Parameter self-adaption device and method, servo system and computer readable storage medium

Abstract

The invention provides a parameter self-adaption device and method, a servo system and a computer readable storage medium. The parameter self-adaption device is used for being connected with the servo system. The servo system comprises a control module, a driving unit and a detection unit, the control module comprises a control unit and a feed-forward unit, the control unit is connected with the driving unit, the feed-forward unit is connected with the control unit, and the detection unit is connected between the driving unit and the control unit. The parameter self-adaption device comprises a parameter self-adaption module, and the parameter self-adaption module is connected with the control unit and the feed-forward unit. And the parameter adaptive module is used for adjusting the feed-forward control parameter of the feed-forward unit when the speed command signal received by the control unit changes suddenly. Thus, the feed-forward signal of the feed-forward unit changes along with the change of the feed-forward control parameter, the control unit is compensated through the change of the feed-forward signal, the error between the output signal of the driving unit and the instruction signal is reduced, and the adjustment time of the servo system is shortened.

Description

Technical Field

[0001] The present application relates to the field of servo control technology, and in particular to a parameter adaptive device, method, servo system and computer-readable storage medium. Background Art

[0002] As a key element of modern automation equipment, the servo system is applied in many technical fields, including industrial production, robotics, aerospace, and medical equipment. As industrial needs become more complex, the requirements for the dynamic response capabilities of the servo system are becoming more stringent. In traditional servo systems, the parameters of the feedforward controller are fixed values, and the response speed of the servo system's positioning movement and the dynamic error in the positioning process are gradually unable to meet the requirements. How to improve the response speed of the servo system's positioning movement and reduce the dynamic error in the positioning process has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a parameter adaptive device, method, servo system and computer-readable storage medium to solve the problem of how to improve the response speed of the positioning movement of the servo system and reduce the dynamic error in the positioning process.

[0004] In the first aspect, the present application provides a parameter adaptive device for connecting to a servo system. The servo system includes a control module, a drive unit, and a detection unit. The control module includes a control unit and a feedforward unit. The control unit is connected to the drive unit, the feedforward unit is connected to the control unit, and the detection unit is connected between the drive unit and the control unit. The parameter adaptive device includes a parameter adaptive module, which is respectively connected to the control unit and the feedforward unit. The parameter adaptive module is used to adjust the feedforward control parameters of the feedforward unit when a speed command signal received by the control unit changes suddenly.

[0005] Based on the first aspect, in certain implementations of the first aspect, the speed command signal is a non-zero signal before a sudden change occurs.

[0006] Based on the first aspect, in certain implementations of the first aspect, the control unit has a continuous first control state, a second control state, and a third control state under the speed command signal; when the control unit is in the first control state and the second control state, the speed command signal received by the control unit is a first command signal; when the control unit is in the third control state, the speed command signal received by the control unit is a second command signal; the second command signal undergoes a sudden change relative to the first command signal; the feedforward control parameters include a first feedforward coefficient and a second feedforward coefficient; when the control unit is in the first control state and the third control state, the parameter adaptive module is used to set the first feedforward coefficient for the feedforward unit; when the control unit is in the second control state, the parameter adaptive module is used to set the second feedforward coefficient for the feedforward unit.

[0007] Based on the first aspect, in certain implementations of the first aspect, the feedforward unit includes a velocity feedforward controller, the first feedforward coefficient includes a first velocity feedforward coefficient, and the second feedforward coefficient includes a second velocity feedforward coefficient; or, the feedforward unit includes an acceleration feedforward controller, the first feedforward coefficient includes a first acceleration feedforward coefficient, and the second feedforward coefficient includes a second acceleration feedforward coefficient; or, the feedforward unit includes a velocity feedforward controller and an acceleration feedforward controller, the first feedforward coefficient includes a first velocity feedforward coefficient and a first acceleration feedforward coefficient, and the second feedforward coefficient includes a second velocity feedforward coefficient and a second acceleration feedforward coefficient.

[0008] Based on the first aspect, in certain implementations of the first aspect, the parameter adaptation device also includes a system identification module, which is respectively connected to the control unit, the feedforward unit, the drive unit and the parameter adaptation module, and the system identification module is used to identify characteristic parameters of the servo system. The parameter adaptation module is also used to obtain the first feedforward coefficient based on the characteristic parameters, and obtain a first transfer function from the control module to the drive unit based on the characteristic parameters.

[0009] Based on the first aspect, in some implementations of the first aspect, the characteristic parameters include an inertia parameter, a delay parameter, a position proportional coefficient, a velocity proportional coefficient, a velocity integral coefficient, a velocity feedback coefficient, and a velocity filter coefficient; the first feedforward coefficient includes a first velocity feedforward coefficient and a first acceleration feedforward coefficient; and the first transfer function satisfies the following relationship:

[0010]

[0011] Among them, T ppeis represented as the first transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp is represented by the position scale coefficient, s is represented by the Laplace transform operator, K pvfw0 Expressed as the first speed feedforward coefficient, K pafw0 Expressed as the first acceleration feed-forward coefficient.

[0012] Based on the first aspect, in certain implementations of the first aspect, the control unit is also used to receive a position command signal and an acceleration command signal, the parameter adaptation module is also used to obtain a position error signal based on the position command signal and the first transfer function, and to obtain a pre-compensation signal corresponding to the control unit based on the position error signal, and to obtain a feedforward compensation coefficient of the feedforward unit based on the speed command signal, the acceleration command signal and the pre-compensation signal, wherein the second feedforward coefficient is the sum of the first feedforward coefficient and the feedforward compensation coefficient.

[0013] Based on the first aspect, in some implementations of the first aspect, the position error signal satisfies the following relationship:

[0014]

[0015] Among them, p eer Expressed as the position error signal, Expressed as the inverse Laplace transform, p cmd Expressed as the position command signal, T ppe is represented as the first transfer function, and * is represented as the convolution operation.

[0016] Based on the first aspect, in certain implementations of the first aspect, the control unit includes a position control unit and a speed control unit, the output end of the feedforward unit and the output end of the position control unit are respectively connected to the input end of the speed control unit, the output end of the speed control unit is connected to the input end of the drive unit, and the output end of the detection unit is respectively connected to the position control unit and the speed control unit; the position control unit is used to obtain the position error signal according to the position command signal and the output signal of the detection unit, the parameter adaptive module is used to obtain a second transfer function between the input of the speed control unit and the position error signal according to the characteristic parameters, and obtain the pre-compensation signal according to the position error signal and the second transfer function.

[0017] Based on the first aspect, in some implementations of the first aspect, the characteristic parameters include an inertia parameter, a delay parameter, a position proportional coefficient, a speed proportional coefficient, a speed integral coefficient, a speed feedback coefficient, and a speed filter coefficient, and the second transfer function satisfies the following relationship:

[0018]

[0019] Among them, T vpe is represented as the second transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp It is represented as the position scale coefficient, and s is represented as the Laplace transform operator.

[0020] Based on the first aspect, in some implementations of the first aspect, the pre-compensation signal satisfies the following relationship:

[0021]

[0022] Among them, f pcfw is represented by the pre-compensation signal, n is represented by the maximum order of the pre-compensation signal, i is represented by the i-th order of the pre-compensation signal, and g is represented by the maximum order of the pre-compensation signal. i It is expressed as the function of the pre-compensation signal at the i-th order, λ i It is represented as the coefficient of the function of the i-th order, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

[0023] Based on the first aspect, in some implementations of the first aspect, the parameter adaptation module is used to obtain coefficients of the function representation of the pre-compensation signal according to a first preset relationship, where the first preset relationship is:

[0024]

[0025] Wherein, t2 represents the end time of the third control state, T vpe Expressed as the second transfer function, p i Represented as g i The error response, represents the inverse Laplace transform, * represents the convolution operation, p eer Expressed as the position error signal, e pIt is expressed as the integral of the position error signal and the square of the sum of all the error responses between t0-t2.

[0026] Based on the first aspect, in certain implementations of the first aspect, the parameter adaptation module is also used to obtain a fitting signal based on the speed command signal, the acceleration command signal and the feedforward compensation coefficient, and obtain the feedforward compensation coefficient corresponding to when the fitting error between the pre-compensation signal and the fitting signal is minimized.

[0027] Based on the first aspect, in some implementations of the first aspect, the feedforward compensation coefficient includes a velocity feedforward compensation coefficient and an acceleration feedforward compensation coefficient, the product of the velocity command signal and the velocity feedforward compensation coefficient is a first product, the product of the acceleration command signal and the acceleration feedforward compensation coefficient is a second product, the fitting signal is the sum of the first product and the second product, and the parameter adaptive module is used to obtain the velocity feedforward compensation coefficient and the acceleration feedforward compensation coefficient according to a second preset relationship, and the second preset relationship is:

[0028]

[0029] Among them, f pcfw Denoted as the pre-compensation signal, v cmd Expressed as the speed command signal, a cmd Expressed as the acceleration command signal, Expressed as the speed feedforward compensation coefficient, Expressed as the acceleration feedforward compensation coefficient, e f It is represented as the fitting error, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

[0030] In a second aspect, the present application provides a servo system, which includes: a control module, a drive unit, a detection unit and a parameter adaptive device as described in any one of the above items, wherein the control module includes a control unit and a feedforward unit, the control unit is connected to the drive unit, the feedforward unit is connected to the control unit, the detection unit is connected between the drive unit and the control unit, and the parameter adaptive device is respectively connected to the control unit and the feedforward unit.

[0031] In a third aspect, the present application provides a parameter adaptation method, which is applied to the parameter adaptation device as described in any one of the above, or the servo system as described above, and the parameter adaptation method includes:

[0032] Obtaining a speed command signal from a control unit;

[0033] Determining whether a sudden change occurs in the speed command signal;

[0034] When it is determined that the speed command signal has a sudden change, a feedforward control parameter of the feedforward unit is adjusted.

[0035] Based on the third aspect, in some implementations of the third aspect, after determining whether the speed command signal has a sudden change, the method further includes:

[0036] It is determined whether the speed command signal is a zero signal before the sudden change occurs, and when it is determined that the speed command signal is a non-zero signal before the sudden change occurs, the feedforward control parameter of the feedforward unit is adjusted.

[0037] Based on the third aspect, in certain implementations of the third aspect, when determining that the speed command signal has a sudden change, adjusting the feedforward control parameter of the feedforward unit includes:

[0038] Determine a first control state, a second control state, and a third control state in which the control unit is in succession under the speed command signal; when the control unit is in the first control state and the second control state, the speed command signal received by the control unit is a first command signal, and when the control unit is in the third control state, the speed command signal received by the control unit is a second command signal, and the second command signal undergoes a sudden change relative to the first command signal;

[0039] When the control unit is in the first control state and the third control state, a first feedforward coefficient is set for the feedforward unit, and when the control unit is in the second control state, a second feedforward coefficient is set for the feedforward unit.

[0040] Based on the third aspect, in some implementations of the third aspect, when the control unit is in the first control state and the third control state, setting a first feedforward coefficient for the feedforward unit, and when the control unit is in the second control state, setting a second feedforward coefficient for the feedforward unit includes:

[0041] When the control unit is in the first control state and the third control state, the first velocity feedforward coefficient is set for the feedforward unit, and when the control unit is in the second control state, the second velocity feedforward coefficient is set for the feedforward unit; or, when the control unit is in the first control state and the third control state, the first acceleration feedforward coefficient is set for the feedforward unit, and when the control unit is in the second control state, the second acceleration feedforward coefficient is set for the feedforward unit; or, when the control unit is in the first control state and the third control state, the first velocity feedforward coefficient and the first acceleration feedforward coefficient are set for the feedforward unit, and when the control unit is in the second control state, the second velocity feedforward coefficient and the second acceleration feedforward coefficient are set for the feedforward unit.

[0042] Based on the third aspect, in some implementations of the third aspect, setting a first feedforward coefficient for the feedforward unit includes:

[0043] Obtain characteristic parameters of the servo system;

[0044] Obtaining the first feedforward coefficient according to the characteristic parameter;

[0045] A first transfer function from a control module to a driving unit is obtained according to the characteristic parameters; the control module includes the control unit and the feedforward unit.

[0046] Based on the third aspect, in some implementations of the third aspect, the characteristic parameters include inertia parameters, delay parameters, position proportional coefficients, speed proportional coefficients, speed integral coefficients, speed feedback coefficients, and speed filter coefficients, and the first feedforward coefficients include first speed feedforward coefficients and first acceleration feedforward coefficients, and the first transfer function satisfies the following relationship:

[0047]

[0048] Among them, T ppe is represented as the first transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp is represented by the position scale coefficient, s is represented by the Laplace transform operator, K pvfw0 Expressed as the first speed feedforward coefficient, K pafw0 Expressed as the first acceleration feed-forward coefficient.

[0049] Based on the third aspect, in some implementations of the third aspect, the control unit is further used to receive a position command signal and an acceleration command signal, and setting a second feedforward coefficient for the feedforward unit includes:

[0050] Obtaining a position error signal according to the position command signal and the first transfer function;

[0051] Obtaining a pre-compensation signal corresponding to the control unit according to the position error signal;

[0052] Obtaining a feedforward compensation coefficient of the feedforward unit according to the speed command signal, the acceleration command signal and the pre-compensation signal;

[0053] The second feedforward coefficient is obtained according to the first feedforward coefficient and the feedforward compensation coefficient, and the second feedforward coefficient is the sum of the first feedforward coefficient and the feedforward compensation coefficient.

[0054] Based on the third aspect, in some implementations of the third aspect, the position error signal satisfies the following relationship:

[0055]

[0056] Among them, p eer Expressed as the position error signal, Expressed as the inverse Laplace transform, p cmd Expressed as the position command signal, T ppe is represented as the first transfer function, and * is represented as the convolution operation.

[0057] Based on the third aspect, in some implementations of the third aspect, obtaining a pre-compensation signal corresponding to the control unit according to the position error signal includes:

[0058] A second transfer function between the input of the speed control unit in the control unit and the position error signal is obtained according to the characteristic parameter; the position control unit in the control unit is used to obtain the position error signal according to the position command signal and the output signal of the detection unit;

[0059] The pre-compensation signal is obtained according to the position error signal and the second transfer function.

[0060] Based on the third aspect, in some implementations of the third aspect, the characteristic parameters include an inertia parameter, a delay parameter, a position proportional coefficient, a speed proportional coefficient, a speed integral coefficient, a speed feedback coefficient, and a speed filter coefficient, and the second transfer function satisfies the following relationship:

[0061]

[0062] Among them, T vpe is represented as the second transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp It is represented as the position scale coefficient, and s is represented as the Laplace transform operator.

[0063] Based on the third aspect, in some implementations of the third aspect, the pre-compensation signal satisfies the following relationship:

[0064]

[0065] Among them, f pcfw is represented by the pre-compensation signal, n is represented by the maximum order of the pre-compensation signal, i is represented by the i-th order of the pre-compensation signal, and g is represented by the maximum order of the pre-compensation signal. i It is expressed as the function of the pre-compensation signal at the i-th order, λ i It is represented as the coefficient of the function of the i-th order, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

[0066] Based on the third aspect, in some implementations of the third aspect, obtaining the pre-compensation signal according to the position error signal and the second transfer function includes:

[0067] The coefficients of the function representation of the pre-compensation signal are obtained according to a first preset relationship, wherein the first preset relationship is:

[0068]

[0069] Wherein, t2 represents the end time of the third control state, T vpe Expressed as the second transfer function, p i Represented as g i The error response, represents the inverse Laplace transform, * represents the convolution operation, p eer Expressed as the position error signal, e p It is expressed as the integral of the position error signal and the square of the sum of all the error responses between t0-t2.

[0070] Based on the third aspect, in some implementations of the third aspect, obtaining the feedforward compensation coefficient of the feedforward unit according to the speed command signal, the acceleration command signal and the pre-compensation signal includes:

[0071] A fitting signal is obtained according to the speed command signal, the acceleration command signal and the feedforward compensation coefficient, and the feedforward compensation coefficient corresponding to when the fitting error between the pre-compensation signal and the fitting signal is minimized is obtained.

[0072] Based on the third aspect, in some implementations of the third aspect, the feedforward compensation coefficient includes a velocity feedforward compensation coefficient and an acceleration feedforward compensation coefficient, the product of the velocity command signal and the velocity feedforward compensation coefficient is a first product, the product of the acceleration command signal and the acceleration feedforward compensation coefficient is a second product, and the fitting signal is the sum of the first product and the second product;

[0073] The step of obtaining a fitting signal according to the speed command signal, the acceleration command signal and the feedforward compensation coefficient, and obtaining the feedforward compensation coefficient corresponding to when the fitting error between the pre-compensation signal and the fitting signal is minimum, comprises:

[0074] The velocity feedforward compensation coefficient and the acceleration feedforward compensation coefficient are obtained according to a second preset relationship, wherein the second preset relationship is:

[0075]

[0076] Among them, f pcfw Denoted as the pre-compensation signal, v cmd Expressed as the speed command signal, a cmd Expressed as the acceleration command signal, Expressed as the speed feedforward compensation coefficient, Expressed as the acceleration feedforward compensation coefficient, e f It is represented as the fitting error, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

[0077] In a fourth aspect, the present application provides a parameter adaptation device, which includes a memory and a processor, the memory is used to store program instructions, and the processor is used to call the program instructions to execute any of the parameter adaptation methods described above.

[0078] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store instructions, and when the instructions are executed, the parameter adaptation method as described in any one of the above items is implemented.

[0079] In the parameter adaptive device, method, servo system and computer-readable storage medium provided by the present application, when a speed command signal received by the control unit changes suddenly, the feedforward control parameters of the feedforward unit are adjusted based on the parameter adaptive module. On the one hand, the feedforward signal generated by the feedforward unit for the control unit can change with the change of the feedforward control parameters. When the speed command signal changes suddenly, the control unit is compensated by the change of the feedforward signal, thereby reducing the error between the output signal and the command signal of the servo system, that is, improving the response speed of the positioning movement of the servo system, reducing the adjustment time of the servo system, and reducing the dynamic error in the positioning process, thereby greatly improving the operating efficiency of the servo system and improving production efficiency; on the other hand, based on the identification and adjustment of the feedforward control parameters of the feedforward unit by the parameter adaptive device, it is possible to reduce manual intervention, reduce the maintenance cost of the servo system, and improve the stability, reliability and automation of the servo system. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0081] Figure 1 It is a structural block diagram of the servo system provided in an embodiment of the present application.

[0082] Figure 2 It is a schematic diagram of the structure of the servo system provided in an embodiment of the present application.

[0083] Figure 3 It is a waveform diagram of the command signal received by the servo system provided in the embodiment of the present application.

[0084] Figure 4 It is a waveform diagram of the feedforward signal output before and after the feedforward control parameters of the feedforward unit provided in the embodiment of the present application are adjusted.

[0085] Figure 5 yes Figure 4 Enlarged view of part A.

[0086] Figure 6 It is a waveform diagram of the error between the output signal of the servo system and the position command signal when the feedforward control parameter of the feedforward unit in the servo system is a constant value.

[0087] Figure 7 It is a flow chart of the parameter adaptation method provided in an embodiment of the present application.

[0088] Figure 8This is a flowchart of a parameter adaptation method provided in some embodiments of the present application.

[0089] Fig. 9 It is a flow chart of obtaining the first feedforward coefficient by the parameter adaptation method provided in an embodiment of the present application.

[0090] Fig.10 It is a flow chart of obtaining the second feedforward coefficient by the parameter adaptive method provided in an embodiment of the present application.

[0091] Fig.11 It is a flow chart of obtaining a pre-compensation signal by a parameter adaptive method provided in an embodiment of the present application.

[0092] Fig.12 It is a structural block diagram of a parameter adaptation device provided in some embodiments of the present application.

[0093] Fig.13 It is a schematic diagram of an actual frequency domain response model and a theoretical frequency domain response model of a servo system provided in an embodiment of the present application.

[0094] Fig.14 It is a waveform diagram of the error between the output signal and the position command signal of a traditional servo system and the error between the output signal and the position command signal of the servo system provided in an embodiment of the present application.

[0095] Description of main reference numerals: servo system 1000; parameter adaptive device 100; parameter adaptive module 110; system identification module 120; control module 200; control unit 210; position control unit 211; position error adder 2111; position proportional gain device 2112; speed control unit 212; speed adder 2120; speed given adder 2121; speed error adder 2122; speed feedback controller 2123; speed filter 2124; speed feedback adder 2125; speed feedback gain device 2126; feedforward unit 220; speed feedforward controller 221; acceleration feedforward controller 222; drive unit 300; speed object 310; speed to position integral link 320; detection unit 400; speed detection unit 410; position detection unit 420; parameter adaptive device 600; memory 610; processor 620; position command signal p cmd ; Speed ​​command signal v cmd ; Acceleration command signal a cmd ; Position feedback signal p fdb ; Position error signal p err ; Feedforward signal v fw ; Speed ​​reference signal v ref ; Speed ​​error signal v err ; Speed ​​feedback signal v fdb .

[0096] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0097] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments in the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0098] Reference to "embodiment" or "implementation" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment or implementation may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0099] It should be noted that the terms in the specification and claims of this application and the above-mentioned drawings are only for describing specific embodiments and are not intended to limit this application. The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. The term "and / or" used in this application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0100] Please also read Figure 1 and Figure 2 , Figure 1 is a structural block diagram of a servo system 1000 provided in an embodiment of the present application; Figure 2 is a schematic diagram of the structure of the servo system 1000 provided in an embodiment of the present application. The servo system 1000 includes a control module 200, a drive unit 300, and a detection unit 400. The control module 200 includes a control unit 210 and a feedforward unit 220. The control unit 210 is connected to the drive unit 300. The detection unit 400 is connected between the drive unit 300 and the control unit 210. The feedforward unit 220 is connected to the control unit 210. The input end of the control unit 210 and the input end of the feedforward unit 220 are respectively used to receive command signals. The input ends of the control unit 210 and the feedforward unit 220 can be connected together, or can be set independently of each other. Among them, the command signal includes a position command signal p cmd , speed command signal v cmd And the acceleration command signal a cmd .

[0101] The feedforward unit 220 is used to perform feedforward processing on the command signal to obtain a feedforward signal v fw , and the feedforward signal v fw The control unit 210 is used to input the command signal and the feedforward signal v fw The control signal is processed to obtain a control signal for controlling the operation of the drive unit 300. The drive unit 300 may be a linear motor or a rotary motor. In some embodiments, the drive unit 300 may also be other drives.

[0102] Due to the influence of factors such as the inherent deviation and signal delay of the servo system, the output of the servo system will deviate from the command signal. The servo system needs to compensate the command signal according to the deviation to achieve the purpose of eliminating the deviation. The traditional servo system adopts a fixed feedforward control structure. The feedforward control parameter of the feedforward unit is a constant value. When the command signal received by the servo system changes, the feedforward unit cannot compensate the command signal well, resulting in a large error between the output signal of the servo system and the command signal. The output signal of the servo system has a large overshoot and lag. The output of the servo system needs to take a long time to adjust to the right position and reach a stable state. In the traditional servo system, there is a problem of improving the response speed of the positioning movement and reducing the dynamic error in the positioning process.

[0103] In this embodiment, the parameter adaptive device 100 is used to connect to the servo system 1000. The parameter adaptive device 100 is used to adjust the control parameters of the control unit 210 and the feedforward unit 220 in the servo system 1000. The parameter adaptive device 100 includes a parameter adaptive module 110. The parameter adaptive module 110 is connected to the control unit 210 and the feedforward unit 220 respectively. The parameter adaptive module 110 is used to adjust the speed command signal v received by the control unit 210. cmd When a sudden change occurs, the feedforward control parameters of the feedforward unit 220 are adjusted. In this way, on the one hand, the parameter adaptive module 110 receives the speed command signal v cmd When a sudden change occurs, the feedforward control parameter of the feedforward unit 220 is adjusted, so that the feedforward signal generated by the feedforward unit 220 to the control unit 210 changes with the change of the feedforward control parameter. cmdWhen a mutation occurs, the control unit 210 is compensated by the change of the feedforward signal, thereby reducing the error between the output signal and the command signal of the servo system 1000, that is, improving the response speed of the positioning movement of the servo system 1000, reducing the adjustment time of the servo system 1000, reducing the dynamic error in the positioning process, and improving the dynamic response capability and tracking capability of the servo system 1000, thereby greatly improving the operating efficiency of the servo system 1000 and improving production efficiency; on the other hand, based on the identification and adjustment of the feedforward control parameters of the feedforward unit 220 by the parameter adaptive device 100, manual intervention can be reduced, the maintenance cost of the servo system 1000 can be reduced, and the stability, reliability and automation level of the servo system 1000 can be improved.

[0104] Among them, the speed command signal v cmd Before the sudden change, the speed command signal v cmd is a non-zero signal. A non-zero signal is a signal with an amplitude greater than zero. A zero signal is a signal with an amplitude of zero. cmd When the signal is zero, the position output of the servo system 1000 is a constant value, and the parameter adaptive module 110 controls the feedforward control parameters of the feedforward unit to maintain the value, so that the output signal of the servo system 1000 can be kept stable, thereby preventing the servo system 1000 from generating unexpected outputs.

[0105] For example, the speed command signal v cmd The mutation may be that the speed command signal v cmd Changes from a non-zero signal to a zero signal or suddenly changes to another non-zero signal. Speed ​​command signal v cmd When a sudden change occurs, the acceleration command signal a cmd Changes. Among them, the acceleration command signal a cmd It can change from a non-zero signal to a zero signal or to another non-zero signal, or the acceleration command signal a cmd Can change from a zero signal to a non-zero signal.

[0106] In some embodiments, the speed command signal v cmd In the period before and / or after the sudden change, the speed command signal v cmd The amplitude can be kept constant or the amplitude can be kept changing linearly. Speed ​​command signal v cmd When there is no sudden change, the acceleration command signal a cmd Can be a constant value, speed command signal v cmd Changes linearly. For example, the speed command signal v cmd It is a constant value or changes in an arithmetic progression.

[0107] For example, the error between the output signal and the command signal of the servo system 1000 can be: cmd In some embodiments, the error between the output signal of the servo system 1000 and the command signal can be: the speed output signal of the servo system 1000 and the speed command signal v cmd In some embodiments, the error between the output signal of the servo system 1000 and the command signal can also be: the error between the acceleration output signal of the servo system 1000 and the acceleration command signal a cmd The error between .

[0108] Please also read Figure 3 , Figure 4 , Figure 5 and Figure 6 , Figure 3 is a waveform diagram of a command signal received by the servo system 1000 provided in an embodiment of the present application, Figure 4 is the feedforward control parameter of the feedforward unit 220 provided in the embodiment of the present application before adjustment. fw0 And the feedforward signal v after adjustment fw The waveform diagram, Figure 5 yes Figure 4 The enlarged view of part A in the figure. Figure 6 When the feedforward control parameter of the feedforward unit in the servo system is a constant value, the output signal of the servo system and the position command signal p cmd The error waveform between .

[0109] The control unit 210 has a continuous first control state, a second control state and a third control state under the command signal. When the control unit 210 is in the first control state and the second control state, the speed command signal v received by the control unit 210 cmd is the first command signal. The first command signal is a non-zero signal. When the control unit 210 is in the third control state, the speed command signal v received by the control unit 210 cmd is the second instruction signal. The second instruction signal undergoes a sudden change relative to the first instruction signal.

[0110] In this embodiment, the speed command signal v received by the control unit 210 cmd Taking the sudden change at 0.8s as an example, the parameter adaptive device 100 is described in detail. At 0.8s, the speed command signal v cmd From a non-zero value to 0cnt / s, the acceleration command signal a cmd By -2cnt / s 2 Sudden change to 0cnt / s 2The first control state may be a time period of 0.6s-t0, the second control state may be a time period of t0-t1, and the third control state may be a time period of t1-1s. In some embodiments, the speed command signal v received by the control unit 210 cmd The mutation may also occur at other times, such as 0.4s or 0.6s, which is not specifically limited in the present application.

[0111] like Figure 6 As shown, in the first control state and the third control state, the acceleration command signal a cmd Keep stable, speed signal v cmd The output signal of the servo system 1000 changes gradually or is a constant value. After a period of feedback adjustment by the control unit 210, the position output signal of the servo system 1000 and the position command signal p cmd After the second control state transitions to the third control state, the acceleration command signal a cmd A sudden change occurs, the speed command signal v cmd Mutation occurs. Among them, Figure 6 In, p em The position output signal and the position command signal p of the servo system 1000 are represented as follows: cmd The error between em It is represented by the adjustment time required for the output error of the servo system 1000 to be adjusted to meet the preset performance index. The output error of the servo system 1000 is adjusted to meet the preset performance index for the position output signal and the position command signal p of the servo system 1000. cmd The error between is between ±1cnt. The preset performance index can be set according to actual needs, and is not specifically limited in this application. For example, the error can be ±2cnt, ±5cnt, etc. Figure 6 It can be seen that when the feedforward control parameter of the feedforward unit 220 is a constant value, the output signal of the servo system has a large dynamic error during the positioning process, and the dynamic response speed of the positioning movement is slow, and the servo system needs a long time to adjust to the correct position.

[0112] In this embodiment, the feedforward control parameter includes a first feedforward coefficient and a second feedforward coefficient. When the control unit 210 is in the first control state and the third control state, the parameter adaptive module 110 is used to set the first feedforward coefficient for the feedforward unit 220. When the control unit 210 is in the second control state, the parameter adaptive module 110 is used to set the second feedforward coefficient for the feedforward unit 220. The second feedforward coefficient is different from the first feedforward coefficient. In this way, the parameter adaptive device 100 sets the feedforward control parameter of the feedforward unit 220 from the first feedforward coefficient to the second feedforward coefficient when the control unit 210 is in the second control state, thereby cmd Before the sudden change, the speed command signal v cmd Compensation is performed to better exert the prediction and compensation effects of the feedforward unit 220, reduce the dynamic error of the servo system 1000, increase the response speed, and improve the dynamic response capability of the servo system 1000.

[0113] See also Figure 2 The feedforward unit 220 includes a velocity feedforward controller 221, the first feedforward coefficient includes a first velocity feedforward coefficient, and the second feedforward coefficient includes a second velocity feedforward coefficient; and / or, the feedforward unit 220 includes an acceleration feedforward controller 222, the first feedforward coefficient includes a first acceleration feedforward coefficient, and the second feedforward coefficient includes a second acceleration feedforward coefficient.

[0114] Exemplarily, in this embodiment, the feedforward unit 220 includes a speed feedforward controller 221 and an acceleration feedforward controller 222. The first feedforward coefficient includes a first speed feedforward coefficient and a first acceleration feedforward coefficient. The second feedforward coefficient includes a second speed feedforward coefficient and a second acceleration feedforward coefficient. In this way, the speed feedforward controller 221 generates a speed command signal v cmd Feedforward compensation is performed, and the acceleration feedforward controller 222 is used to adjust the acceleration command signal a cmd Feedforward compensation is performed by adjusting the speed command signal v cmd and acceleration command signal a cmd Performing feedforward compensation together can improve the compensation effect, thereby effectively improving the dynamic response capability of the servo system 1000, improving the trajectory tracking accuracy of the servo system 1000, and reducing the adjustment time of the servo system 1000.

[0115] In some embodiments, the feedforward unit 220 may include a velocity feedforward controller 221, the first feedforward coefficient includes a first velocity feedforward coefficient, and the second feedforward coefficient includes a second velocity feedforward coefficient. In this way, the amount of calculation when the servo system 1000 is working can be reduced. In some embodiments, the feedforward unit 220 may include an acceleration feedforward controller 222, the first feedforward coefficient includes a first acceleration feedforward coefficient, and the second feedforward coefficient includes a second acceleration feedforward coefficient. In this way, the amount of calculation when the servo system 1000 is working can be reduced.

[0116] The control unit 210 includes a position control unit 211 and a speed control unit 212. The input end of the position control unit 211 is used to receive a command signal, and the output end of the position control unit 211 is connected to the input end of the speed control unit 212. The output end of the speed control unit 212 is connected to the input end of the drive unit 300. The output end of the feedforward unit 220 is connected to the input end of the speed control unit 212. The input end of the detection unit 400 is connected to the output end of the drive unit 300. The output end of the detection unit 400 is respectively connected to the position control unit 211 and the speed control unit 212 to form a position feedback loop and a speed feedback loop. The position control unit 211 is used to generate a position feedback loop according to the position command signal p cmd The output signal of the detection unit 400 is used to obtain the position error signal p err .

[0117] The position control unit 211 includes a position error adder 2111 and a position proportional gain device 2112. The input end of the position error adder 2111 is used to receive the command signal and is connected to the output end of the detection unit 400. The position error adder 2111 is used to receive the position feedback signal p in the output signal of the drive unit 300. fdb The position error adder 2111 is used to calculate the position error according to the position command signal p cmd and position feedback signal p fdb Generate position error signal p err The position proportional gain device 2112 is used to adjust the position error signal p err The position proportional coefficient of the position proportional gain device 2112 is K pp .

[0118] The speed control unit 212 includes a speed adder 2120 and a speed feedback controller 2123. The input end of the speed adder 2120 is used to be connected to the output end of the feedforward unit 220, the output end of the position proportional gain device 2112, and the output end of the detection unit 400. The speed adder 2120 is used to calculate the position error signal p according to the feedforward signal and the proportionally amplified position error signal p. err Get the speed reference signal v ref , and for the speed reference signal vref and the speed feedback signal v output by the drive unit 300 fdb Get the speed error signal v err The speed feedback controller 2123 is configured as a proportional-integral controller and is used to err Proportional and integral operations are performed to improve the response speed of the servo system 1000 and reduce the dynamic error of the servo system 1000.

[0119] In some embodiments, the speed adder 2120 includes a speed reference adder 2121 and a speed error adder 2122. The input end of the speed reference adder 2121 is connected to the output end of the feedforward unit 220 and the output end of the position proportional gain device 2112. The speed reference adder 2121 is used to generate a speed reference signal according to the feedforward signal and the proportionally amplified position error signal p err Get the speed reference signal v ref The input end of the speed error adder 2122 is connected to the output end of the speed reference adder 2121 and the output end of the drive unit 300 respectively. The speed error adder 2122 is used to calculate the speed reference signal v ref and the speed feedback signal v output by the drive unit 300 fdb Get the speed error signal v err In some implementations, the speed reference adder 2121 and the speed error adder 2122 may be combined into one adder.

[0120] In some embodiments, the speed control unit 212 further includes a speed filter 2124. The speed filter 2124 is connected between the speed feedback controller 2123 and the detection unit 400. The speed filter 2124 is used to filter the output signal of the speed feedback controller 2123. Exemplarily, the speed filter 2124 can be configured as a first-order low-pass filter, or the speed filter 2124 can also be configured as other types of filters according to actual needs, which is not specifically limited in this application.

[0121] In some embodiments, the speed control unit 212 further includes a speed feedback adder 2125 and a speed feedback gain 2126. The speed feedback adder 2125 is connected between the speed feedback controller 2123 and the speed filter 2124. The input end of the speed feedback gain 2126 is connected to the output end of the detection unit 400, and the output end of the speed feedback gain 2126 is connected to the input end of the speed feedback adder 2125. The speed filter 2124 is used to filter the output signal of the speed feedback adder 2125.

[0122] The drive unit 300 includes a speed object 310 and a speed-to-position integration link 320. The detection unit 400 includes a speed detection unit 410 and a position detection unit 420. The input end of the speed object 310 is used to connect to the output end of the speed filter 2124, and the output end of the speed object 310 is connected to the input end of the speed detection unit 410. The output end of the speed detection unit 410 is used to connect to the input end of the speed feedback gain device 2126, the input end of the speed error adder 2122, and the input end of the speed-to-position integration link 320. The speed object 310 is used to output a speed feedback signal v fdb The output end of the speed-to-position integration link 320 is connected to the position detection unit 420. The output end of the position detection unit 420 is connected to the input end of the position error adder 2111. The speed-to-position integration link 320 is used to output the position feedback signal p fdb .

[0123] In some embodiments, the parameter adaptive device 100 further includes a system identification module 120. The system identification module 120 is respectively connected to the control unit 210, the feedforward unit 220, the drive unit 300 and the parameter adaptive module 110. The system identification module 120 is used to identify characteristic parameters of the servo system 1000. The characteristic parameters include the inertia parameter and the delay parameter of the drive unit 300, the position proportional coefficient K of the position proportional gain 2112, and the position proportional coefficient K of the position proportional gain 2112. pp , the speed proportional coefficient K of the speed feedback controller 2123 vp and speed integral coefficient K vi , the speed filter coefficient ω of the speed filter 2124 vf , the speed feedback coefficient K of the speed feedback gain device 2126 vf In some embodiments, the parameter adaptive device 100 may not include the system identification module 120, and the parameter adaptive module 110 may obtain the characteristic parameters in other ways. For example, the parameter adaptive device 100 may include a characteristic parameter table, and the characteristic parameter table includes the corresponding relationship between the servo system 1000 and the characteristic parameters. The parameter adaptive module 110 may obtain the characteristic parameters of the servo system 1000 from the characteristic parameter table. For another example, the parameter adaptive module 110 may obtain the characteristic parameters of the servo system 1000 by manual setting or external input.

[0124] Exemplarily, the drive unit 300 can be characterized by inertia and time delay. The transfer function of the drive unit 300 satisfies the following relationship:

[0125]

[0126] Wherein, P represents the transfer function of the driving unit 300, j represents the inertia parameter, τ represents the time delay parameter, and s represents the Laplace transform operator.

[0127] In some embodiments, the transfer function of the driving unit 300 may also be expressed in other forms of mathematics, which are not specifically limited in the present application.

[0128] The transfer function of the speed feedback controller 2123 can be expressed as C vpi :

[0129]

[0130] Among them, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient.

[0131] The transfer function of the velocity filter 2124 can be expressed as C vfilt :

[0132]

[0133] Among them, ω vf Expressed as velocity filter coefficient.

[0134] The parameter adaptive module 110 is also used to obtain a first transfer function from the control module 200 to the drive unit 300 according to the characteristic parameters. The first transfer function satisfies the following relationship:

[0135]

[0136] Among them, T ppe It is represented as the first transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp is represented by the position scale coefficient, s is represented by the Laplace transform operator, K pvfw0 Expressed as the first speed feedforward coefficient, K pafw0 Expressed as the first acceleration feedforward coefficient.

[0137] It can be understood that when the transfer function of the drive unit 300, the transfer function of the speed feedback controller 2123, and the transfer function of the speed filter 2124 are expressed in other forms of mathematics, the specific mathematical expression of the first transfer function can be adaptively adjusted, and the specific mathematical expression of the first transfer function is not specifically limited in this application.

[0138] The parameter adaptive module 110 is also used to obtain a first feedforward coefficient according to the characteristic parameter. The first feedforward coefficient includes a first velocity feedforward coefficient and a first acceleration feedforward coefficient. The parameter adaptive module 110 is used to obtain a first velocity feedforward coefficient and a first acceleration feedforward coefficient that enable the servo system 1000 to meet a preset performance indicator. The preset performance indicator may be that when the command signal remains stable, the output signal of the servo system 1000 remains stable, and the steady-state error is within a threshold range. In some embodiments, the parameter adaptive module 110 is also used to obtain a first transfer function according to the characteristic parameter and the first feedforward coefficient.

[0139] Exemplarily, the first speed feedforward coefficient is set to K pvfw0 =1; the first acceleration feedforward coefficient is set to K pafw0 =K vf / (K vp K vi ). After substituting the first velocity feedforward coefficient and the first acceleration feedforward coefficient into the first transfer function, the first transfer function is:

[0140]

[0141] In some embodiments, the first velocity feed-forward coefficient and the first acceleration feed-forward coefficient may also be set to other values ​​according to actual needs, which are not specifically limited in the present application.

[0142] The feedforward signal output by the feedforward unit 220 under the control of the first feedforward coefficient is v fw0 :

[0143] v fw0 =K pafw0 a cmd +K pvfw0 v cmd

[0144] The parameter adaptive module 110 is also used to obtain the start time t0 of the second control state. At the start time of the second control state, the speed command signal v cmd The amplitude is zero. The start time of the second control state is: t0 = t1-K pafw0 The start time of the first control state can be the speed command signal v cmd The end time of the third control state can be the speed command signal v cmd The moment when the next mutation begins.

[0145] The parameter adaptive module 110 is also used to adjust the position command signal p cmdThe position error signal is obtained by combining the first transfer function. The position error signal is used to indicate the position error between the output signal of the servo system 1000 and the command signal when the feedforward control parameter of the feedforward unit 220 is the first feedforward coefficient. The position error signal satisfies the following relationship:

[0146]

[0147] Among them, p eer Expressed as the position error signal, Expressed as the inverse Laplace transform, p cmd Expressed as position command signal, T ppe The position error signal may be the convolution of the position command signal and the first transfer function after inverse Laplace transformation.

[0148] The parameter adaptive module 110 is also used to obtain a pre-compensation signal corresponding to the control unit 210 according to the position error signal. The pre-compensation signal is a feed-forward signal output by the feed-forward unit 220 when the control unit 210 is in the second control state. The pre-compensation signal is a theoretical feed-forward signal output by the feed-forward unit 220 when the servo system 1000 meets the preset performance index. The pre-compensation signal is used to reduce or eliminate the position error between the output signal of the servo system 1000 and the command signal when the command signal changes suddenly, thereby improving the dynamic response capability of the servo system 1000 and reducing the adjustment time.

[0149] The pre-compensation signal can be represented by series fitting. The pre-compensation signal satisfies the following relationship:

[0150]

[0151] Among them, f pcfw represents the pre-compensation signal, n represents the maximum order of the pre-compensation signal, i represents the i-th order of the pre-compensation signal, and g i It is expressed as the function of the pre-compensation signal at the i-th order, λ i The coefficients of the function of the i-th order are represented. The value of n can be less than or equal to 50. For example, n can be 3, 4, 5, 8, 10, 15, 20, 25, 30, 35, 40, 45, 50, etc.

[0152] The parameter adaptive module 110 is also used to obtain the position error signal p input to the speed control unit 212 according to the characteristic parameters. err The second transfer function between the position error signal and the position error adder 2111 is used to obtain the pre-compensation signal. The second transfer function is a transfer function between the input of the speed control unit 212 and the output of the position error adder 2111. The second transfer function satisfies the following relationship:

[0153]

[0154] Among them, T vpe It is represented as the second transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp It is represented as the position scale coefficient and s is represented as the Laplace transform operator.

[0155] The parameter adaptation module 110 is also used to obtain an estimated error signal according to the pre-compensation signal and the second transfer function. The estimated error signal is used to represent the position error between the output of the servo system 1000 under the control of the pre-compensation signal and the pre-compensation signal. The estimated error signal can be expressed as e g :

[0156]

[0157] Among them, p i Represented as g i The estimated error signal is the sum of the error responses represented by functions of all orders of the precompensated signal.

[0158] When the sum of the position error signal and the estimated error signal is minimum, the preset compensation signal can reduce or eliminate the position error between the output signal of the servo system 1000 and the command signal to the greatest extent.

[0159] Exemplarily, the parameter adaptation module 110 is used to obtain the coefficients of the function representation of the pre-compensation signal according to a first preset relationship, thereby obtaining the pre-compensation signal. The first preset relationship is:

[0160]

[0161] Among them, t2 represents the end time of the third control state, T vpe Expressed as the second transfer function, p i Represented as g i The error response, represents the inverse Laplace transform, * represents the convolution operation, p eer Expressed as position error signal, e p It is expressed as the integral of the square of the sum of the position error signal and all error responses between t0 and t2, that is, the integral of the square of the sum of the position error response signal and the estimated error signal between t0 and t2. p The coefficient λ can be obtained by minimizingi .

[0162] The parameter adaptive module 110 is also used to adjust the speed command signal v cmd , acceleration command signal a cmd And the pre-compensation signal is used to obtain the feedforward compensation coefficient of the feedforward unit 220. The parameter adaptive module 110 is also used to calculate the speed command signal v cmd , acceleration command signal a cmd The fitting signal is obtained by using the feedforward compensation coefficient and the feedforward compensation coefficient corresponding to the minimum fitting error between the pre-compensation signal and the fitting signal. The fitting signal is the feedforward signal output by the feedforward unit 220 under the action of the feedforward compensation coefficient.

[0163] The feedforward compensation coefficient includes the speed feedforward compensation coefficient and the acceleration feedforward compensation coefficient. The product of the speed command signal and the speed feedforward compensation coefficient is the first product, the product of the acceleration command signal and the acceleration feedforward compensation coefficient is the second product, and the fitting signal is the sum of the first product and the second product. The fitting signal is: in, Expressed as the speed feedforward compensation coefficient, Expressed as the acceleration feedforward compensation coefficient.

[0164] The parameter adaptation module 110 is used to obtain the velocity feedforward compensation coefficient and the acceleration feedforward compensation coefficient according to a second preset relationship, and the second preset relationship is:

[0165]

[0166] Among them, f pcfw Represented as the pre-compensation signal, v cmd Expressed as speed command signal, a cmd Expressed as acceleration command signal, Expressed as the speed feedforward compensation coefficient, Expressed as the acceleration feedforward compensation coefficient, e f It is represented as the fitting error, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

[0167] The second feedforward coefficient is the sum of the first feedforward coefficient and the feedforward compensation coefficient. Among them, the second velocity feedforward coefficient is the sum of the first velocity feedforward coefficient and the velocity feedforward compensation coefficient, and the second acceleration feedforward coefficient is the sum of the first acceleration feedforward coefficient and the acceleration feedforward compensation coefficient. The second acceleration feedforward coefficient and the second velocity feedforward coefficient are:

[0168]

[0169] Among them, K pafw1 Expressed as the second acceleration feedforward coefficient, Kpvfw1 Expressed as the second speed feedforward coefficient.

[0170] See also Figure 7 The embodiment of the present application provides a parameter adaptation method, which is applied to any one of the above parameter adaptation devices 100, or any one of the above servo systems 1000, and the parameter adaptation method includes:

[0171] Step 41, obtaining a speed command signal from a control unit.

[0172] Step 43, determining whether the speed command signal has a sudden change.

[0173] If the speed command signal does not change suddenly, the process returns to step 41. If the speed command signal changes suddenly, the process proceeds to step 45.

[0174] Among them, the speed command signal v cmd The mutation may be that the speed command signal v cmd Change from a non-zero signal to a zero signal or to another non-zero signal. A non-zero signal is a signal with an amplitude greater than zero. A zero signal is a signal with an amplitude of zero. Speed ​​command signal v cmd When a sudden change occurs, the acceleration command signal a cmd Changes. Among them, the acceleration command signal a cmd It can change from a non-zero signal to a zero signal or to another non-zero signal, or the acceleration command signal a cmd Can change from a zero signal to a non-zero signal.

[0175] In some embodiments, the speed command signal v cmd In the period before and / or after the sudden change, the speed command signal v cmd The amplitude can be kept constant or the amplitude can be kept changing linearly. Speed ​​command signal v cmd When there is no sudden change, the acceleration command signal a cmd Can be a constant value, speed command signal v cmd Changes linearly. For example, the speed command signal v cmd It is a constant value or changes in an arithmetic progression.

[0176] Step 45: When it is determined that the speed command signal has a sudden change, adjust the feedforward control parameter of the feedforward unit.

[0177] Thus, on the one hand, the parameter adaptive module 110 receives the speed command signal v cmdWhen a sudden change occurs, the feedforward control parameter of the feedforward unit 220 is adjusted, so that the feedforward signal generated by the feedforward unit 220 to the control unit 210 changes with the change of the feedforward control parameter. cmd When a sudden change occurs, the control unit 210 is compensated by the change of the feedforward signal, thereby reducing the error between the output signal and the command signal of the servo system 1000, that is, improving the tracking capability of the servo system 1000 and reducing the adjustment time of the servo system 1000, thereby greatly improving the operating efficiency of the servo system 1000 and improving production efficiency; on the other hand, based on the identification and adjustment of the feedforward control parameters of the feedforward unit 220 by the parameter adaptive device 100, manual intervention can be reduced, the maintenance cost of the servo system 1000 can be reduced, and the stability, reliability and automation level of the servo system 1000 can be improved.

[0178] In some embodiments, after step 43, the parameter adaptation method further includes:

[0179] It is determined whether the speed command signal is a zero signal before the sudden change occurs.

[0180] If the speed command signal is a zero signal before the sudden change, then return to step 41. If the speed command signal is a non-zero signal before the sudden change, then execute step 45. Step 45 may specifically include: when it is determined that the speed command signal has a sudden change and the speed command signal is a non-zero signal before the sudden change, adjusting the feedforward control parameter of the feedforward unit.

[0181] In this way, the speed command signal v cmd When the signal is zero, the position output of the servo system 1000 is a constant value, and the parameter adaptive module 110 controls the feedforward control parameters of the feedforward unit to maintain the value, so that the output signal of the servo system 1000 can be kept stable, thereby preventing the servo system 1000 from generating unexpected outputs.

[0182] See also Figure 8 , step 45 may include: step 451: determining the first control state, the second control state and the third control state of the control unit under the speed command signal; when the control unit is in the first control state and the second control state, the speed command signal received by the control unit is the first command signal, and when the control unit is in the third control state, the speed command signal received by the control unit is the second command signal, and the second command signal undergoes a sudden change relative to the first command signal.

[0183] The first command signal may be a non-zero signal. When the control unit 210 is in the first control state and the third control state, the acceleration command signal a cmdKeep stable, speed command signal v cmd When the control unit 210 transitions from the second control state to the third control state, the acceleration command signal a cmd A sudden change occurs, the speed command signal v cmd A mutation occurs.

[0184] Step 452: When the control unit is in the first control state and the third control state, a first feedforward coefficient is set for the feedforward unit; when the control unit is in the second control state, a second feedforward coefficient is set for the feedforward unit.

[0185] Thus, the parameter adaptive device 100 sets the feedforward control parameter of the feedforward unit 220 from the first feedforward coefficient to the second feedforward coefficient when the control unit 210 is in the second control state, thereby cmd Before the sudden change, the speed command signal v cmd Compensation is performed to better exert the prediction and compensation effects of the feedforward unit 220 , reduce the output error of the servo system 1000 , reduce the adjustment time, and improve the dynamic response capability of the servo system 1000 .

[0186] Among them, step 452 may specifically include: when the control unit is in the first control state and the third control state, setting a first speed feedforward coefficient for the feedforward unit, and when the control unit is in the second control state, setting a second speed feedforward coefficient for the feedforward unit; and / or, step 452 may specifically include: when the control unit is in the first control state and the third control state, setting a first acceleration feedforward coefficient for the feedforward unit, and when the control unit is in the second control state, setting a second acceleration feedforward coefficient for the feedforward unit.

[0187] For example, in this embodiment, step 452 specifically includes: when the control unit is in the first control state and the third control state, setting a first speed feedforward coefficient for the feedforward unit, and when the control unit is in the second control state, setting a second speed feedforward coefficient for the feedforward unit. cmd Feedforward compensation is performed, and the acceleration feedforward controller 222 is used to adjust the acceleration command signal a cmd Feedforward compensation is performed by adjusting the speed command signal v cmd and acceleration command signal a cmd Performing feedforward compensation together can improve the compensation effect, thereby effectively improving the dynamic response capability of the servo system 1000, improving the trajectory tracking accuracy of the servo system 1000, and reducing the adjustment time of the servo system 1000.

[0188] In some embodiments, step 452 may specifically include: when the control unit is in the first control state and the third control state, setting a first speed feedforward coefficient for the feedforward unit, and when the control unit is in the second control state, setting a second speed feedforward coefficient for the feedforward unit; or, when the control unit is in the first control state and the third control state, setting a first acceleration feedforward coefficient for the feedforward unit, and when the control unit is in the second control state, setting a second acceleration feedforward coefficient for the feedforward unit. In this way, the amount of calculation when the servo system 1000 is working can be reduced.

[0189] See also Fig. 9 In step 452, "setting a first feedforward coefficient for the feedforward unit" specifically includes:

[0190] Step 4531, obtaining characteristic parameters of the servo system.

[0191] The characteristic parameters of the servo system 1000 can be obtained through the system identification module 120. The characteristic parameters include the inertia parameter and delay parameter of the drive unit 300, the position proportional coefficient K of the position proportional gain device 2112, and the position proportional coefficient K of the position proportional gain device 2112. pp , the speed proportional coefficient K of the speed feedback controller 2123 vp and speed integral coefficient K vi , the speed filter coefficient ω of the speed filter 2124 vf , the speed feedback coefficient K of the speed feedback gain device 2126 vf .

[0192] Exemplarily, the drive unit 300 can be characterized by inertia and time delay. The transfer function of the drive unit 300 satisfies the following relationship:

[0193]

[0194] Wherein, P represents the transfer function of the driving unit 300, J represents the inertia parameter, τ represents the time delay parameter, and s represents the Laplace transform operator.

[0195] In some embodiments, the transfer function of the driving unit 300 may also be expressed in other forms of mathematics, which are not specifically limited in the present application.

[0196] Step 4532, obtaining the first feedforward coefficient according to the characteristic parameter.

[0197] Wherein, step 4532 specifically includes obtaining the first velocity feedforward coefficient and the first acceleration feedforward coefficient according to the first transfer function. The first velocity feedforward coefficient and the first acceleration feedforward coefficient are used to make the servo system 1000 meet the preset performance index. The preset performance index can be that when the command signal remains stable, the output signal of the servo system 1000 remains stable, and the steady-state error is within a threshold range.

[0198] Step 4533, obtaining a first transfer function from the control module to the driving unit according to the characteristic parameters; the control module includes the control unit and the feedforward unit.

[0199] The first feedforward coefficient includes a first velocity feedforward coefficient and a first acceleration feedforward coefficient. The first transfer function satisfies the following relationship:

[0200]

[0201] Among them, T ppe It is represented as the first transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp is represented by the position scale coefficient, s is represented by the Laplace transform operator, K pvfw0 Expressed as the first speed feedforward coefficient, K pafw0 Expressed as the first acceleration feedforward coefficient.

[0202] It can be understood that when the transfer function of the drive unit 300, the transfer function of the speed feedback controller 2123, and the transfer function of the speed filter 2124 are expressed in other forms of mathematics, the specific mathematical expression of the first transfer function can be adaptively adjusted, and the specific mathematical expression of the first transfer function is not specifically limited in this application.

[0203] In some embodiments, the parameter adaptation module 110 is further configured to obtain a first transfer function according to the characteristic parameter and the first feed-forward coefficient.

[0204] Exemplarily, the first speed feedforward coefficient is set to K pvfw0 =1; the first acceleration feedforward coefficient is set to K pafw0 =K vf / (K vp K vi ). After substituting the first velocity feedforward coefficient and the first acceleration feedforward coefficient into the first transfer function, the first transfer function is:

[0205]

[0206] In some embodiments, the first velocity feed-forward coefficient and the first acceleration feed-forward coefficient may also be set to other values ​​according to actual needs, which are not specifically limited in the present application.

[0207] Please also read Fig.10 and Fig.11 In step 452, "setting a second feedforward coefficient for the feedforward unit" specifically includes:

[0208] Step 4541, obtaining a position error signal according to the position command signal and the first transfer function.

[0209] Among them, the position error signal satisfies the following relationship:

[0210]

[0211] Among them, p eer Expressed as the position error signal, Expressed as the inverse Laplace transform, p cmd Expressed as position command signal, T ppe It is represented as the first transfer function and * is represented as the convolution operation.

[0212] Step 4542, obtaining a pre-compensation signal corresponding to the control unit according to the position error signal.

[0213] The pre-compensation signal is a feed-forward signal output by the feed-forward unit 220 when the control unit 210 is in the second control state. The pre-compensation signal is a theoretical feed-forward signal output by the feed-forward unit 220 when the servo system 1000 meets the preset performance index. The pre-compensation signal is used to reduce or eliminate the position error between the output signal of the servo system 1000 and the command signal when the command signal changes, thereby improving the dynamic response capability of the servo system 1000 and reducing the adjustment time of the servo system 1000.

[0214] Step 4542 may specifically include:

[0215] Step 5421, obtaining a second transfer function between the input of the speed control unit in the control unit and the position error signal based on the characteristic parameters; the position control unit in the control unit is used to obtain the position error signal based on the position command signal and the output signal of the detection unit.

[0216] The second transfer function satisfies the following relationship:

[0217]

[0218] Among them, T vpeIt is represented as the second transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp It is represented as the position scale coefficient and s is represented as the Laplace transform operator.

[0219] Before step 5421, step 4521 further includes: obtaining the start time of the second control state. At the start time of the second control state, the speed command signal v cmd The amplitude is zero. The start time of the second control state is: t0 = t1-K pafw0 The start time of the first control state can be the speed command signal v cmd The end time of the third control state can be the speed command signal v cmd The moment when the next mutation begins.

[0220] Step 5422: Obtain the pre-compensation signal according to the position error signal and the second transfer function.

[0221] The pre-compensation signal can be represented by series fitting. The pre-compensation signal satisfies the following relationship:

[0222]

[0223] Among them, f pcfw represents the pre-compensation signal, n represents the maximum order of the pre-compensation signal, i represents the i-th order of the pre-compensation signal, and g i It is expressed as the function of the pre-compensation signal at the i-th order, λ i The coefficients of the function of the i-th order are represented. The value of n can be less than or equal to 50. For example, n can be 3, 4, 5, 8, 10, 15, 20, 25, 30, 35, 40, 45, 50, etc.

[0224] Step 5422 may specifically include: obtaining an estimated error signal based on the pre-compensation signal and the second transfer function; and obtaining the pre-compensation signal based on the position error signal, the estimated error signal and the second preset relationship.

[0225] The estimated error signal is used to represent the error between the output of the servo system 1000 under the control of the pre-compensation signal and the pre-compensation signal. The estimated error signal can be expressed as e g :

[0226]

[0227] Among them, p i Represented as g i The estimated error signal is the sum of the error responses represented by functions of all orders of the precompensated signal.

[0228] When the sum of the position error signal and the estimated error signal is minimum, the preset compensation signal can reduce or eliminate the position error between the output signal of the servo system 1000 and the command signal to the greatest extent.

[0229] Step 5422 may specifically include: obtaining coefficients of the function representation of the pre-compensation signal according to a first preset relationship, and obtaining the pre-compensation signal according to the coefficients. The first preset relationship is:

[0230]

[0231]

[0232] Among them, t2 represents the end time of the third control state, T vpe Expressed as the second transfer function, p i Represented as g i The error response, represents the inverse Laplace transform, * represents the convolution operation, p eer Expressed as position error signal, e p It is expressed as the integral of the square of the sum of the position error signal and all error responses between t0 and t2, that is, the integral of the square of the sum of the position error response signal and the estimated error signal between t0 and t2. p The coefficient λ can be obtained by minimizing i .

[0233] Step 4543, obtaining the feedforward compensation coefficient of the feedforward unit according to the speed command signal, the acceleration command signal and the pre-compensation signal.

[0234] Among them, step 4543 specifically includes: obtaining a fitting signal according to the speed command signal, the acceleration command signal and the feedforward compensation coefficient, and obtaining the feedforward compensation coefficient corresponding to when the fitting error between the pre-compensation signal and the fitting signal is minimized.

[0235] The feedforward compensation coefficient includes the speed feedforward compensation coefficient and the acceleration feedforward compensation coefficient. The product of the speed command signal and the speed feedforward compensation coefficient is the first product, the product of the acceleration command signal and the acceleration feedforward compensation coefficient is the second product, and the fitting signal is the sum of the first product and the second product. The fitting signal is: in, Expressed as the speed feedforward compensation coefficient, The step 4543 specifically includes: obtaining the velocity feedforward compensation coefficient and the acceleration feedforward compensation coefficient according to the second preset relationship, and the second preset relationship is:

[0236]

[0237] Among them, f pcfw Represented as the pre-compensation signal, v cmd Expressed as speed command signal, a cmd Expressed as acceleration command signal, Expressed as the speed feedforward compensation coefficient, Expressed as the acceleration feedforward compensation coefficient, e f It is represented as the fitting error, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

[0238] Step 4544, obtaining the second feedforward coefficient according to the first feedforward coefficient and the feedforward compensation coefficient, wherein the second feedforward coefficient is the sum of the first feedforward coefficient and the feedforward compensation coefficient.

[0239] Among them, the second velocity feedforward coefficient is the sum of the first velocity feedforward coefficient and the velocity feedforward compensation coefficient, and the second acceleration feedforward coefficient is the sum of the first acceleration feedforward coefficient and the acceleration feedforward compensation coefficient. The second acceleration feedforward coefficient and the second velocity feedforward coefficient are:

[0240]

[0241] Among them, K pafw1 Expressed as the second acceleration feedforward coefficient, K pvfw1 Expressed as the second speed feedforward coefficient.

[0242] See also Fig.12 , the embodiment of the present application further provides a parameter adaptive device 600. The parameter adaptive device 600 includes a memory 610 and a processor 620. The memory 610 is used to store program instructions, and the processor 620 is used to execute any of the above parameter adaptive methods by running or executing computer programs and / or modules stored in the memory 610, and calling program instructions. For example, the processor 620 is also used to execute Figure 7 Steps 41 to 45 in Figure 8 Steps 451 to 452 in Fig. 9 Steps 4531 to 4533 in Fig.10 Steps 4541 to 4544, Fig.11Specifically, the memory 610 stores program codes, and the processor 620 is used to call the program codes in the memory 610 to execute all the steps in the above parameter adaptation method.

[0243] The memory 610 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, application programs required for multiple functions, etc.; the data storage area may store data created according to the operating system, data generated by the application programs, etc. In addition, the memory 610 may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), multiple disk storage devices, flash memory devices, or other volatile solid-state storage devices.

[0244] The processor 620 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0245] It should be understood by those skilled in the art that Fig.12 The parameter adaptive device 600 is merely an example and does not constitute a limitation on the parameter adaptive device 600. The parameter adaptive device 600 may include Fig.12 More or fewer components as shown, or a combination of certain components, or different components, for example, the parameter adaptation device 600 may also include a communication module, a power supply module, etc.

[0246] The embodiment of the present application also provides a computer-readable storage medium, which is used to store instructions, and when the instructions are executed by the processor, any of the above parameter adaptation methods is implemented. The computer-readable storage medium includes but is not limited to a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a read-only memory (English: Read-Only Memory, abbreviated: ROM) or a random access memory (English: Random Access Memory, abbreviated: RAM) and other media that can store program codes.

[0247] Please also read Figure 3 , Figure 4 , Figure 5 , Fig.13 and Fig.14 , Fig.13 is a schematic diagram of an actual frequency domain response model and a theoretical frequency domain response model of a servo system 1000 provided in an embodiment of the present application, Fig.14 is the error between the output signal and the position command signal of the conventional servo system and the error between the output signal and the position command signal of the servo system 1000 provided in the embodiment of the present application. cmd The error waveform between . Fig.13 In FIG. 1 , the solid line represents a schematic diagram of a theoretical frequency domain response model of the servo system 1000 , and the dotted line represents a schematic diagram of an actual frequency domain response model of the servo system 1000 . Fig.14 In the figure, the dotted line represents the error curve between the output signal of the conventional servo system and the position command signal; the solid line represents the error curve between the output signal of the servo system 1000 provided in the embodiment of the present application and the position command signal p cmd The dotted line represents the speed command signal v cmd signal curve.

[0248] In this embodiment, the driving unit 300 is configured as a linear motor. Fig.13 The inertia parameter and delay parameter of the drive unit 300 can be identified. The inertia parameter of the drive unit 300 is 1.4786×10 -6 , the delay parameter is 5.493×10 -4 . Speed ​​proportionality factor K vp is 2.0918×10 -5 , speed integral coefficient K vi is 6.4494×10 3 , speed filter coefficient ω vf is 800, speed feedback coefficient K vf is 7.5132×10 -4 , position proportional coefficient K pp It is 47.7266.

[0249] The first speed feedforward coefficient obtained by the parameter adaptive module 110 is K pvfw0 =1, the first acceleration feedforward coefficient is K pafw0 =5.5691×10 -3 ; The second speed feedforward coefficient obtained is K pvfw1 =-0.387, the second acceleration feedforward coefficient is K pafw1 =-9.8159×10 -5 .

[0250] according to Fig.14 It can be seen that in the traditional servo system, the position output signal of the servo system and the position command signal p cmd The maximum error between them is 24cnt, and the adjustment time for the error adjustment to the preset performance index is 73.5ms. In the embodiment of the present application, when the control unit 210 is in the first control state and the third control state, the first velocity feedforward coefficient and the first acceleration feedforward coefficient are set for the feedforward unit 220, and when the control unit 210 is in the second control state, the second velocity feedforward coefficient and the second acceleration feedforward coefficient are set for the feedforward unit 220. The position output signal of the drive unit 300 is equal to the position command signal p cmd The maximum error between the position output signal and the position command signal p is 3cnt, and the adjustment time for the error to be adjusted to the preset performance index is 1ms. Therefore, in the embodiment of the present application, the parameter adaptive module 110 adjusts the feedforward control parameter of the feedforward unit 220 when the command signal received by the control unit 210 changes, which can effectively reduce the difference between the position output signal of the servo system 1000 and the position command signal p cmd The error between them is reduced, and the adjustment time of the drive unit 300 is reduced, thereby improving the response speed of the positioning movement of the servo system 1000, reducing the dynamic error in the positioning process, greatly improving the dynamic response capability of the servo system 1000, and improving the tracking capability of the servo system 1000.

[0251] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0252] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0253] In several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. When the above-mentioned parameter adaptation method is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc., and can be a processor in a computer device) to perform all or part of the steps of the above-mentioned parameter adaptation method in each embodiment of the present application. Among them, the aforementioned storage medium may include: U disk, mobile hard disk, disk, CD, read-only memory (English: Read-Only Memory, abbreviated: ROM) or random access memory (English: Random Access Memory, abbreviated: RAM) and other media that can store program codes.

[0254] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A parameter adaptive device, used to connect with a servo system, characterized in that: The servo system comprises a control module, a driving unit and a detection unit, wherein the control module comprises a control unit and a feedforward unit, wherein the control unit is connected to the driving unit, the feedforward unit is connected to the control unit, and the detection unit is connected between the driving unit and the control unit; The parameter adaptive device comprises a parameter adaptive module, which is respectively connected to the control unit and the feedforward unit; the parameter adaptive module is used to adjust the feedforward control parameter of the feedforward unit when a speed command signal received by the control unit changes suddenly.

2. The parameter adaptive device according to claim 1, characterized in that: The speed command signal is a non-zero signal before a sudden change occurs.

3. The parameter adaptive device according to claim 1, characterized in that: The control unit has a continuous first control state, a second control state and a third control state under the speed command signal. When the control unit is in the first control state and the second control state, the speed command signal received by the control unit is a first command signal. When the control unit is in the third control state, the speed command signal received by the control unit is a second command signal. The second command signal undergoes a sudden change relative to the first command signal. The feedforward control parameters include a first feedforward coefficient and a second feedforward coefficient. When the control unit is in the first control state and the third control state, the parameter adaptive module is used to set the first feedforward coefficient for the feedforward unit. When the control unit is in the second control state, the parameter adaptive module is used to set the second feedforward coefficient for the feedforward unit.

4. The parameter adaptive device according to claim 3, characterized in that: The feedforward unit includes a velocity feedforward controller, the first feedforward coefficient includes a first velocity feedforward coefficient, and the second feedforward coefficient includes a second velocity feedforward coefficient; or, the feedforward unit includes an acceleration feedforward controller, the first feedforward coefficient includes a first acceleration feedforward coefficient, and the second feedforward coefficient includes a second acceleration feedforward coefficient; or, the feedforward unit includes a velocity feedforward controller and an acceleration feedforward controller, the first feedforward coefficient includes a first velocity feedforward coefficient and a first acceleration feedforward coefficient, and the second feedforward coefficient includes a second velocity feedforward coefficient and a second acceleration feedforward coefficient.

5. The parameter adaptive device according to claim 3, characterized in that: The parameter adaptive device also includes a system identification module, which is respectively connected to the control unit, the feedforward unit, the drive unit and the parameter adaptive module. The system identification module is used to identify characteristic parameters of the servo system. The parameter adaptive module is also used to obtain the first feedforward coefficient based on the characteristic parameters, and obtain the first transfer function from the control module to the drive unit based on the characteristic parameters.

6. The parameter adaptive device according to claim 3, characterized in that: The characteristic parameters include inertia parameters, delay parameters, position proportional coefficients, speed proportional coefficients, speed integral coefficients, speed feedback coefficients, and speed filter coefficients. The first feedforward coefficients include first speed feedforward coefficients and first acceleration feedforward coefficients. The first transfer function satisfies the following relationship: [J(s+ω vf )-K pafw0 K vp oh vf e -τs ]s 3 +(K vf -K pafw0 K vi K vp )s 2 oh vf e -τs Among them, T ppe is represented as the first transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp is represented by the position scale coefficient, s is represented by the Laplace transform operator, J pvfw0 Expressed as the first speed feedforward coefficient, K pafw0 Expressed as the first acceleration feed-forward coefficient.

7. The parameter adaptive device according to claim 5, characterized in that: The control unit is also used to receive a position command signal and an acceleration command signal, and the parameter adaptive module is also used to obtain a position error signal based on the position command signal and the first transfer function, and to obtain a pre-compensation signal corresponding to the control unit based on the position error signal, and to obtain a feedforward compensation coefficient of the feedforward unit based on the speed command signal, the acceleration command signal and the pre-compensation signal, wherein the second feedforward coefficient is the sum of the first feedforward coefficient and the feedforward compensation coefficient.

8. The parameter adaptive device according to claim 7, characterized in that: The position error signal satisfies the following relationship: Among them, p eer Expressed as the position error signal, Expressed as the inverse Laplace transform, p cmd Expressed as the position command signal, T ppe is represented as the first transfer function, and * is represented as the convolution operation.

9. The parameter adaptive device according to claim 7, characterized in that: The control unit includes a position control unit and a speed control unit, the output end of the feedforward unit and the output end of the position control unit are respectively connected to the input end of the speed control unit, the output end of the speed control unit is connected to the input end of the drive unit, and the output end of the detection unit is respectively connected to the position control unit and the speed control unit; the position control unit is used to obtain the position error signal according to the position command signal and the output signal of the detection unit, and the parameter adaptive module is used to obtain a second transfer function between the input of the speed control unit and the position error signal according to the characteristic parameters, and obtain the pre-compensation signal according to the position error signal and the second transfer function.

10. The parameter adaptive device according to claim 9, characterized in that: The characteristic parameters include inertia parameters, time delay parameters, position proportional coefficients, speed proportional coefficients, speed integral coefficients, speed feedback coefficients, and speed filter coefficients. The second transfer function satisfies the following relationship: Among them, T vpe is represented as the second transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp It is represented as the position scale coefficient, and s is represented as the Laplace transform operator.

11. The parameter adaptive device according to claim 9, characterized in that: The pre-compensation signal satisfies the following relationship: Among them, f pcfw is represented by the pre-compensation signal, n is represented by the maximum order of the pre-compensation signal, i is represented by the i-th order of the pre-compensation signal, and g is represented by the maximum order of the pre-compensation signal. i It is expressed as the function of the pre-compensation signal at the i-th order, λ i It is represented as the coefficient of the function of the i-th order, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

12. The parameter adaptive device according to claim 11, characterized in that: The parameter adaptation module is used to obtain coefficients of the function representation of the pre-compensation signal according to a first preset relationship, wherein the first preset relationship is: Wherein, t2 represents the end time of the third control state, T vpe Expressed as the second transfer function, p i Represented as g i The error response, represents the inverse Laplace transform, * represents the convolution operation, p eer Expressed as the position error signal, e p It is expressed as the integral of the position error signal and the square of the sum of all the error responses between t0-t2.

13. The parameter adaptive device according to claim 7, characterized in that: The parameter adaptive module is also used to obtain a fitting signal according to the speed command signal, the acceleration command signal and the feedforward compensation coefficient, and obtain the feedforward compensation coefficient corresponding to when the fitting error between the pre-compensation signal and the fitting signal is minimized.

14. The parameter adaptive device according to claim 13, characterized in that: The feedforward compensation coefficient includes a speed feedforward compensation coefficient and an acceleration feedforward compensation coefficient, the product of the speed command signal and the speed feedforward compensation coefficient is a first product, the product of the acceleration command signal and the acceleration feedforward compensation coefficient is a second product, the fitting signal is the sum of the first product and the second product, and the parameter adaptive module is used to obtain the speed feedforward compensation coefficient and the acceleration feedforward compensation coefficient according to a second preset relationship, and the second preset relationship is: Among them, f pcfw Denoted as the pre-compensation signal, v cmd Expressed as the speed command signal, a cmd Expressed as the acceleration command signal, Expressed as the speed feedforward compensation coefficient, Expressed as the acceleration feedforward compensation coefficient, e f It is represented as the fitting error, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

15. A servo system, characterized in that: include: A control module, a drive unit, a detection unit and a parameter adaptive device as described in any one of claims 1 to 14, wherein the control module includes a control unit and a feedforward unit, the control unit is connected to the drive unit, the feedforward unit is connected to the control unit, the detection unit is connected between the drive unit and the control unit, and the parameter adaptive device is respectively connected to the control unit and the feedforward unit.

16. A parameter adaptation method, characterized in that: The parameter adaptation method is applied to the parameter adaptation device according to any one of claims 1 to 4, or the servo system according to claim 15, and the parameter adaptation method comprises: Obtaining a speed command signal from a control unit; Determining whether a sudden change occurs in the speed command signal; When it is determined that the speed command signal has a sudden change, a feedforward control parameter of the feedforward unit is adjusted.

17. The parameter adaptation method according to claim 16, characterized in that: After determining whether the speed command signal has a sudden change, the method further includes: It is determined whether the speed command signal is a zero signal before the sudden change occurs, and when it is determined that the speed command signal is a non-zero signal before the sudden change occurs, the feedforward control parameter of the feedforward unit is adjusted.

18. The parameter adaptation method according to claim 16, characterized in that: When it is determined that the speed command signal has a sudden change, adjusting the feedforward control parameter of the feedforward unit comprises: Determine a first control state, a second control state, and a third control state in which the control unit is in succession under the speed command signal; when the control unit is in the first control state and the second control state, the speed command signal received by the control unit is a first command signal, and when the control unit is in the third control state, the speed command signal received by the control unit is a second command signal, and the second command signal undergoes a sudden change relative to the first command signal; When the control unit is in the first control state and the third control state, a first feedforward coefficient is set for the feedforward unit, and when the control unit is in the second control state, a second feedforward coefficient is set for the feedforward unit.

19. The parameter adaptation method according to claim 18, characterized in that: The method of setting a first feedforward coefficient for the feedforward unit when the control unit is in the first control state and the third control state, and setting a second feedforward coefficient for the feedforward unit when the control unit is in the second control state, comprises: When the control unit is in the first control state and the third control state, the first velocity feedforward coefficient is set for the feedforward unit, and when the control unit is in the second control state, the second velocity feedforward coefficient is set for the feedforward unit; or, when the control unit is in the first control state and the third control state, the first acceleration feedforward coefficient is set for the feedforward unit, and when the control unit is in the second control state, the second acceleration feedforward coefficient is set for the feedforward unit; or, when the control unit is in the first control state and the third control state, the first velocity feedforward coefficient and the first acceleration feedforward coefficient are set for the feedforward unit, and when the control unit is in the second control state, the second velocity feedforward coefficient and the second acceleration feedforward coefficient are set for the feedforward unit.

20. The parameter adaptation method according to claim 18, characterized in that: The step of setting a first feedforward coefficient for the feedforward unit comprises: Obtain characteristic parameters of the servo system; Obtaining the first feedforward coefficient according to the characteristic parameter; A first transfer function from a control module to a driving unit is obtained according to the characteristic parameters; the control module includes the control unit and the feedforward unit.

21. The parameter adaptation method according to claim 20, characterized in that: The characteristic parameters include inertia parameters, delay parameters, position proportional coefficients, speed proportional coefficients, speed integral coefficients, speed feedback coefficients, and speed filter coefficients. The first feedforward coefficients include first speed feedforward coefficients and first acceleration feedforward coefficients. The first transfer function satisfies the following relationship: [J(s+ω vf )-K pafw0 K vp oh vf e -τs ]s 3 +(K vf -K pafw0 K vi K vp )s 2 oh vf e -τs Among them, T ppe is represented as the first transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp is represented by the position scale coefficient, s is represented by the Laplace transform operator, K pvfw0 Expressed as the first speed feedforward coefficient, K pafw0 Expressed as the first acceleration feed-forward coefficient.

22. The parameter adaptation method according to claim 20, characterized in that: The control unit is further configured to receive a position command signal and an acceleration command signal, and the second feedforward coefficient is set for the feedforward unit, including: Obtaining a position error signal according to the position command signal and the first transfer function; Obtaining a pre-compensation signal corresponding to the control unit according to the position error signal; Obtaining a feedforward compensation coefficient of the feedforward unit according to the speed command signal, the acceleration command signal and the pre-compensation signal; The second feedforward coefficient is obtained according to the first feedforward coefficient and the feedforward compensation coefficient, and the second feedforward coefficient is the sum of the first feedforward coefficient and the feedforward compensation coefficient.

23. The parameter adaptation method according to claim 22, characterized in that: The position error signal satisfies the following relationship: Among them, p eer Expressed as the position error signal, Expressed as the inverse Laplace transform, p cmd Expressed as the position command signal, T ppe is represented as the first transfer function, and * is represented as the convolution operation.

24. The parameter adaptation method according to claim 22, characterized in that: The obtaining a pre-compensation signal corresponding to the control unit according to the position error signal comprises: A second transfer function between the input of the speed control unit in the control unit and the position error signal is obtained according to the characteristic parameter; the position control unit in the control unit is used to obtain the position error signal according to the position command signal and the output signal of the detection unit; The pre-compensation signal is obtained according to the position error signal and the second transfer function.

25. The parameter adaptation method according to claim 24, characterized in that: The characteristic parameters include inertia parameters, time delay parameters, position proportional coefficients, speed proportional coefficients, speed integral coefficients, speed feedback coefficients, and speed filter coefficients. The second transfer function satisfies the following relationship: Among them, T vpe is represented as the second transfer function, J is represented as the inertia parameter, τ is represented as the time delay parameter, K vp Expressed as the speed proportionality coefficient, K vi Expressed as the velocity integral coefficient, K vf Expressed as the speed feedback coefficient, ω vf Expressed as the velocity filter coefficient, K pp It is represented as the position scale coefficient, and s is represented as the Laplace transform operator.

26. The parameter adaptation method according to claim 24, characterized in that: The pre-compensation signal satisfies the following relationship: Among them, f pcfw is represented by the pre-compensation signal, n is represented by the maximum order of the pre-compensation signal, i is represented by the i-th order of the pre-compensation signal, and g is represented by the maximum order of the pre-compensation signal. i It is expressed as the function of the pre-compensation signal at the i-th order, λ i It is represented as the coefficient of the function of the i-th order, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

27. The parameter adaptation method according to claim 26, characterized in that: The obtaining the pre-compensation signal according to the position error signal and the second transfer function comprises: The coefficients of the function representation of the pre-compensation signal are obtained according to a first preset relationship, wherein the first preset relationship is: Wherein, t2 represents the end time of the third control state, T vpe Expressed as the second transfer function, p i Represented as g i The error response, represents the inverse Laplace transform, * represents the convolution operation, p eer Expressed as the position error signal, e p It is expressed as the integral of the position error signal and the square of the sum of all the error responses between t0-t2.

28. The parameter adaptation method according to claim 22, characterized in that: The step of obtaining the feedforward compensation coefficient of the feedforward unit according to the speed command signal, the acceleration command signal and the pre-compensation signal comprises: A fitting signal is obtained according to the speed command signal, the acceleration command signal and the feedforward compensation coefficient, and the feedforward compensation coefficient corresponding to when the fitting error between the pre-compensation signal and the fitting signal is minimized is obtained.

29. The parameter adaptation method according to claim 28, characterized in that: The feedforward compensation coefficient includes a speed feedforward compensation coefficient and an acceleration feedforward compensation coefficient, the product of the speed command signal and the speed feedforward compensation coefficient is a first product, the product of the acceleration command signal and the acceleration feedforward compensation coefficient is a second product, and the fitting signal is the sum of the first product and the second product; The step of obtaining a fitting signal according to the speed command signal, the acceleration command signal and the feedforward compensation coefficient, and obtaining the feedforward compensation coefficient corresponding to when the fitting error between the pre-compensation signal and the fitting signal is minimum, comprises: The velocity feedforward compensation coefficient and the acceleration feedforward compensation coefficient are obtained according to a second preset relationship, wherein the second preset relationship is: Among them, f pcfw Denoted as the pre-compensation signal, v cmd Expressed as the speed command signal, a cmd Expressed as the acceleration command signal, Expressed as the speed feedforward compensation coefficient, Expressed as the acceleration feedforward compensation coefficient, e f It is represented as the fitting error, t0 is represented as the starting time of the second control state, and t1 is represented as the ending time of the second control state.

30. A parameter adaptive device, characterized in that: It comprises a memory and a processor, wherein the memory is used to store program instructions, and the processor is used to call the program instructions to execute the parameter adaptation method as described in any one of claims 16-29.

31. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store instructions, and when the instructions are executed, the parameter adaptation method according to any one of claims 16 to 29 is implemented.

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