CN109670139B - Method and system for determining tracking frequency of ultrasonic turning device - Google Patents
Method and system for determining tracking frequency of ultrasonic turning device Download PDFInfo
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Abstract
The invention discloses a method and a system for determining tracking frequency of an ultrasonic turning device. The invention provides a method for determining tracking frequency of an ultrasonic turning device, which comprises the steps of firstly determining tracking error of a system according to phase difference and given phase difference of current and voltage of a transducer end in the ultrasonic turning device; then, a system model of the ultrasonic turning device is established, and the system model is used for representing the relation between the phase difference of current and voltage and tracking frequency; and finally, determining the tracking frequency of the ultrasonic turning device by adopting a self-adaptive fuzzy control method according to the actually measured phase difference and the system model. In practical application, the required resonant frequency can be obtained by setting the given phase difference to zero, so that the tracking of the resonant frequency is realized. The nonlinear ultrasonic turning device is subjected to fuzzy modeling, an unknown function in the model is approximated by adopting a self-adaptive fuzzy control method, the anti-interference capability is high, and the purpose of tracking the resonant frequency with high precision can be realized.
Description
Technical Field
The invention relates to the technical field of ultrasonic waves, in particular to a method and a system for determining tracking frequency of an ultrasonic turning device.
Background
The ultrasonic vibration turning system mainly comprises a machine tool and an ultrasonic vibration device. Wherein the ultrasonic vibration portion includes: ultrasonic generators, ultrasonic transducers, ultrasonic modulators, cutters, and other necessary components. The working principle of the ultrasonic turning device is as follows: the turning tool obtains ultrasonic vibration with certain amplitude, and the ultrasonic vibration system and the turning tool are fixed on the tool rest to realize ultrasonic turning.
Because the transducer has an inherent resonant frequency, the ultrasonic generator can ensure that the ultrasonic vibration turning system operates in a stable and efficient state only by timely tracking the resonant frequency of the transducer. The resonance frequency of the ultrasonic transducer can drift along with the factors such as temperature, environment, aging of elements and the like, so that the ultrasonic generator cannot automatically track the resonance frequency.
Disclosure of Invention
The invention aims to provide a method and a system for determining tracking frequency of an ultrasonic turning device, which have strong anti-interference capability and can realize the purpose of tracking resonant frequency with high precision.
In order to achieve the above object, the present invention provides the following solutions:
a method of determining a tracking frequency of an ultrasonic turning apparatus, the method comprising:
acquiring current data, voltage data and a given phase difference of a transducer end in an ultrasonic turning device;
determining a measured phase difference from the current data and the voltage data;
determining a tracking error from the measured phase difference and the given phase difference;
establishing a system model of the ultrasonic turning device, wherein the system model is used for representing the relation between the phase difference of the current and the voltage of the transducer end and the tracking frequency;
and determining the tracking frequency of the ultrasonic turning device by adopting a self-adaptive fuzzy control method according to the actual measured phase difference and the system model.
Optionally, before determining the measured phase difference according to the current data and the voltage data, the method further includes:
and filtering the current data and the voltage data by adopting a limiting average filtering method to obtain filtered current data and filtered voltage data.
Optionally, the system model is:
Optionally, the determining the tracking frequency of the ultrasonic turning device by adopting an adaptive fuzzy control method according to the actually measured phase difference and the system model specifically includes:
according to the formula:
determining a tracking error vector, wherein E represents the tracking error vector, e=y m -y(n)，y m The given phase difference is represented by y (n), the actual measured phase difference at the nth sampling time is represented by y (n), and the order of the ultrasonic turning device is represented by q;
acquiring an arbitrary positive definite matrix Q and according to a formula A T P+pa= -Q, a positive definite matrix P is determined, wherein,
and s is n +k 1 s n-1 +…k q-1 s+k q Root of =0 is in the left half-open plane of the complex plane, k= (K) 1 ,…,k q ) K represents gain;
determining fuzzy control parameters according to the last column element of the positive definite matrix P;
acquiring a fuzzy base function: ζ (x) = (ζ) f (x),ξ g (x) Initializing a fuzzy control estimated parameter vector;
according to the formula:
determining an estimation function of the first state transfer matrix function and an estimation function of the second state transfer matrix function, wherein +.>
An estimation function representing a first state transition matrix function,/->
An estimation function representing a second state transition matrix function, θ= (θ) f ,θ g ) θ represents a fuzzy control estimation parameter vector, θ f Representing the first estimated parameter, θ g Representing a second estimated parameter;
and determining the current tracking frequency according to the estimation function of the first state transfer matrix function, the estimation function of the second state transfer matrix function, the gain, the tracking error vector and the current actual measured phase difference.
Alternatively, according to the formula:
a tracking frequency is determined, where u (n) represents the tracking frequency at the nth sampling instant.
Optionally, after determining the current tracking frequency, the method further includes:
according to the formula:
determining an estimated parameter update amount, wherein +.>
Representing the updated amount of the first estimated parameter, < +.>
Update amount of second estimation parameter, P q Representing fuzzy control parameters, gamma 1 And gamma 2 All are normal numbers; />
According to the formula:
updating the fuzzy control estimated parameter vector, θ' f Representing the updated first estimated parameter, θ f Representing the first estimated parameter, θ ', before updating' g Representing the updated second estimated parameter, θ g Representing the second estimated parameter before updating.
A system for determining a tracking frequency of an ultrasonic turning apparatus, the system comprising:
the data acquisition module is used for acquiring current data, voltage data and a given phase difference of the transducer end in the ultrasonic turning device;
the phase difference determining module is used for determining an actual measurement phase difference according to the current data and the voltage data;
a tracking error determining module for determining a tracking error based on the measured phase difference and the given phase difference;
the system model building module is used for building a system model of the ultrasonic turning device, and the system model is used for representing the relation between the phase difference of the current and the voltage of the transducer end and the tracking frequency;
and the tracking frequency determining module is used for determining the tracking frequency of the ultrasonic turning device by adopting a self-adaptive fuzzy control method according to the actual measurement phase difference and the system model.
Optionally, the determining system further includes:
and the filtering module is used for filtering the current data and the voltage data by adopting a limiting average filtering method to obtain filtered current data and filtered voltage data.
Optionally, the tracking frequency determining module includes:
a tracking error vector determination unit for determining a tracking error vector according to the formula:
determining a tracking error vector, wherein E represents the tracking error vector, e=y m -y(n)，y m The given phase difference is represented by y (n), the actual measured phase difference at the nth sampling time is represented by y (n), and the order of the ultrasonic turning device is represented by q;
a positive definite matrix determining unit for obtaining any positive definite matrix Q according to formula A T P+pa= -Q, a positive definite matrix P is determined, wherein,
and s is n +k 1 s n-1 +…k q-1 s+k q Root of =0 is in the left half-open plane of the complex plane, k= (K) 1 ,…,k q ) K represents gain;
a fuzzy control parameter determining unit, configured to determine a fuzzy control parameter according to a last column element of the positive definite matrix P;
basis functionA number acquisition unit configured to acquire a fuzzy base function: ζ (x) = (ζ) f (x),ξ g (x))；
An initialization unit for initializing a fuzzy control estimated parameter vector;
an estimation function determining unit for determining the estimation function according to the formula:
determining an estimation function of the first state transfer matrix function and an estimation function of the second state transfer matrix function, wherein +.>
An estimation function representing a first state transition matrix function,/->
An estimation function representing a second state transition matrix function, θ= (θ) f ,θ g ) θ represents a fuzzy control estimation parameter vector, θ f Representing the first estimated parameter, θ g Representing a second estimated parameter;
and the tracking frequency determining unit is used for determining the current tracking frequency according to the estimation function of the first state transfer matrix function, the estimation function of the second state transfer matrix function, the gain, the tracking error vector and the current actual measurement phase difference.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a method and a system for determining tracking frequency of an ultrasonic turning device, wherein the tracking error of the system is determined according to the phase difference between the current and the voltage of a transducer end in the ultrasonic turning device and a given phase difference; then, a system model of the ultrasonic turning device is established, and the system model is used for representing the relation between the phase difference of current and voltage and tracking frequency; and finally, determining the tracking frequency of the ultrasonic turning device by adopting a self-adaptive fuzzy control method according to the actually measured phase difference and the system model. In practical application, the required resonant frequency can be obtained by setting the given phase difference to zero, so that the tracking of the resonant frequency is realized. The nonlinear ultrasonic turning device is subjected to fuzzy modeling, an unknown function in the model is approximated by adopting a self-adaptive fuzzy control method, the anti-interference capability is high, and the purpose of tracking the resonant frequency with high precision can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for determining tracking frequency of an ultrasonic turning device according to an embodiment of the present invention;
fig. 2 is a flowchart of an implementation of a clipping average filtering method according to an embodiment of the present invention;
fig. 3 is a block diagram of a system for determining tracking frequency of an ultrasonic turning device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a method and a system for determining tracking frequency of an ultrasonic turning device, which have strong anti-interference capability and can realize the purpose of tracking resonant frequency with high precision.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a flowchart of a method for determining tracking frequency of an ultrasonic turning device according to an embodiment of the present invention. As shown in fig. 1, a method for determining tracking frequency of an ultrasonic turning device includes:
step 101: and acquiring current data, voltage data and a given phase difference of a transducer end in the ultrasonic turning device. The electric information is acquired by installing a sensor in the ultrasonic turning device, the output voltage data waveform of the ultrasonic transducer is acquired by a high-frequency transformer, and the output current data waveform of the ultrasonic transducer is acquired by a high-frequency current transformer.
Step 102: and determining an actual measurement phase difference according to the current data and the voltage data, and converting the phase difference into a voltage signal W through a phase circuit.
Step 103: and determining a tracking error according to the actual measured phase difference and the given phase difference.
Step 104: and establishing a system model of the ultrasonic turning device, wherein the system model is used for representing the relation between the phase difference of the current and the voltage of the transducer end and the tracking frequency. The system model established in this embodiment is:
Step 105: determining the tracking frequency of the ultrasonic turning device by adopting a self-adaptive fuzzy control method according to the actual measured phase difference and the system model; the method specifically comprises the following steps:
according to the formula:
determining a tracking error vector, wherein E represents the tracking error vector, e=y m -y(n)，y m The given phase difference is represented by y (n), the actual measured phase difference at the nth sampling time is represented by y (n), and the order of the ultrasonic turning device is represented by q;
acquiring an arbitrary positive definite matrix Q and according to a formula A T P+pa= -Q, a positive definite matrix P is determined, wherein,
and s is n +k 1 s n-1 +…k q-1 s+k q Root of =0 is in the left half-open plane of the complex plane, k= (K) 1 ,…,k q ) K represents gain;
determining fuzzy control parameters according to the last column element of the positive definite matrix P;
acquiring a fuzzy base function: ζ (x) = (ζ) f (x),ξ g (x) Initializing a fuzzy control estimated parameter vector;
according to the formula:
determining an estimation function of the first state transfer matrix function and an estimation function of the second state transfer matrix function, wherein +.>
An estimation function representing a first state transition matrix function,/->
An estimation function representing a second state transition matrix function, θ= (θ) f ,θ g ) θ represents a fuzzy control estimation parameter vector, θ f Representing the first estimated parameter, θ g Representing a second estimated parameter;
determining a current tracking frequency according to the estimation function of the first state transfer matrix function, the estimation function of the second state transfer matrix function, the gain, the tracking error vector and the current actual measured phase difference; specifically, the present embodiment is according to the formula:
a tracking frequency is determined, where u (n) represents the tracking frequency at the nth sampling instant.
As a preferred embodiment, before performing step 102, the method further includes:
and filtering the current data and the voltage data by adopting a limiting average filtering method, wherein the limiting average filtering method is used for inhibiting fluctuation and interference signals in a system and obtaining filtered current data and filtered voltage data. Fig. 2 is a flowchart of an implementation of a clipping average filtering method according to an embodiment of the present invention. As shown in fig. 2, W in the clipping-averaging-filtering algorithm flowchart n Is the phase difference value for the nth sampling period. Every time a new value is sampled, the judgment is needed: if the difference between the current sample value and the historical sample average value is less than or equal to? The maximum sampling deviation value set by the system is valid; if the difference value between the current sampling value and the historical sampling average value is larger than the maximum sampling deviation value, the current sampling value is invalid, the current sampling value is discarded, and the historical sampling average value is selected as the current sampling value. Thus, the sampled output value G is filtered by clipping n Is that
In which W is n The sampling value is the sampling value; w (W) c The average value is a historical sampling average value; w (W) A Is the set maximum sampling offset value.
The sampled output value after the amplitude limiting filtering method is sent into a queue for sliding-median average filtering treatment, namely N is continuously collected 1 Measured value of N 1 The value is regarded as a queue with fixed length, based on the first-in first-out principle, new data are put into the tail of the queue each time when sampling is carried out, and the data at the head of the original queue are thrown away. Then remove a maximum and a minimum in the queue, and then calculate the remaining (N 1 -2) arithmetic mean of the data as the latest filtering output and updated to historical sampling mean. The sampled output y (n) after the sliding-median average filter process is:
wherein y (n) is the nth sampled output value after clipping filtering, H n-i To remove { G j ,j＝n-N 1 New queues resulting from the maximum and minimum values in the +1, …, n } queues.
As a preferred embodiment, after performing step 105, the method further includes:
according to the formula:
determining an estimated parameter update amount, wherein +.>
Representing the updated amount of the first estimated parameter, < +.>
Update amount of second estimation parameter, P q Representing fuzzy control parameters, gamma 1 And gamma 2 All are normal numbers;
according to the formula:
updating the fuzzy control estimated parameter vector, θ' f Representing the updated first estimated parameter, θ f Representing the first estimated parameter, θ ', before updating' g Representing the updated second estimated parameter, θ g Representing the second estimated parameter before updating.
Fig. 3 is a block diagram of a method for determining tracking frequency of an ultrasonic turning device according to an embodiment of the present invention. A system for determining a tracking frequency of an ultrasonic turning apparatus, comprising:
the data acquisition module 201 is configured to acquire current data, voltage data and a given phase difference of a transducer end in the ultrasonic turning device.
A phase difference determination module 202 for determining a measured phase difference from the current data and the voltage data.
A tracking error determination module 203 for determining a tracking error based on the measured phase difference and the given phase difference.
The system model building module 204 is configured to build a system model of the ultrasonic turning device, where the system model is used to characterize a relationship between a phase difference of a current and a voltage of the transducer end and a tracking frequency.
The tracking frequency determining module 205 is configured to determine a tracking frequency of the ultrasonic turning device by using an adaptive fuzzy control method according to the measured phase difference and the system model; specifically, the tracking frequency determining module 205 includes:
a tracking error vector determination unit for determining a tracking error vector according to the formula:
determining a tracking error vector, wherein E represents the tracking error vector, e=y m -y(n)，y m The given phase difference is represented by y (n), the actual measured phase difference at the nth sampling time is represented by y (n), and the order of the ultrasonic turning device is represented by q;
a positive definite matrix determining unit for obtaining any positive definite matrix Q according to formula A T P+pa= -Q, a positive definite matrix P is determined, wherein,
and s is n +k 1 s n-1 +…k q-1 s+k q Root of =0 is in the left half-open plane of the complex plane, k= (K) 1 ,…,k q ) K represents gain;
a fuzzy control parameter determining unit, configured to determine a fuzzy control parameter according to a last column element of the positive definite matrix P;
a basis function acquisition unit configured to acquire a fuzzy basis function: ζ (x) = (ζ) f (x),ξ g (x))；
An initialization unit for initializing a fuzzy control estimated parameter vector;
an estimation function determining unit for determining the estimation function according to the formula:
determining an estimation function of the first state transfer matrix function and an estimation function of the second state transfer matrix function, wherein +.>
An estimation function representing a first state transition matrix function,/->
An estimation function representing a second state transition matrix function, θ= (θ) f ,θ g ) θ represents a fuzzy control estimation parameter vector, θ f Representing the first estimated parameter, θ g Representing a second estimated parameter;
and the tracking frequency determining unit is used for determining the current tracking frequency according to the estimation function of the first state transfer matrix function, the estimation function of the second state transfer matrix function, the gain, the tracking error vector and the current actual measurement phase difference.
As a preferred scheme, the determining system further comprises a filtering module, which is used for filtering the current data and the voltage data by adopting a limiting average filtering method to obtain filtered current data and filtered voltage data.
The implementation process of the invention is as follows:
1. and acquiring the current/voltage phase difference of the transducer end of the ultrasonic turning system by using a sensor to obtain current data and voltage data.
2. And filtering the current data and the voltage data by adopting an average filtering method with amplitude limiting, and restraining fluctuation and interference signals in a system.
3. Determining tracking frequency by using an indirect self-adaptive fuzzy control method:
3.1 according to the formula: e=y m -y (n), calculating a tracking error e, and generating a tracking error vectorE，
Wherein y is m For a given phase difference, 0 is set in the present embodiment; y (n) is the phase difference sample value at n sample times.
3.2 determining the fuzzy control parameter P q
Let P be a positive definite matrix and satisfy the Lyapunov equation: a is that T P+PA= -Q, where Q is an arbitrary positive definite matrix and matrix A is
In the formula, the gain (k 1 ,...,k q ) Let s n +k 1 s n-1 +…k q-1 s+k q The roots of =0 are all in the left half-open plane of the complex plane, let gain k= (K) q ,...,k 1 ) T 。
Solving Lyapunov equation to obtain positive definite matrix P, let P q The last column of P.
3.3 initializing the fuzzy control estimation parameters and fuzzy base functions
Establishing a system model of the ultrasonic turning device:
let the fuzzy control estimation parameter θ= (θ) f ，θ g ) The fuzzy basis function is ζ (x) = (ζ) f (x),ξ g (x))。
Wherein θ f ,ξ f Is of the same order, denoted as m f ；θ g ,ξ g Is of the same order, denoted as m g The method comprises the steps of carrying out a first treatment on the surface of the And xi (x) is a fuzzy base function, and is determined by a fuzzy rule, and the corresponding membership function is in various forms such as Gaussian, trapezoid, triangle and the like, and can be subjected to defuzzification by adopting weighted average. For example: for a turning system, one fuzzy rule may be defined as: when the phase difference is large and the phase change is rapid, the frequency is rapidly adjusted downward.
3.4 according to fuzzy controlEstimating parameters of an ultrasonic turning control system by using the estimated parameters and the fuzzy basis function, wherein the calculation formula is as follows:
3.5, the formula is adopted:
calculating tracking frequency
3.6 updating the estimation parameter θ f And theta g
The formula is adopted:
calculating the parameter updating quantity; />
The formula is adopted:
updating the fuzzy control estimated parameter vector.
When the next sampling time arrives, repeating the steps.
The invention adopts the phase difference of current and voltage as the feedback quantity of a closed loop system, takes the voltage and current waveforms of a transducer mechanical arm as the input of a phase difference determining module, calculates the magnitude of the phase difference of the current and the voltage through the phase difference determining module, compares the magnitude of the output phase difference with a given phase difference, takes tracking error e as the input quantity of self-adaptive fuzzy control, obtains tracking frequency u after the self-adaptive fuzzy control, substitutes u into a system equation, and can track the given phase difference y m Will give a phase difference y m Setting to zero can obtain the required resonant frequency, thereby realizing the accurate tracking of the resonant frequency.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (5)
1. A method for determining a tracking frequency of an ultrasonic turning device, the method comprising:
acquiring current data, voltage data and a given phase difference of a transducer end in an ultrasonic turning device;
determining a measured phase difference from the current data and the voltage data;
determining a tracking error from the measured phase difference and the given phase difference;
establishing a system model of the ultrasonic turning device, wherein the system model is used for representing the relation between the phase difference of the current and the voltage of the transducer end and the tracking frequency;
the system model is as follows:
determining the tracking frequency of the ultrasonic turning device by adopting a self-adaptive fuzzy control method according to the actual measured phase difference and the system model;
the method for determining the tracking frequency of the ultrasonic turning device by adopting the self-adaptive fuzzy control method according to the actual measured phase difference and the system model comprises the following steps:
according to the formula:
determining a tracking error vector, wherein E represents the tracking error vector, e=y m -y(n)，y m The given phase difference is represented by y (n), the actual measured phase difference at the nth sampling time is represented by y (n), and the order of the ultrasonic turning device is represented by q;
acquiring an arbitrary positive definite matrix Q and according to a formula A T P+pa= -Q, a positive definite matrix P is determined, wherein,
and s is n +k 1 s n-1 +…k q-1 s+k q Root of =0 is in the left half-open plane of the complex plane, k= (K) 1 ,…,k q ) K represents gain;
determining fuzzy control parameters according to the last column element of the positive definite matrix P;
acquiring a fuzzy base function: ζ (x) = (ζ) f (x),ξ g (x) Initializing a fuzzy control estimated parameter vector;
according to the formula:
determining an estimation function of the first state transfer matrix function and an estimation function of the second state transfer matrix function, wherein +.>
An estimation function representing a first state transition matrix function,
an estimation function representing a second state transition matrix function, θ= (θ) f ,θ g ) θ represents a fuzzy control estimation parameter vector, θ f Representing the first estimated parameter, θ g Representing the secondEstimating parameters;
determining a current tracking frequency according to the estimation function of the first state transfer matrix function, the estimation function of the second state transfer matrix function, the gain, the tracking error vector and the current actual measured phase difference;
according to the formula:
a tracking frequency is determined, where u (n) represents the tracking frequency at the nth sampling instant.
2. The method of determining according to claim 1, wherein before determining the measured phase difference from the current data and the voltage data, further comprising:
and filtering the current data and the voltage data by adopting a limiting average filtering method to obtain filtered current data and filtered voltage data.
3. The method according to claim 1, wherein after determining the current tracking frequency, further comprising:
according to the formula:
determining an estimated parameter update amount, wherein +.>
Representing the updated amount of the first estimated parameter, < +.>
Update amount of second estimation parameter, P q Representing fuzzy control parameters, gamma 1 And gamma 2 All are normal numbers;
according to the formula:
updating ambiguityControl estimated parameter vector, θ' f Representing the updated first estimated parameter, θ f Representing the first estimated parameter, θ ', before updating' g Representing the updated second estimated parameter, θ g Representing the second estimated parameter before updating.
4. A system for determining a tracking frequency of an ultrasonic turning apparatus, the system comprising:
the data acquisition module is used for acquiring current data, voltage data and a given phase difference of the transducer end in the ultrasonic turning device;
the phase difference determining module is used for determining an actual measurement phase difference according to the current data and the voltage data;
a tracking error determining module for determining a tracking error based on the measured phase difference and the given phase difference;
the system model building module is used for building a system model of the ultrasonic turning device, and the system model is used for representing the relation between the phase difference of the current and the voltage of the transducer end and the tracking frequency;
the system model is as follows:
the tracking frequency determining module is used for determining the tracking frequency of the ultrasonic turning device by adopting a self-adaptive fuzzy control method according to the actual measurement phase difference and the system model;
the tracking frequency determination module includes:
a tracking error vector determination unit for determining a tracking error vector according to the formula:
determining a tracking error vector, wherein E represents the tracking error vector, e=ym-y (n), y m The given phase difference is represented by y (n), the actual measured phase difference at the nth sampling time is represented by y (n), and the order of the ultrasonic turning device is represented by q;
a positive definite matrix determining unit for obtaining any positive definite matrix Q according to formula A T P+pa= -Q, a positive definite matrix P is determined, wherein,
and s is n +k 1 s n-1 +…k q-1 s+k q Root of =0 is in the left half-open plane of the complex plane, k= (K) 1 ,…,k q ) K represents gain;
a fuzzy control parameter determining unit, configured to determine a fuzzy control parameter according to a last column element of the positive definite matrix P;
a basis function acquisition unit configured to acquire a fuzzy basis function: ζ (x) = (ζ) f (x),ξ g (x))；
An initialization unit for initializing a fuzzy control estimated parameter vector;
an estimation function determining unit for determining the estimation function according to the formula:
determining an estimation function of the first state transfer matrix function and an estimation function of the second state transfer matrix function, wherein +.>
An estimation function representing a first state transition matrix function,/->
An estimation function representing a second state transition matrix function, θ= (θ) f ,θ g ) θ represents a fuzzy control estimation parameter vector, θ f Representing the first estimated parameter, θ g Representing a second estimated parameter;
a tracking frequency determining unit, configured to determine a current tracking frequency according to an estimation function of the first state transition matrix function, an estimation function of the second state transition matrix function, the gain, the tracking error vector, and a current actually measured phase difference;
according to the formula:
a tracking frequency is determined, where u (n) represents the tracking frequency at the nth sampling instant.
5. The determination system of claim 4, wherein the determination system further comprises:
and the filtering module is used for filtering the current data and the voltage data by adopting a limiting average filtering method to obtain filtered current data and filtered voltage data.
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| CN111596544B (en) * | 2020-07-22 | 2020-10-27 | 四川大学 | A Frequency Tracking Search Method Based on Fuzzy PD |
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