, is transferred to PC by RS232.
Further, described step 4 detailed process is:
First to sample actual voltage, current value, to select with stator current, rotor flux, for state variable, to write out the state equation of asynchronous motor; According to full order observer principle and asynchronous motor state equation, the full order observer that to construct with stator current and rotor flux be state variable, the stator current i that Induction Motor System exports
swith the electric current that observer exports
difference
after being multiplied with feedback gain matrix H, input to the closed-loop control that observer realizes whole system, final object is the difference of the quantity of state making observer is zero, combining adaptive principle again, thus can calculate observation rotating speed amount
rotating speed amount identification obtained and two amount of tension collected are by active disturbance rejection algorithm, make to disturb in the Unmarried pregnancy of system and be all summed up as the total disturbance to system by outside unknown disturbance effect, unification is carried out estimating and compensating, automatic disturbance rejection controller output speed and tension value, last and this speed and tension force passing ratio are converted convert frequency to and give PC.
Native system employing Auto Disturbances Rejection Control Technique realizes the decoupling zero between speed and tension force, Speedless sensor is utilized to realize the speed estimate of alternating current machine vector control system, reduce the cost of the installation of system, debugging and maintenance, expand the range of operation that three motor in synchrony control, reliability of the present invention is high, cost is low, has stronger practical value.
Have the following advantages according to the tool of the present invention that technique scheme obtains:
1, overcome that photoelectric encoder is installed, debugging and the high deficiency of cost safeguarded, achieve the vector control of Speedless sensor.
2, make whole system strengthen the adaptive capacity of environment, its control precision is not by the impact of operational environment, and systematic difference field is wider.
3, without the need to installing photoelectric encoder, reduce motor shaft to volume.
4, utilize DSP processing signals advantage fast, adopt DSP to process speed and tension signal, achieve the accurate control of multi-drive synchronization, improve every Control performance standard of motor.
Accompanying drawing explanation
Fig. 1 is three-motor synchronous control system overall structure figure;
Fig. 2 is the three motor control strategy block diagrams based on ADRC;
Fig. 3 is the block diagram of asynchronous machine full order observer;
Fig. 4 is the design procedure flow chart of state observer;
Fig. 5 is the procedure chart obtaining the frequency values controlling frequency converter from the electric current measured and voltage;
Fig. 6 is the program flow diagram of Speed identification.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details:
What can provide from Fig. 1 is that wherein, No. 1 alternating current machine is mair motor, and to the tachometer value that it is certain, all the other two is from motor, follows mair motor and carries out synchronous operation based on three motor synchronous system of active disturbance rejection without speed decoupling and controlling system overall structure figure.Three motors are linked together by belt, so the belt connected between two motors also exists tension force, the size of tension force depends on the rotating speed difference of two motors that belt connects, initiatively the rotating speed of motor and the tension force of belt determine the ruuning situation of slave motor, it can thus be appreciated that, interactional between the rotating speed of motor and belt tension, that is there is coupled relation between speed and tension force, running for realizing three motor in synchrony, uneoupled control will be carried out to the coupling between mair motor speed and tension force.Bottom three asynchronous motors and three universal frequency converters form the field control part of three motor in synchrony coordinated control systems, its concrete control block diagram as shown in Figure 2, Control Engineering problem of the present invention, owing to being difficult to provide its " description of internal mechanism ", thus introduce the automatic disturbance rejection controller (ADRC) not relying on concrete mathematical model, controlled device Input output Relationship, to realize the high performance control of system, reach good the synchronized Coordinative Control effect.
Three motor in synchrony based on active disturbance rejection of the present invention comprise control section, drive part, feedback test section and loading section without speed decoupling and controlling system.Wherein said control section is by field control level and center-control level is two-layer forms.At the scene in controlled stage, three transducer drives, three alternating current machines are utilized to realize frequency control; In center-control level, the Programmable Logic Controller (programmable logic controller, PLC) by a PC and with communication function forms; Frequency converter in field control level is connected by PROFIBUS fieldbus with the PLC in center-control level; Described drive part is by three Siemens MMV transducer drives, three threephase asynchronouses; Described feedback test section comprises mair motor speed loop feedback and detects and the detection of tension force circuit feedback, the detection of mair motor feedback speed signal utilizes the physical quantity such as stator current, stator voltage easily detected, build the self adaptation full rank flux observer being state variable with stator current and rotor flux, realize rotating speed identification effectively and accurately; The detection of tension feedback signal uses 2 tension pick-ups to the collection of two tension signals in three motor in synchrony driving control systems, and pass through signal conditioning circuit, the analog signal of the 0 ~ 5v collected is converted to 0 ~ 3.3v digital signal of DSP2812 input requirements, input DSP2812 carries out the computing of active disturbance rejection algorithm and converts frequency to being defeated by PC; Described loading section by three motor shafts with three speed reducing ratio be respectively 15: 1 cycloidal planetary gear speed reducer and three head rolls be coaxially connected, three head rolls install magnetic powder brake respectively, simulates load under actual condition by adding exciting current to magnetic powder brake.
In three motor in synchrony driving control systems, Siemens S7-300 PLC and PC are as system main website, and three frequency converters, as system slave station, by the communication of MPI adapter between main website PLC and host computer, pass through PROFIBUS communication between main website PLC and slave station.As shown in Figure 1, MPI adapter one end is connected with the MPI interface of PLC, and other end is connected with PC, realizes the communication between host computer and PLC.And PROFIBUS communication cable one end is connected with the DP interface of main website PLC, the other end is connected on the RS485 interface of the CB15 card of slave station frequency converter, makes to carry out communication between PLC and frequency converter.Connected by RS232 interface between PC and DSP, achieve the communication between PC and DSP.And then the communication constituting three motor coordinations controls is always schemed.The model of above-mentioned PC is INDUSTRIAL COMPUTER 610, and that described PLC is Siemens S7-300; Described frequency converter be Siemens Micromaster Vector frequency converter, its model is XAN283MV397C.Described reductor to be speed reducing ratio be 15: 1 cycloidal planetary gear speed reducer; Described current sensor is the model that LEM company produces is the current sensor of LA55-P, the voltage sensor of described voltage sensor to be model that LEM company produces be LV25-P.
PLC mainly comprises PS307 power module one, uses for the direct current supply PLC system realizing civil power to convert to 24v; A model is the CPU of 315-2DP, and containing two communication interfaces, one is used for realizing MPI communication, and another is Profibus-DP communication interface; A model is the digital quantity input module of SM321 (D116 x DC24V), be used for realizing the effect of digital output modul, PLC is used for the frequency values obtained after DSP process being transferred to frequency converter by Profibus-DP communication interface, for controlling motor.
Relative program programming realization in STEP7 environment of SIEMENS PLC-300 of the present invention, to the control of frequency converter, first performs and starts tissue block OB100, make not keep timer, tag memory and Process image data to automatically reset, wait initialization operation.After performing one-shot tissue block OB100, circulation will be started and perform in OB1, OB1 the communication mainly realized between frequency converter and PLC, the functions such as the filing of systematic procedure data.
Method step of the present invention is:
Step 1, PLC hardware configuration is arranged, and in STEP7, generation one and the actual identical system of hardware system, arrange frame and modules, the control system that configuration one is identical with actual hardware, make software restraint one_to_one corresponding;
Step 2, the parameter of each hardware composition part is set, each hardware module of installing has a corresponding article No., the analogue device of respective model is selected according to article No., in frame, the parameter of all modules is arranged in the process of hardware configuration, wherein the relevant parameter of CPU can be kept in system data, and the parameter arranged in other modules can be kept in CPU;
Step 3, Structured Programming is carried out to STEP7 in the basis of step 2, organize and manage with the form of project, by automation Task-decomposing for several can reflect production process, function or can reusable little task (FC module or FB module), then call these task block as required by OB1 module;
Step 4, DSP2812 realizes the process of voltage, current signal and two tension pick-up signals under CCS3.3 programmed environment, namely realize rotating speed effectively identification accurately, and carry out the automatic disturbance rejection controller algorithm of rotating speed and two tension force, the result obtained is converted into frequency, is transferred to PC by RS232.
Set forth the embodiment of said method step below further.
The Speed Identification algorithm based on full rank flux observer is introduced in the control strategy of Fig. 2, use than the amount being easier to direct measurement, the voltage and current of such as stator side carries out the estimation of rotating speed through control algolithm, thus achieves speed-sensorless control.As shown in Figure 3, wherein to the block diagram of asynchronous machine full order observer self-adaptive regulator utilize the error between reference model desired characteristic and actual characteristic, adjusts the parameter of controller, makes the state that output characteristic reaches desirable.On the whole, utilize two amounts directly measured to carry out estimating or observe for the quantity of state of the unknown, namely introduce the method for state observer, the thought of utilization state reconstruct, each equation of reconfiguration system, utilize the principle fed back to carry out the estimation of quantity of state.
Specific design step is as Fig. 4, and first under two-phase rest frame, select with stator current, rotor flux for state variable, then the state equation of asynchronous motor can be expressed as:
In formula: i
s=[i
s αi
s β]
t---the stator current of asynchronous machine; ψ
r=[ψ
r αψ
r β]
tthe rotor flux of-asynchronous machine; u
s=[u
s αu
s β]
tthe stator voltage of-motor;
C＝[I?0]；
Wherein: L
r, L
s, L
m---stator, mutual inductance between inductor rotor and rotor; R
s, R
r---stator, rotor resistance;
---leakage inductance coefficient;
---rotor time constant, ω
r---rotor velocity.The state equation of this asynchronous motor is abbreviated as:
y=Cx, if the necessary and sufficient condition that known system [A, B, C] can be seen completely is controllability matrix V=[C
ta
tc
t(A
t)
2c
t(A
t)
3c
t] full rank, and calculate said system and learn
That is: rank (V)=4, know that system can be seen completely, existence observer and its pole problem can arbitrary dispositions, according to the principle of motor model and full scalariform state, the motor full-order state observer that can to construct with stator current and rotor flux be variable, its form can be expressed as:
wherein H is the feedback gain matrix of observer, and it is generally determined by the form of full-order state observer POLE PLACEMENT USING, make observer pole location be the k of the limit of asynchronous motor control system doubly, and then draw the expression formula of H.H has the effect of weighting matrix, and achieving the correction to the stator current obtained by observer and rotor flux state variable, is the key of design point observer, and the design of rational matrix H accelerates the speed of state error decay, makes measured value more accurate.
Known by Fig. 3, the stator current i that Induction Motor System exports
swith the electric current that observer exports
difference
after being multiplied with feedback gain matrix H, input to the closed-loop control that observer realizes whole system, the final object of design is the difference of the quantity of state making observer is zero, combining adaptive principle, thus can calculate observation rotating speed again
complete the design work of observer.
Automatic disturbance rejection controller is made up of Nonlinear Tracking Differentiator, extended state observer, nonlinear state Error Feedback control law and disturbance compensation four part.Wherein: while Nonlinear Tracking Differentiator (TD) namely follows the tracks of input signal as soon as possible with inertial element, provide the differential signal that it is approximate; Extended state observer (ESO) observes whole state informations of system, and expands into new state variable by exporting the total in real time perturbation action had an impact to system, is observed and compensates; Nonlinear state Error Feedback control law (NSLEF) adopts the nonlinear combination form of state error to replace the linear combination of conventional PID controllers medial error, improves the control precision of control system; Disturbance compensation is not disturbed in compartment system and is disturbed outward, all disturbances and the unification of the coupling influence between speed and tension force are considered as the total disturbance of system and compensate, this compensation is exactly in fact anti-interference effect, eliminate the impact of various disturbance for control system by the method for disturbance compensation, realize Active Disturbance Rejection Control.
The identification of relative program programming realization speed in CCS3.3 environment of DSP and the process of active disturbance rejection algorithm, voltage, the current value of reality of first sampling, select with stator current, rotor flux as state variable, write out the state equation of asynchronous motor, because whole system can be seen completely, according to full order observer principle and motor model state equation, the full order observer that to construct with stator current and rotor flux be state variable, the stator current i that Induction Motor System exports
swith the electric current that observer exports
difference
after being multiplied with feedback gain matrix H, input to the closed-loop control that observer realizes whole system, final object is the difference of the quantity of state making observer is zero, combining adaptive principle, thus can calculate observation rotating speed again
wherein feedback gain matrix H ensure that the fast convergence of observer and can both keep on stable basis in the velocity interval of whole system, make to estimate that rotating speed can quickly converge on motor actual speed, then rotating speed amount identification obtained and two amount of tension collected are by active disturbance rejection algorithm, make to disturb in the Unmarried pregnancy of system and be all summed up as the total disturbance to system by outside unknown disturbance effect, unification is carried out estimating and compensating, automatic disturbance rejection controller output speed and tension value, last and this speed and tension force passing ratio are converted convert frequency to and give PC.
Fig. 6 is the program flow diagram of Speed identification, initialization post-sampling system output valve, calculates rotating speed now
with electric current and the magnetic linkage of subsequent time observer, variable is followed new, for Speed identification is ready next time.The process of the frequency values controlling frequency converter is obtained from the electric current of actual samples and voltage as shown in Figure 5 in DSP, specific implementation process is: the current/voltage that sampling obtains is input in DSP and carries out Speed Identification, the speed that identification obtains, through speed Active Disturbance Rejection Control controller, is converted into frequency values after making the disturbance compensation of whole model and exports through RS232.The signal that tension pick-up gathers, through Signal-regulated kinase input DSP, the effect of Signal-regulated kinase is: first 0 ~ 5v analog signal that transducer exports changed through A/D, obtain digital signal, again through level conversion, become the digital signal of 0 ~ 3.3v, be finally input in DSP.Dsp program mainly realizes the second-order active disturbance rejection controller algorithm of the identification of mair motor speed, speed Active Disturbance Rejection Control algorithm and two tension force, and the speed obtained and tension value are converted to frequency are transferred to PC by RS232.
The acquisition of mair motor speed loop feedback signal and tension force circuit feedback detect, the acquisition of mair motor feedback speed signal is formed self adaptation full rank flux observer by with stator current and rotor flux for state variable, realizes rotating speed identification effectively and accurately in dsp; The detection of tension feedback signal is the collections of use 2 tension pick-ups to two tension signals in three motor in synchrony driving control systems, 0 ~ 5v the signal gathered is changed and level conversion through A/D, the digital signal obtaining 0 ~ 3.3v is input in DSP and processes, and the result after process is passed to PC.
Be to be understood that, although this specification is described according to execution mode, but not each execution mode only comprises an independently technical scheme, this narrating mode of specification is only for clarity sake, those skilled in the art should by specification integrally, technical scheme in each execution mode also through appropriately combined, can form other execution modes that it will be appreciated by those skilled in the art that.
A series of detailed description listed is above only illustrating for feasibility execution mode of the present invention; they are also not used to limit the scope of the invention, and allly do not depart from the skill of the present invention equivalent implementations done of spirit or change and all should be included in protection scope of the present invention.
Claims (8)
1. based on three motor in synchrony of active disturbance rejection without a speed decoupling and controlling system, it is characterized in that:
Comprise control section, drive part, feedback test section, loading section;
Described control section comprises a PC and a programmable controller PLC, described PC is connected by MPI bus with described PLC, described PC is used for, as the host computer running STEP7 programming software, completing writing and downloading of each program in PLC, and reads the real time data in PLC; Described PLC is used for the frequency values obtained after DSP process to be transferred to frequency converter by Profibus-DP communication interface, realizes three motor in synchrony without speed uneoupled control;
Described drive part comprises three Siemens MMV frequency converters and three AC induction motor, and three frequency converters drive three motors respectively;
Described feedback test section comprises DSP, Signal-regulated kinase, tension pick-up, voltage sensor, current sensor, described DSP is connected by RS232 with PC, and described tension pick-up, voltage sensor, current sensor are input in DSP through Signal-regulated kinase; The physical quantity that described feedback test section is used for utilizing the stator voltage of detection in dsp, electric current easily detects carries out velocity estimation, realizes the identification of Sensorless Speed and the process of active disturbance rejection algorithm;
Described loading section is coaxially connected with three reductors and three head rolls respectively by three motor shafts, and three head rolls have installed magnetic powder brake respectively, simulates load under actual condition by adding exciting current to magnetic powder brake.
2. three motor in synchrony based on active disturbance rejection according to claim 1 are without speed decoupling and controlling system, it is characterized in that: the model of described PC is INDUSTRIAL COMPUTER 610.
3. three motor in synchrony based on active disturbance rejection according to claim 1 are without speed decoupling and controlling system, it is characterized in that: that described PLC selects is Siemens S7-300, comprise PS307 power module, use for the direct current supply PLC system realizing civil power to convert to 24v; A model is the CPU of 315-2DP, and containing two communication interfaces, one is used for realizing MPI communication, and another is Profibus-DP communication interface; A model is the digital quantity input module of SM321 (DI16x DC24V), is used for realizing the control of switching value.
4. three motor in synchrony based on active disturbance rejection according to claim 1 are without speed decoupling and controlling system, it is characterized in that: described frequency converter be Siemens Micromaster Vector frequency converter, its model is XAN283MV397C.
5. three motor in synchrony based on active disturbance rejection according to claim 1 are without speed decoupling and controlling system, it is characterized in that: described reductor to be speed reducing ratio be 15: 1 cycloidal planetary gear speed reducer.
6. three motor in synchrony based on active disturbance rejection according to claim 1 are without speed decoupling and controlling system, it is characterized in that: described current sensor is the model that LEM company produces is the current sensor of LA55-P, the voltage sensor of described voltage sensor to be model that LEM company produces be LV25-P.
7. based on three motor in synchrony of active disturbance rejection without a speed decoupling control method, it is characterized in that, comprise the steps:
Step 1, PLC hardware configuration is arranged, and in STEP7, generation one and the actual identical system of hardware system, arrange frame and modules, the control system that configuration one is identical with actual hardware, make software restraint one_to_one corresponding;
Step 2, the parameter of each hardware composition part is set, each hardware module of installing has a corresponding article No., the analogue device of respective model is selected according to article No., in frame, the parameter of all modules is arranged in the process of hardware configuration, wherein the relevant parameter of CPU can be kept in system data, and the parameter arranged in other modules can be kept in CPU;
Step 3, Structured Programming is carried out to STEP7 in the basis of step 2, organize and manage with the form of project, by automation Task-decomposing for several can reflect production process, function or can reusable little task (FC module or FB module), then call these task block as required by OB1 module;
Step 4, DSP2812 realizes the process of voltage, current signal and two tension pick-up signals under CCS3.3 programmed environment, namely realize rotating speed effectively identification accurately, and carry out the automatic disturbance rejection controller algorithm of rotating speed and two tension force, the result obtained is converted into frequency, is transferred to PC by RS232.
8. three motor in synchrony based on active disturbance rejection according to claim 7 are without speed decoupling control method, it is characterized in that, described step 4 detailed process is:
First to sample actual voltage, current value, to select with stator current, rotor flux, for state variable, to write out the state equation of asynchronous motor;
According to full order observer principle and asynchronous motor state equation, the full order observer that to construct with stator current and rotor flux be state variable, the stator current i that Induction Motor System exports
swith the electric current that observer exports
difference
after being multiplied with feedback gain matrix H, input to the closed-loop control that observer realizes whole system, final object is the difference of the quantity of state making observer is zero, combining adaptive principle again, thus can calculate observation rotating speed amount
Rotating speed amount identification obtained and two amount of tension collected are by active disturbance rejection algorithm, make to disturb in the Unmarried pregnancy of system and be all summed up as the total disturbance to system by outside unknown disturbance effect, unification is carried out estimating and compensating, automatic disturbance rejection controller output speed and tension value, last and this speed and tension force passing ratio are converted convert frequency to and give PC.
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