Study On The Control Strategy And Stability Control Of Vertical Circulation Stereo Garage Transmission System Based On RBF Neural Network

With the development of science and technology,the development prospect of mechanical stereoscopic garage in China is gradually broad.The driving mode of the circulating garage is mostly motor driven.This paper takes the circulating garage as the research object,carries out stability research for the power control system,and studies the control strategy of the permanent magnet synchronous motor,the core part of the power system.Aiming at the problems of multivariable,nonlinear,strong coupling and uncertain load interference in the power control system of the vertical circulation stereoscopic garage,firstly,establish a mathematical model for the power system of the circulation garage,analyze the load characteristics of the circulation system,ensure the accuracy of the mathematical model of the power system,analyze the load change in the rotation process and the vibration problem in the operation process,and determine the permanent magnet synchronous motor as the control object,This paper introduces the transformation of permanent magnet synchronous motor in different coordinates.The coordinate transformation is used to reduce the dimension of control parameters and facilitate the design of control strategy.Based on the traditional sliding mode control strategy,the traditional exponential reaching law is replaced by a function,and then the double-closed-loop sliding mode control strategy of speed loop and current loop is designed.The stability of the improved reaching law is analyzed with Lyapunov function to ensure that the sliding mode motion exists in the stability condition,and then the discrete speed loop and current loop are optimized using the high-precision approximation ability of RBF neural network,The purpose of the speed tracking differentiator is to optimize the oscillation caused by the distortion of the differential signal extracted by the differential action in the traditional control,realize the extraction of the speed signal,optimize the noise method of the classical differential link,and the load torque disturbance sliding mode observer is used to estimate the load disturbance and carry out the load compensation.The phase lag phenomenon exists in the traditional sliding mode position observer for rotor position observation,based on the traditional position observer improvement,but the sliding mode control in the process of weakening the oscillation,the low-pass filter will weaken the counter-electromotive force amplitude causing the system phase lag,which in turn affects the rotor position and speed observation value.The magnitude of the phase delay depends on the carrier frequency of the low-pass filter,and the more severe the corresponding phase lag,the more position control accuracy will be reduced,and even oscillation will occur.Using the magnetic chain observation method,the induction electromotive force is compensated for phase and amplitude,and then low-pass filtered to achieve rotor position observation when the motor is running at high speed,which improves the rotor position observation accuracy and achieves high accuracy control of permanent magnet synchronous motors in a cyclic garage.Finally,the control strategy is verified and analyzed,and the simulation and experimental platform are built to verify.In the experimental platform,the magnetic powder brake generates the given torque,the test platform is controlled by the upper computer,and the speed torque sensor generates the feedback signal.The error comparison of the speed,the electromagnetic torque of the motor,and the observation position of the motor rotor is made respectively,which proves that the improved sliding mode control strategy improves the dynamic performance of the motor,such as stability,robustness,and anti-interference.