Fluctuation suppression method and device applied to direct current brushless servo motor

Abstract

The invention provides a fluctuation suppression method and device applied to a direct-current brushless servo motor. The method comprises the following steps: executing the following cycle operation until a cycle termination condition is met: reading a current phase zero parameter currently used by the servo control system and taking the current phase zero parameter as a first parameter; obtaining an operation fluctuation level of the motor in a preset time window; judging whether the operation fluctuation level meets a preset stability requirement condition or not; and when the operation fluctuation level does not meet the stability requirement condition, replacing a current phase zero point parameter used by the servo control system from a first parameter to a second parameter. Wherein the current phase zero point parameters used by the servo control system have 2N selectable parameters, and N is the number of magnetic pole pairs of the direct current brushless servo motor; the cycle termination condition comprises that the operation fluctuation level meets the stability requirement condition, or the unused current phase zero point parameter does not exist in the 2N selectable parameters.

Description

Technical Field

[0001] The present disclosure relates to the field of motor automatic control, and more specifically to a fluctuation suppression method and device applied to a brushless DC servo motor, as well as corresponding electronic equipment, storage medium and program product. Background Art

[0002] After the control parameters in the servo control system of the brushless DC servo motor are adjusted, the motor will operate stably according to the adjusted control parameters. Stable operation means that the deviation between the motor's operating parameters (such as the actual feedback values ​​of speed, position, and current) and the set values ​​in the servo control system at the same time will be within a limited range. The stable state can be maintained by feedback adjustment (such as PID adjustment, etc.).

[0003] In a DC brushless servo motor with multiple pole pairs, the current phase zero point parameters that can be used by the servo control system during parameter tuning can theoretically have the same number as the number of poles (or twice the number of pole pairs). This is because the number of positions of the current phase zero point of the stator coil of the DC brushless servo motor with multiple pole pairs is the same as the number of poles during operation. In practice, during the process of motor control parameter tuning, the servo control system randomly adopts a current phase zero point parameter and uses a built-in control strategy to perform parameter tuning. However, due to the fact that the rotor pole structure and the stator coil structure cannot be ideally symmetrical, as well as the nonlinearity and time-varying uncertainty of the system, the matching of the control parameters adjusted according to the built-in control strategy with the randomly selected current phase zero point parameter may not be optimal. This will result in that although the motor can be operated stably to a certain extent, the fluctuation range of the motor's operating parameters may be relatively large, which cannot meet certain occasions that require higher motor running stability. Summary of the invention

[0004] In view of this, the present disclosure provides a fluctuation suppression method and device, electronic device, storage medium and program product applied to a DC brushless servo motor, which can improve the matching of the control parameters after the built-in control strategy is adjusted and the current phase zero point parameters, and better suppress the operating fluctuation level of the motor during stable operation.

[0005] In the first aspect of the embodiment of the present disclosure, a fluctuation suppression method for a brushless DC servo motor is provided. The method includes performing the following loop operations until the loop termination condition is met: reading the current phase zero point parameter currently used by the servo control system of the brushless DC servo motor and using it as the first parameter; obtaining the operation fluctuation level of the brushless DC servo motor within a preset time window; judging whether the operation fluctuation level meets the preset stability requirement; when the operation fluctuation level does not meet the stability requirement, replacing the current phase zero point parameter used by the servo control system from the first parameter to the second parameter, wherein the current phase zero point parameter used by the servo control system has 2N optional parameters, N is the number of magnetic pole pairs of the brushless DC servo motor, and N is greater than or equal to 1; the second parameter is a current phase zero point parameter that is different from the first parameter and has not been used in the 2N optional parameters. Wherein, the loop termination condition includes: the operation fluctuation level meets the stability requirement, or there is no unused current phase zero point parameter in the 2N optional parameters.

[0006] According to an embodiment of the present disclosure, replacing the current phase zero point parameter used by the servo control system from the first parameter to the second parameter includes: moving the phase angle in the first parameter by 180° electrical angle in a predetermined direction, wherein the movement in the predetermined direction is one of moving forward or moving backward.

[0007] According to an embodiment of the present disclosure, the method further includes: setting a number recording parameter i. Wherein, when the operation fluctuation level does not meet the stability requirement condition, replacing the current phase zero point parameter used by the servo control system from the first parameter to the second parameter also includes: determining whether there is an unused current phase zero point parameter in the 2N optional parameters according to the value of the number recording parameter i; when it is determined that there is an unused current phase zero point parameter in the 2N optional parameters, replacing the current phase zero point parameter used by the servo control system from the first parameter to the second parameter, and updating the number recording parameter i in an incremental manner.

[0008] According to an embodiment of the present disclosure, the operating fluctuation level includes at least one of the following: a speed fluctuation level obtained based on a comparison between a speed setting value and a speed feedback value; a position fluctuation level obtained based on a comparison between a position setting value and a position feedback value; and a current fluctuation level obtained based on a comparison between a current setting value and a current feedback value.

[0009] According to an embodiment of the present disclosure, when the operation fluctuation level includes a speed fluctuation level, obtaining the operation fluctuation level of the brushless DC servo motor within a preset time window includes: reading a speed setting value and a speed feedback value from the servo control system at each of R time points within the time window, wherein R is an integer greater than 1; obtaining a speed difference value corresponding to each time point based on the speed setting value and the speed feedback value read at each time point; and obtaining the speed fluctuation level based on the speed difference values ​​corresponding to the R time points.

[0010] According to an embodiment of the present disclosure, the speed difference corresponding to each time point is calculated as the absolute value of the difference between the speed setting value and the speed feedback value read at each time point, and the speed fluctuation level is obtained based on the speed difference corresponding to R time points, including: taking the maximum value among the absolute values ​​of the differences corresponding to R time points as the speed fluctuation level.

[0011] According to an embodiment of the present disclosure, after the cyclic operation is terminated, the method further includes: when the operating fluctuation level meets the stability requirement, determining that the fluctuation suppression of the DC brushless servo motor is completed; and when the operating fluctuation level does not meet the stability requirement, but there is no unused current phase zero point parameter among the 2N optional parameters, determining that the performance of the DC brushless servo motor itself does not meet the stability requirement.

[0012] According to an embodiment of the present disclosure, the method also includes: recording the operating fluctuation level corresponding to each current phase zero point parameter among the 2N optional parameters; and when the operating fluctuation level does not meet the stability requirement, but there is no unused current phase zero point parameter among the 2N optional parameters, resulting in the termination of the cyclic operation, using the current phase zero point parameter corresponding to the smallest operating fluctuation level as the current phase zero point parameter finally used by the servo control system.

[0013] According to an embodiment of the present disclosure, the method further includes: before executing the loop operation, obtaining the 2N optional parameters. The replacing the current phase zero point parameter used by the servo control system from the first parameter to the second parameter includes: marking the first parameter as a used current phase zero point parameter, and selecting the unused second parameter from the 2N optional parameters to replace the first parameter.

[0014] In a second aspect of the embodiments of the present disclosure, a fluctuation suppression device for a brushless DC servo motor is provided, wherein the device comprises a circulation module, a parameter reading module, a fluctuation monitoring module, a judgment module and a current phase zero point replacement module.

[0015] The loop module is used to perform a loop operation until a loop termination condition is met, wherein in each round of the loop module calls the parameter reading module, the fluctuation monitoring module, the judgment module and the current phase zero point replacement module to perform corresponding operations. The loop termination condition includes: the operation fluctuation level meets the stability requirement condition, or there is no unused current phase zero point parameter in the 2N optional parameters.

[0016] The parameter reading module is used to read the current phase zero point parameter currently used by the servo control system of the brushless DC servo motor and use it as the first parameter; wherein the current phase zero point parameter used by the servo control system has 2N optional parameters, N is the number of magnetic pole pairs of the brushless DC servo motor, and N is greater than or equal to 1.

[0017] The fluctuation monitoring module is used to obtain the operation fluctuation level of the brushless DC servo motor within a preset time window.

[0018] The judging module is used to judge whether the operation fluctuation level meets the preset stability requirement condition.

[0019] The current phase zero point replacement module is used to replace the current phase zero point parameter used by the servo control system from the first parameter to the second parameter among the 2N optional parameters when the operation fluctuation level does not meet the stability requirement condition.

[0020] According to an embodiment of the present disclosure, the device further includes a parameter setting module. The parameter setting module is used to set a number recording parameter i. The judgment module is further used to determine whether there is an unused current phase zero point parameter in the 2N optional parameters according to the value of the number recording parameter i. The current phase zero point replacement module is also used to replace the current phase zero point parameter used by the servo control system from the first parameter to the second parameter when it is determined that there is an unused current phase zero point parameter in the 2N optional parameters, and to update the number recording parameter i in an incremental manner.

[0021] According to an embodiment of the present disclosure, the device further includes a determination module. The determination module is used to: after the cycle operation is terminated, when the operation fluctuation level meets the stability requirement, determine that the fluctuation suppression of the DC brushless servo motor is completed; and when the operation fluctuation level does not meet the stability requirement, but there is no unused current phase zero point parameter in the 2N optional parameters, determine that the performance of the DC brushless servo motor itself does not meet the stability requirement.

[0022] According to an embodiment of the present disclosure, the device further includes a recording module and a setting module. The recording module is used to record the operation fluctuation level corresponding to each current phase zero point parameter in the 2N optional parameters. The setting module is used to use the current phase zero point parameter corresponding to the minimum operation fluctuation level as the current phase zero point parameter finally used by the servo control system when the loop termination condition is that there is no unused current phase zero point parameter in the 2N optional parameters.

[0023] According to an embodiment of the present disclosure, the loop module is further used to obtain the 2N optional parameters before executing the loop operation. The current phase zero point replacement module is also used to: mark the first parameter as a used current phase zero point parameter, and select the unused second parameter from the 2N optional parameters to replace the first parameter.

[0024] According to a third aspect of the embodiments of the present disclosure, an electronic device is provided. The electronic device comprises: one or more processors and a memory. The memory is used to store one or more computer programs. The one or more processors execute the one or more computer programs to implement the steps of the above method.

[0025] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the steps of the above method are implemented.

[0026] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program or instructions, wherein the computer program or instructions implement the steps of the above method when executed by a processor.

[0027] One or more of the above-mentioned embodiments have the following advantages or beneficial effects: when the operating fluctuation level of the motor does not meet the stability requirement, the operation of the motor can be adjusted and monitored by replacing the current phase zero point parameters used in the servo control system to find a better matching current phase zero point parameter, thereby better solving the problem of large fluctuations in motor operation caused by the non-optimal matching between the control parameters adjusted by the built-in control strategy of the multi-pole DC brushless servo motor and the randomly selected current phase zero point parameters, and effectively suppressing the fluctuation of the motor, so that the fluctuation of the motor is maintained at a low level, meeting the application occasions with high requirements for the smooth performance of the motor operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0029] Figure 1The schematic diagram of the structure of the servo control system of the brushless DC servo motor is shown;

[0030] Figure 2 A schematic diagram of the architecture of a servo control system in which a fluctuation suppression device according to an embodiment of the present disclosure acts on a brushless DC servo motor is shown;

[0031] Figure 3 A flow chart of a fluctuation suppression method according to an embodiment of the present disclosure is schematically shown;

[0032] Figure 4 Schematically shows an operation block diagram of replacing current phase zero point parameters in a fluctuation suppression method according to an embodiment of the present disclosure;

[0033] Figure 5 The schematic diagram of the structure of a three-phase four-pole permanent magnet synchronous motor is shown;

[0034] Figure 6 Four situations of current phase zero point in a three-phase four-pole permanent magnet synchronous motor are schematically shown;

[0035] Figure 7 A schematic diagram showing a comparison of operating fluctuation levels before and after the fluctuation suppression method of an embodiment of the present disclosure is applied in a practical case is shown;

[0036] Figure 8 A block diagram schematically shows a fluctuation suppression device according to an embodiment of the present disclosure; and

[0037] Fig. 9 The block diagram of an electronic device suitable for implementing the fluctuation suppression method according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0038] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0039] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0040] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0041] Figure 1 The structural diagram of the servo control system of the brushless DC servo motor is schematically shown.

[0042] like Figure 1 As shown, in the servo control system of the brushless DC servo motor, the control structure can adopt a three-closed-loop control structure consisting of a current loop, a speed loop and a position loop from the inside to the outside, and the control algorithm can adopt a PID control algorithm, etc., with simple feedback adjustment, good robustness and high reliability.

[0043] Among them, the current loop is the innermost control loop, and its main function is to control the torque of the motor and improve the dynamic performance and stability of the system. The current loop usually samples and detects the output current of each phase of the motor from the driver through an analog-to-digital converter (ADC), and then negatively feeds this current back to the current setting for PID adjustment, so that the output current is as close to or equal to the set current as possible.

[0044] The speed loop is used to control the speed of the motion system. It usually adopts a PI or PID controller structure. It responds to the speed error through proportional, integral and differential terms, and generates a control signal to adjust the motor speed so that the actual motor speed is as close to or equal to the set speed as possible, thereby achieving precise speed regulation.

[0045] The position loop is used to reasonably adjust the parameters of the position loop according to the position return signal generated by the test element (such as the Hall sensor) for position control, so that the difference between the position value in the command signal and the position value in the feedback signal is equal to or close to zero, so as to achieve precise position control.

[0046] In the process of adjusting the control parameters of the brushless DC servo motor, the prior art usually randomly selects a current phase zero point parameter and gives it to the servo control system, which then adjusts the control parameters through the built-in control strategy to control the stable operation of the motor. However, in practice, due to the fact that the rotor pole structure and the stator coil structure cannot be ideally symmetrical, the matching between the control parameters adjusted according to the built-in control strategy and the randomly selected current phase zero point parameter may not be optimal, which will result in a high level of fluctuation in the operation of the motor.

[0047] In view of this, an embodiment of the present disclosure provides a fluctuation suppression method and device applied to a brushless DC servo motor. The method and device can act on a servo control system of the brushless DC servo motor to optimize the operating fluctuation level of the motor.

[0048] The fluctuation suppression device provided in the embodiment of the present disclosure can be arranged at Figure 1 In the servo control system shown, for example, the drive controller in the servo control system can be connected to the motor and the host computer, and the fluctuation suppression device can be downloaded to the drive controller in the servo control system through the host computer. After the motor is running, the fluctuation suppression device is started, and the fluctuation suppression device can execute the fluctuation suppression method of the embodiment of the present disclosure to optimize the operation fluctuation level of the motor.

[0049] Specifically, according to an embodiment of the present disclosure, after the fluctuation suppression device is started, the operating parameters given by the servo control system (such as the speed setting value in the speed loop, the position setting value in the position loop, or the current setting value in the current loop) can be compared with the actual operating parameters fed back by the motor (such as the speed feedback value, the position feedback value, or the current feedback value) within a certain time window to determine whether the operating fluctuation level of the motor meets the stability requirements (such as the speed difference threshold, the position deviation threshold, or the current deviation threshold, etc.). If not, the current phase zero point parameter used in the servo control system is replaced with other available current phase zero point parameters through the current phase zero point replacement module, and the operating fluctuation level of the replaced motor is monitored. In this way, the current phase zero point parameter that matches the adjusted control parameter better is found, and the servo control system is controlled to use the current phase zero point parameter with the better match to control the operation of the motor, thereby achieving motor speed fluctuation suppression.

[0050] Figure 2 The schematic diagram of the architecture of a servo control system of a brushless DC servo motor with a fluctuation suppression device according to an embodiment of the present disclosure is shown schematically, wherein the fluctuation suppression device cooperates with the speed loop in the architecture to suppress the fluctuation level of the motor's speed.

[0051] like Figure 2As shown, the fluctuation suppression device can read the speed setting value given in the speed loop multiple times within a certain time window, and synchronously collect the actual speed of the motor to obtain the speed feedback value, and then compare the speed setting value and the speed feedback value at the same time point, and judge whether the speed fluctuation level of the motor meets the stability requirement (such as the speed difference threshold) according to the comparison result. If not, the current phase zero point parameter used in the servo control system is replaced with other available current phase zero point parameters through the current phase zero point replacement module, and then continue to monitor the speed fluctuation level of the motor after the current phase zero point parameter is replaced in the new time window, so as to find the current phase zero point parameter that matches the adjusted control parameter better, and control the servo control system to use the current phase zero point parameter with better matching to control the operation of the motor, thereby realizing the motor speed fluctuation suppression.

[0052] It should be noted that Figure 2 The architecture shown is only an example. The operation fluctuation level in the embodiment of the present disclosure can be any one or a combination of speed fluctuation level, position fluctuation level or current fluctuation level, and the matching relationship between the fluctuation suppression device and the speed loop, position loop and current loop can be adjusted accordingly.

[0053] Figure 3 A flow chart of a fluctuation suppression method according to an embodiment of the present disclosure is schematically shown.

[0054] like Figure 3 As shown, the method may include operations S301 to S307. Operations S301 to S305 are loop operations, and when the loop termination condition in operation S303 is met, the loop is jumped out to execute operation S306, or when the loop termination condition in operation S304 is met, the loop is jumped out to execute operation S307.

[0055] Specifically, in operation S301, the current phase zero point parameter currently used by the servo control system of the brushless DC servo motor is read and used as the first parameter; wherein the current phase zero point parameter used by the servo control system has 2N optional parameters, N is the number of magnetic pole pairs of the brushless DC servo motor, and N is greater than or equal to 1.

[0056] In operation S302, an operation fluctuation level of the brushless DC servo motor within a preset time window is obtained.

[0057] In operation S303, it is determined whether the operation fluctuation level meets the preset stability requirement. If yes, operation S306 is executed; if not, operation S304 is executed.

[0058] In operation S304, when the operation fluctuation level does not meet the preset stability requirement condition, it is determined whether there is an unused current phase zero point parameter. If yes, operation S307 is performed. If no, operation S305 is performed.

[0059] In operation S305, when the operating fluctuation level does not meet the preset stability requirement and there is an unused current phase zero point parameter, the current phase zero point parameter used by the servo control system is replaced from the first parameter to the second parameter, wherein the second parameter is a current phase zero point parameter among the 2N optional parameters that is different from the first parameter and has not been used.

[0060] Then, after the overcurrent phase zero point parameter is replaced in operation S305, the process returns to operation S301 to perform a new cycle.

[0061] In operation S306 , when the operation fluctuation level satisfies a preset stability requirement condition, it is determined that the fluctuation suppression is completed.

[0062] The operation fluctuation level may include, but is not limited to: a speed fluctuation level obtained based on a comparison between a speed setting value and a speed feedback value; a position fluctuation level obtained based on a comparison between a position setting value and a position feedback value; or a current fluctuation level obtained based on a comparison between a current setting value and a current feedback value. For example, the operation fluctuation level may be represented by one of the speed fluctuation level, the position fluctuation level, or the current fluctuation level. Alternatively, for example, the speed fluctuation level, the position fluctuation level, or the current fluctuation level may be obtained by weighted statistics of two or all three of them. Accordingly, the stability requirement condition may set a corresponding threshold range or threshold condition according to the content or acquisition method of the operation fluctuation level.

[0063] The speed fluctuation level can be evaluated by comparing the actual speed of the motor (i.e., speed feedback value) collected at multiple time points within a preset time window with the speed setting value in the speed loop at the same time point. The fluctuation condition can, for example, be the mean, maximum, distribution or discreteness of the difference between the speed feedback value and the speed setting value.

[0064] The position fluctuation level can be evaluated by comparing the actual position value (i.e., position feedback value) of the test element collected at multiple time points within a preset time window with the position setting value in the position loop at the same time point. The fluctuation condition can be, for example, the mean, maximum, distribution or discreteness of the difference between the position feedback value and the position setting value.

[0065] The current fluctuation level can be evaluated by comparing the actual output current of a phase or each phase current (i.e., current feedback value) collected at multiple time points within a preset time window with the current setting value in the current loop at the same time point. The fluctuation condition can, for example, be the mean, maximum, distribution or discreteness of the difference between the current feedback value and the current setting value.

[0066] Taking the speed fluctuation level as an example, in one embodiment, the speed operation fluctuation level within a preset time window can be obtained in the following manner: first, the speed setting value and the speed feedback value are read from the servo control system at each of the R time points within the time window, where R is an integer greater than 1, and then based on the speed setting value and the speed feedback value read at each time point, the speed difference corresponding to each time point is obtained, and then based on the speed difference corresponding to the R time points, the speed fluctuation level is obtained. For example, the speed fluctuation level is measured by the discrete degree, maximum value or minimum value of the speed difference. In one embodiment, the absolute value of the difference between the speed setting value and the speed feedback value read at each time point can be used to calculate the speed difference corresponding to each time point, and the maximum value of the absolute value of the difference corresponding to the R time points is taken as the speed fluctuation level.

[0067] In operation S307 , when the operation fluctuation level does not meet the stability requirement, but there is no unused current phase zero point parameter among the 2N optional parameters, it is determined that the performance of the brushless DC servo motor itself does not meet the stability requirement.

[0068] In some embodiments, the stability requirement is set according to the motor operation occasion's requirements for the motor's stable operation performance. When it is determined that the DC brushless servo motor's own performance does not meet the stability requirement, it means that the motor is not suitable for the operation occasion and cannot meet the requirements of the occasion. In this case, it is necessary to consider replacing the motor.

[0069] In other embodiments, when it is determined that the performance of the brushless DC servo motor itself does not meet the stability requirement, the current phase zero point parameter corresponding to the minimum operation fluctuation level can be selected as the current phase zero point parameter finally used by the servo control system. For example, if the stability requirement is set too strictly (for example, the threshold range is set too small) or the motor cannot be replaced temporarily, the current phase zero point parameter corresponding to the minimum operation fluctuation level can be used as the current phase zero point parameter finally used by the servo control system, which can at least ensure that the fluctuation level of the motor can be maintained at the lowest level that the motor can reach.

[0070] In specific implementation, the operation fluctuation level obtained in operation S302 can be recorded in each cycle, and a corresponding relationship can be established with the current phase zero point parameter used at that time, so that the operation fluctuation level corresponding to each current phase zero point parameter is recorded. When there is no unused current phase zero point parameter and the stability requirement condition is not met, according to the corresponding relationship between the recorded current phase zero point parameter and the operation fluctuation level, the current phase zero point parameter corresponding to the minimum operation fluctuation level is selected as the current phase zero point parameter finally used by the servo control system, so as to at least ensure that the motor runs in the optimal state that it can achieve.

[0071] In this way, the disclosed embodiment can better solve the problem of large fluctuations in motor speed caused by the non-optimal matching between the control parameters set by the built-in control strategy of the multi-pole DC brushless servo motor and the randomly selected current phase zero point parameters. It can effectively suppress the fluctuations of the motor and maintain the fluctuations of the motor at a low level, meeting the application scenarios with high requirements for the smooth operation performance of the motor.

[0072] Figure 4 The operation block diagram of replacing the current phase zero point parameter in operation S305 in the fluctuation suppression method according to an embodiment of the present disclosure is schematically shown.

[0073] like Figure 4 As shown, according to this embodiment, the replacement of the current phase zero point parameter in operation S305 can be achieved through operation S45.

[0074] In operation S45, the phase angle in the first parameter is moved by 180 electrical degrees in a predetermined direction, so that the first parameter is replaced by the second parameter, wherein the movement in the predetermined direction is one of forward movement or backward movement.

[0075] Specifically, the current phase zero point parameter U0 currently used can be expressed by the following formula (1):

[0076] U0=A·sinθ (1)

[0077] In formula (1), θ is the phase angle of the current in the stator coil, and A is the amplitude of the coil current in the servo control system.

[0078] The phase angle difference between multiple current phase zero point parameters of the multi-pole DC brushless motor is 180° electrical angle, so the phase of the current phase zero point parameter currently used is moved 180° electrical angle in a predetermined direction (for example, leading) each time, that is, the current phase zero point parameter can be replaced by formula (2).

[0079] U1= A·sin(θ+π)= - A·sinθ (2)

[0080] And assign U1 back to the current phase zero point parameter in the servo control system, so that the current phase zero point parameter in the servo control system is replaced from the first parameter to the second parameter.

[0081] Here with Figure 5 and Figure 6 The three-phase four-pole permanent magnet synchronous motor shown in the figure is taken as an example to illustrate the situation where the number of optional current phase zero points of the multi-pole DC brushless motor is the same as the number of poles (or twice the number of pole pairs), and the phase difference between adjacent current phase zero points is 180° electrical angle. Figure 5 The schematic diagram shows the structure of a three-phase four-pole permanent magnet synchronous motor. Figure 6 Four situations of the current phase zero point in a three-phase four-pole permanent magnet synchronous motor are schematically shown.

[0082] refer to Figure 5 , assuming that the three phases of the motor stator are three groups of coils U, V, and W, and the four magnetic poles of the rotor are 1S (south pole), 2N (north pole), 3S (south pole), and 4N (north pole). The current phases of the three groups of coils U, V, and W differ by 120° electrical angle respectively.

[0083] refer to Figure 6 ,set up Figure 5 The current phase zero point state of the motor shown is: U and V phases are high-pass or low-pass state respectively, and W phase is off state. In this case, the current phase zero point of the motor can be Figure 6 There are four cases shown in . From case 1 to case 4, the stator rotates 360 degrees inwardly and experiences two magnetic field cycles, so the magnetic pole rotates 90 degrees in space counterclockwise, and the magnetic field rotates 180 degrees, corresponding to 180 degrees in electrical angle. Therefore, the phase difference between adjacent current phase zero points is 180 degrees in electrical angle.

[0084] By the same token, the phase difference between adjacent current phase zero points of motors with other numbers of poles is also 180° electrical angle. For example, for a six-pole motor, the rotor rotates one circle (360°) and experiences three magnetic field cycles. Therefore, the magnetic field rotates counterclockwise by 60° spatial angles, corresponding to 180° electrical angles.

[0085] Therefore, when performing the current phase zero point parameter replacement, the phase angle of the first parameter used before the replacement is moved by 180° electrical angle in a predetermined direction, and another current phase zero point parameter adjacent to the first parameter can be obtained. In which, different replacements are either moved forward by 180° electrical angle or moved backward by 180° electrical angle, so that the order of replacement by moving the phase angle of the current phase zero point parameter is consistent, avoiding confusion in the replacement process and causing duplication of the current phase zero point parameter.

[0086] In one embodiment, when the current phase zero point parameter is replaced by moving 180 electrical degrees in a predetermined direction, it can be determined whether there is an unused current phase zero point parameter by recording the number of replacements or the number of cycles of operations S301 to S305.

[0087] For example, refer to Figure 3 , a number recording parameter i can be set before operation S301 and an initial value (such as 0) can be set, wherein the number recording parameter can be updated in an incremental manner each time the current phase zero point parameter is replaced from the first parameter to the second parameter. In this way, each time operation S305 is performed, first, according to the value of the number recording parameter i, it is determined whether there is an unused current phase zero point parameter in the 2N optional parameters. If the value of i indicates that there is an unused current phase zero point parameter, the current phase zero point parameter currently used by the servo control system is moved by 180° electrical angle in a predetermined direction, so as to realize the replacement of the current phase zero point parameter, and the number recording parameter i is updated in an incremental manner after the replacement.

[0088] Of course, replacing the current phase zero point parameter by moving 180° electrical angle in a predetermined direction is only a preferred embodiment. Figure 3 , 2N optional parameters may also be obtained before operation S301, such as obtaining 2N optional parameters including formula (1). In this way, each time operation S305 is performed to replace the current phase zero point parameter, the current phase zero point parameter currently in use (i.e., the first parameter) may be marked as a used current phase zero point parameter, and then an unused second parameter may be selected from the 2N optional parameters pre-acquired (such as cached) to replace the first parameter currently in use. In this way, it is possible to determine whether a current phase zero point parameter has been used, and whether there are unused current phase zero point parameters, based on the marking information of the pre-acquired current phase zero point parameter.

[0089] Figure 7 The schematic diagram schematically shows the comparison of operating fluctuation levels before and after applying the fluctuation suppression method of an embodiment of the present disclosure in a practical case, wherein a specific example is given of the comparison effect of rotation speed fluctuation levels.

[0090] like Figure 7 As shown in the figure, the dotted line divides the figure into two parts, Part A and Part B. Part A shows the actual speed (speed feedback value) of the motor monitored at various time points before the fluctuation suppression method of the embodiment of the present disclosure is applied. Part B shows the actual speed (speed feedback value) monitored at various time points after the fluctuation suppression method of the embodiment of the present disclosure is applied.

[0091] At the same time, the speed setting value read in the servo control system is also marked with a white dotted line parallel to the horizontal axis in the figure. It should be noted that in this embodiment, the speed setting value remains unchanged throughout the monitoring time interval is only a simplified example. In practice, the speed setting value in the servo control system can be changed accordingly according to the built-in control strategy and the actual control requirements or load changes to maintain the stability of the motor. Therefore, when analyzing the speed fluctuation level, it is necessary to compare and analyze the speed setting value and the speed feedback value at the same time point.

[0092] exist Figure 7 In the case shown, it can be clearly seen that the actual speed in Part A deviates significantly from the speed setting value, while the actual speed in Part B deviates significantly less from the speed setting value.

[0093] In one embodiment, the process of transitioning from Part A to Part B can be as follows. First, start running the motor until the motor runs stably. At this time, the actual speed of the motor changes with time when it runs stably as shown in Part A. Next, start the fluctuation suppression device of the embodiment of the present disclosure, and analyze the difference between the speed setting value and the speed feedback value at multiple time points in a preset time window (e.g., 100ms) (e.g., taking the maximum value of the absolute values ​​of multiple differences) to analyze the speed fluctuation level of the motor. At this time, the actual speed of the motor is still in Part A. After analysis, it is found that the current speed fluctuation level does not meet the speed fluctuation threshold range in the stability requirement condition (e.g., greater than the speed difference threshold), so the current phase zero point parameter used in the servo control system is replaced with another unused current phase zero point parameter. Next, continue to collect and analyze the difference between the speed setting value and the speed feedback value of the motor in the new time window (100ms). At this stage, the actual speed of the motor is in the transition area from Part A to Part B in the figure. It is soon discovered that the motor speed fluctuation level in the new time window can meet the stability requirements, which means that the servo control system uses the replaced current phase zero point parameter to maintain the motor speed fluctuation level to meet the stability requirements, so that the motor fluctuation suppression can be determined to be over, and the servo control system can continue to control the motor operation based on the current phase zero point parameter currently used, so that the actual motor speed changes over time are maintained in Part B. In this way, the current phase zero point parameter that meets the stability requirements can be quickly found, and the motor operation can be controlled based on this. Although the current phase zero point parameter is not necessarily the most preferred of the 2N optional parameters, it can enable the motor operation to quickly meet the stable operation requirements.

[0094] It should be noted that the above explanation of the transition from Part A to Part B, in which the stability operation condition is satisfied by replacing the current phase zero point parameter only once, is only an example and not a limitation of the present disclosure.

[0095] Next correspond Figure 7 Cases, combined Figure 2 With the operation fluctuation level being specifically the speed fluctuation level as an example, a specific implementation step of the fluctuation suppression method of an embodiment of the present disclosure is described as follows to help those skilled in the art to have a clearer understanding of the method of an embodiment of the present disclosure.

[0096] The first step is to connect the drive controller of the brushless DC servo motor to the motor and the host computer.

[0097] The second step is to download the fluctuation suppression device of the embodiment of the present disclosure to the drive controller through the host computer.

[0098] In the third step, after the motor is running, the fluctuation suppression device is started.

[0099] In the fourth step, the fluctuation suppression device reads the current phase zero point parameter after the control parameters in the servo control system of the brushless DC servo motor are adjusted, which is recorded as U0.

[0100] In the fifth step, the fluctuation suppression device reads the speed setting value of the servo control system and the speed feedback value of the motor feedback within the set time window (denoted as M), and calculates the speed difference.

[0101] Specifically, the speed setting value of the servo control system and the speed feedback value of the motor feedback can be read regularly multiple times within the time window M, and recorded as V1 and V2 respectively. The absolute value of the difference between V1 and V2 read each time is calculated and recorded as Vi. The data is read multiple times within the time window M, and multiple Vi are obtained accordingly. Then the maximum value is taken from the multiple Vi and recorded as V0.

[0102] The sixth step is to compare V0 with the speed difference threshold in the stability requirement condition.

[0103] If V0 is less than the speed difference threshold, the motor fluctuation suppression operation ends, that is, if the speed difference is less than the speed difference threshold in the stability requirement condition, fluctuation suppression is not required and the fluctuation suppression device ends its operation.

[0104] If V0 is not less than the speed difference threshold, the current phase zero point parameter currently used in the servo control system is calculated and moved forward by 180° electrical angle to obtain a new current phase zero point parameter, and the new current phase zero point parameter is assigned to the servo control system to achieve the replacement of the current phase zero point parameter.

[0105] In the seventh step, the fluctuation suppression device after the current phase zero point parameter is replaced repeats the fifth step, reads the speed setting value of the servo control system and the speed feedback value of the motor feedback within the set time window M, calculates the speed difference, and repeats the sixth step.

[0106] In this way, the embodiment of the present disclosure achieves motor fluctuation suppression by identifying the operating fluctuation level of the motor within a preset time window, and finding the current phase zero point parameters that better match the set control parameters by calculating and replacing the current phase zero point parameters in the servo control system.

[0107] Figure 8 A block diagram of a fluctuation suppression device 800 according to an embodiment of the present disclosure is schematically shown.

[0108] like Figure 8 As shown, the device 800 may include a circulation module 810 , a parameter reading module 820 , a fluctuation monitoring module 830 , a judgment module 840 and a current phase zero point replacement module 850 .

[0109] The loop module 810 is used to execute the loop operation until the loop termination condition is met, wherein in each round of the loop module 810 calls the parameter reading module 820, the fluctuation monitoring module 830, the judgment module 840 and the current phase zero point replacement module 850 to perform corresponding operations.

[0110] The parameter reading module 820 is used to read the current phase zero point parameter currently used by the servo control system of the brushless DC servo motor and use it as the first parameter; wherein the current phase zero point parameter used by the servo control system has 2N optional parameters, N is the number of magnetic pole pairs of the brushless DC servo motor, and N is greater than or equal to 1.

[0111] The fluctuation monitoring module 830 is used to obtain the operation fluctuation level of the brushless DC servo motor within the time window. The fluctuation monitoring module 830 can be at least one of the speed loop, the position loop or the current loop, or the fluctuation monitoring module 830 can be connected to at least one of the speed loop, the position loop or the current loop.

[0112] The judgment module 840 is used to judge whether the operation fluctuation level meets the preset stability requirement condition;

[0113] The current phase zero point replacement module 850 is used to replace the current phase zero point parameter used by the servo control system from the first parameter to the second parameter among the 2N optional parameters when the operation fluctuation level does not meet the stability requirement condition;

[0114] Among them, the loop termination conditions include that the judgment module 840 determines that the operating fluctuation level meets the stability requirements, or there is no unused current phase zero point parameter among the 2N optional parameters (for example, by recording the parameter i by the number of cycles or the number mentioned above, or marking the used current phase zero point parameters to determine).

[0115] The device 800 can realize reference Figure 3~Figure 7 The fluctuation suppression method introduced can be referred to in the previous article for details, and will not be repeated here.

[0116] According to an embodiment of the present disclosure, any multiple modules of the circulation module 810, the parameter reading module 820, the fluctuation monitoring module 830, the judgment module 840 and the current phase zero point replacement module 850 can be combined in one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present disclosure, at least one of the circulation module 810, the parameter reading module 820, the fluctuation monitoring module 830, the judgment module 840 and the current phase zero point replacement module 850 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in an appropriate combination of any of them. Alternatively, at least one of the circulation module 810, the parameter reading module 820, the fluctuation monitoring module 830, the judgment module 840 and the current phase zero point replacement module 850 can be at least partially implemented as a computer program module, and when the computer program module is executed, the corresponding function can be executed.

[0117] Fig. 9 The block diagram of an electronic device suitable for implementing the fluctuation suppression method according to an embodiment of the present disclosure is schematically shown.

[0118] like Fig. 9As shown, the electronic device 900 according to an embodiment of the present disclosure includes a processor 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage part 908 to a random access memory (RAM) 903. The processor 901 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 901 may also include an onboard memory for caching purposes. The processor 901 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0119] In RAM 903, various programs and data required for the operation of electronic device 900 are stored. Processor 901, ROM 902 and RAM 903 are connected to each other via bus 904. Processor 901 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 902 and / or RAM 903. It should be noted that the program can also be stored in one or more memories other than ROM 902 and RAM 903. Processor 901 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in one or more memories.

[0120] According to an embodiment of the present disclosure, the electronic device 900 may further include an input / output (I / O) interface 905, which is also connected to the bus 904. The electronic device 900 may further include one or more of the following components connected to the I / O interface 905: an input portion 906 including a keyboard, a mouse, etc.; an output portion 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 908 including a hard disk, etc.; and a communication portion 909 including a network interface card such as a LAN card, a modem, etc. The communication portion 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed, so that a computer program read therefrom is installed into the storage portion 908 as needed.

[0121] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0122] According to an embodiment of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include the ROM 902 and / or RAM 903 described above and / or one or more memories other than ROM 902 and RAM 903.

[0123] The embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the method provided by the embodiment of the present disclosure.

[0124] The above functions defined in the system / device of the embodiment of the present disclosure are performed when the computer program is executed by the processor 901. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0125] In one embodiment, the computer program may be based on a tangible storage medium such as an optical storage device, a magnetic storage device, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of a signal on a network medium, and downloaded and installed through the communication part 909, and / or installed from a removable medium 911. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0126] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 909, and / or installed from the removable medium 911. When the computer program is executed by the processor 901, the above functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the system, device, means, module, unit, etc. described above can be implemented by a computer program module.

[0127] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0128] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0129] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0130] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A fluctuation suppression method applied to a brushless DC servo motor, characterized in that: The method comprises executing the following loop operation until a loop termination condition is met: Reading a current phase zero point parameter currently used by the servo control system of the brushless DC servo motor and using it as the first parameter; wherein the current phase zero point parameter used by the servo control system has 2N optional parameters, N is the number of magnetic pole pairs of the brushless DC servo motor, and N is greater than or equal to 1; Obtaining an operation fluctuation level of the brushless DC servo motor within a preset time window; Determining whether the operation fluctuation level meets the preset stability requirement condition; When the operation fluctuation level does not meet the stability requirement, replacing the current phase zero point parameter used by the servo control system from the first parameter to a second parameter, wherein the second parameter is a current phase zero point parameter that is different from the first parameter and has not been used among the 2N optional parameters; The loop termination condition includes: the operation fluctuation level meets the stability requirement, or there is no unused current phase zero point parameter among the 2N optional parameters.

2. The method according to claim 1, characterized in that The replacing the current phase zero point parameter used by the servo control system from the first parameter to the second parameter comprises: The phase angle in the first parameter is moved by 180 electrical degrees in a predetermined direction, wherein the movement in the predetermined direction is one of forward movement or backward movement.

3. The method according to claim 2, characterized in that The method further comprises: setting a number of recording parameters i; Wherein, when the operation fluctuation level does not meet the stability requirement, replacing the current phase zero point parameter used by the servo control system from the first parameter to the second parameter further includes: Determining whether there is an unused current phase zero point parameter among the 2N optional parameters according to the value of the number of times recording parameter i; When it is determined that there is an unused current phase zero point parameter among the 2N optional parameters, the current phase zero point parameter used by the servo control system is replaced from the first parameter to the second parameter, and the number recording parameter i is updated in an incremental manner.

4. The method according to claim 1, wherein: The operating fluctuation level includes at least one of the following: The speed fluctuation level obtained based on the comparison between the speed setting value and the speed feedback value; a position fluctuation level based on a comparison of the position setting value and the position feedback value; and The current fluctuation level is based on the comparison between the current setting value and the current feedback value.

5. The method according to claim 4, characterized in that When the operation fluctuation level includes a rotation speed fluctuation level, obtaining the operation fluctuation level of the brushless DC servo motor within a preset time window includes: Reading a speed setting value and a speed feedback value from the servo control system at each of R time points within the time window, wherein R is an integer greater than 1; Based on the speed setting value and the speed feedback value read at each time point, the speed difference corresponding to each time point is obtained; The rotation speed fluctuation level is obtained based on the speed differences corresponding to the R time points.

6. The method according to claim 5, characterized in that The speed difference corresponding to each time point is calculated by the absolute value of the difference between the speed setting value and the speed feedback value read at each time point. The speed fluctuation level obtained based on the speed difference corresponding to R time points includes: The maximum value among the absolute values ​​of the differences corresponding to the R time points is taken as the rotation speed fluctuation level.

7. The method according to claim 1, characterized in that After the loop operation is terminated, the method further includes: When the operation fluctuation level satisfies the stability requirement condition, determining that the fluctuation suppression of the brushless DC servo motor is completed; and When the operation fluctuation level does not meet the stability requirement, but there is no unused current phase zero point parameter in the 2N optional parameters, it is determined that the performance of the brushless DC servo motor itself does not meet the stability requirement.

8. The method according to claim 1, characterized in that The method further comprises: Recording the operation fluctuation level corresponding to each current phase zero point parameter among the 2N optional parameters; and When the operating fluctuation level does not meet the stability requirement, but there is no unused current phase zero point parameter among the 2N optional parameters, resulting in the termination of the cyclic operation, the current phase zero point parameter corresponding to the minimum operating fluctuation level is used as the current phase zero point parameter finally used by the servo control system.

9. The method according to claim 1, characterized in that: The method further comprises: before executing the loop operation, obtaining the 2N optional parameters; wherein, The replacing the current phase zero point parameter used by the servo control system from the first parameter to the second parameter includes: marking the first parameter as a used current phase zero point parameter, and selecting the unused second parameter from the 2N optional parameters to replace the first parameter.

10. A fluctuation suppression device applied to a brushless DC servo motor, characterized in that: The device includes a circulation module, a parameter reading module, a fluctuation monitoring module, a judgment module and a current phase zero point replacement module, wherein: The loop module is used to perform a loop operation until a loop termination condition is met, wherein in each round of the loop module calls the parameter reading module, the fluctuation monitoring module, the judgment module and the current phase zero point replacement module to perform corresponding operations; The parameter reading module is used to read the current phase zero point parameter currently used by the servo control system of the brushless DC servo motor and use it as the first parameter; wherein the current phase zero point parameter used by the servo control system has 2N optional parameters, N is the number of magnetic pole pairs of the brushless DC servo motor, and N is greater than or equal to 1; The fluctuation monitoring module is used to obtain the operation fluctuation level of the brushless DC servo motor within a preset time window; The judging module is used to judge whether the operation fluctuation level meets the preset stability requirement condition; The current phase zero point replacement module is used to replace the current phase zero point parameter used by the servo control system from the first parameter to the second parameter among the 2N optional parameters when the operation fluctuation level does not meet the stability requirement condition; The loop termination condition includes: the operation fluctuation level meets the stability requirement, or there is no unused current phase zero point parameter among the 2N optional parameters.

11. An electronic device, comprising: one or more processors; a memory for storing one or more computer programs, It is characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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