Multi-stage flexible load vibration suppression method and system, industrial equipment and storage medium

Abstract

The invention discloses a multi-stage flexible load vibration suppression method and system, industrial equipment and a storage medium, and relates to the technical field of motor control, and the multi-stage flexible load vibration suppression method comprises the steps: carrying out the recursion processing of an initial rotating speed and an initial torque through vibration suppression parameters corresponding to a multi-stage flexible load, and obtaining a multi-stage flexible load vibration suppression parameter; generating a target rotating speed and a target torque; generating a position feed-forward instruction, a rotating speed feed-forward instruction and a torque feed-forward instruction according to the target rotating speed and the target torque; and industrial equipment is controlled according to the position feed-forward instruction, the rotating speed feed-forward instruction and the torque feed-forward instruction. The technical problem that an existing flexible system vibration suppression scheme is poor in scene adaptability is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and particularly relates to a multi-stage flexible load vibration suppression method and system, industrial equipment and a computer readable storage medium. BACKGROUND

[0002] In industrial equipment, motors are often connected with loads through flexible transmission components such as gears, belts, shafts and springs to realize power transmission. However, the flexible characteristics of the above-mentioned transmission components will cause the overall load to become a flexible load, thereby affecting the control performance of the motor on the load, which is often manifested as low-frequency vibration phenomenon when the system is in place. The current low-frequency vibration method usually abstracts the flexible load as a two-inertia system for suppression processing. The above-mentioned vibration suppression method will cause the phase delay of the instruction, resulting in a large position tracking error and low tracking accuracy. Moreover, this method is not suitable for multi-stage flexible load systems, and it is difficult to solve the frequency coupling problem existing in the multi-stage flexible load system. In summary, the current flexible system vibration suppression scheme has poor scene adaptability. SUMMARY

[0003] The main purpose of the present application is to provide a multi-stage flexible load vibration suppression method and system, industrial equipment and a computer readable storage medium, which aims to solve the technical problem of poor scene adaptability of the current flexible system vibration suppression scheme.

[0004] To achieve the above-mentioned purpose, the present application provides a multi-stage flexible load vibration suppression method, which comprises:

[0005] The initial rotational speed and the initial torque are recursively processed through the vibration suppression parameters corresponding to the multi-stage flexible load respectively to generate a target rotational speed and a target torque;

[0006] According to the target rotational speed and the target torque, a position feedforward instruction, a rotational speed feedforward instruction and a torque feedforward instruction are generated;

[0007] According to the position feedforward instruction, the rotational speed feedforward instruction and the torque feedforward instruction, an industrial equipment is controlled.

[0008] In an embodiment, the step of recursively processing the initial rotational speed and the initial torque through the vibration suppression parameters corresponding to the multi-stage flexible load respectively to generate a target rotational speed and a target torque comprises:

[0009] The initial rotational speed and the initial torque are vibration suppressed through a first-stage vibration suppression parameter to obtain an output rotational speed and an output torque;

[0010] The output rotation speed and output torque generated after the vibration suppression of the previous stage are subjected to vibration suppression by the vibration suppression parameter of the next stage, so as to obtain the output rotation speed and output torque.

[0011] If the output rotation speed and output torque generated after the vibration suppression of the previous stage are subjected to vibration suppression by the vibration suppression parameter of the last stage, the output rotation speed and output torque obtained are taken as the target rotation speed and target torque.

[0012] In an embodiment, the vibration suppression parameter at least includes the vibration frequency, the moment of inertia, the rigidity coefficient, the damping wave frequency, the transmission mechanism damping and the load damping of the flexible load.

[0013] In an embodiment, before the step of recursively processing the initial rotation speed and initial torque by the vibration suppression parameter corresponding to each flexible load of the multiple stages, the method further comprises:

[0014] obtaining a current position instruction, differentiating the current position instruction to obtain an initial rotation speed;

[0015] detecting a current load torque and setting the detected load torque as an initial torque;

[0016] If the load torque is not detected, the initial torque is set as a preset value.

[0017] In an embodiment, the step of generating a position feedforward instruction, a rotation speed feedforward instruction and a torque feedforward instruction according to the target rotation speed and the target torque comprises:

[0018] integrating the target rotation speed to obtain a position feedforward instruction;

[0019] setting the target rotation speed as a rotation speed feedforward instruction;

[0020] calculating a torque feedforward instruction according to the target rotation speed, the target torque, the moment of inertia of the motor and the damping coefficient.

[0021] The application also provides a multi-stage flexible load vibration suppression system, which comprises at least a multi-stage vibration suppression module, the multi-stage vibration suppression module comprising a plurality of vibration suppression sub-modules and an instruction output module.

[0022] Each vibration suppression sub-module is connected in sequence and corresponds to each flexible load of the industrial equipment one by one, and is used for vibration suppression processing of the input rotation speed and torque to generate a new output rotation speed and output torque.

[0023] The instruction output module is connected with the last stage vibration suppression submodule, and is configured to generate a position feedforward instruction, a speed feedforward instruction and a torque feedforward instruction according to the target speed and the target torque output by the last stage vibration suppression submodule.

[0024] In an embodiment, the multi-stage vibration suppression system further comprises an instruction acquisition module configured to determine an initial speed and an initial torque according to a current position instruction and a current load torque.

[0025] In an embodiment, the instruction acquisition module further comprises a torque sensor configured to acquire the load torque.

[0026] The application further provides an industrial equipment, which is a physical equipment, and comprises at least one processor and a memory connected with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the multi-stage flexible load vibration suppression method.

[0027] The application further provides a readable storage medium, which is a computer readable storage medium, and stores a program for implementing the multi-stage flexible load vibration suppression method, and the program is executed by a processor to implement the steps of the multi-stage flexible load vibration suppression method.

[0028] The application further provides a computer program product comprising a computer program, which is executed by a processor to implement the steps of the multi-stage flexible load vibration suppression method.

[0029] The application provides a multi-stage flexible load vibration suppression method, in which an initial speed and an initial torque are recursively processed by vibration suppression parameters corresponding to respective multi-stage flexible loads to generate a target speed and a target torque, a position feedforward instruction, a speed feedforward instruction and a torque feedforward instruction are generated according to the target speed and the target torque, and an industrial equipment is controlled according to the position feedforward instruction, the speed feedforward instruction and the torque feedforward instruction. The technical scheme of the application performs multi-stage vibration suppression on the initial speed and the initial torque according to the classification of multi-stage flexible loads, can implement multi-vibration frequency suppression on a multi-flexible load system with any number of flexible loads, avoids mutual influence between multi-vibration frequencies by suppressing vibration frequencies introduced by respective loads in the multi-stage vibration suppression scheme, solves the coupling problem between multi-vibration frequencies, and can better adapt to a multi-stage flexible load system and has strong scene adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments consistent with the present application and serve to explain the principles of the application.

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, the other drawings can be obtained based on these drawings without any creative effort.

[0032] Figure 1 A flowchart of a multistage flexible load vibration suppression method in the embodiment of the present application is shown in the figure.

[0033] Figure 2 A structure diagram of a multistage flexible load system in the embodiment of the present application is shown in the figure.

[0034] Figure 3 A data processing diagram of each stage vibration suppression sub-module and instruction output module in the embodiment of the present application is shown in the figure.

[0035] Figure 4 A data processing diagram of rotation speed and torque in the embodiment of the present application is shown in the figure.

[0036] Figure 5 A data transmission diagram of the multistage vibration suppression module and the actual control loop in the embodiment of the present application is shown in the figure.

[0037] Figure 6 A device structure diagram of a hardware running environment involved in the multistage flexible load vibration suppression method in the embodiment of the present application is shown in the figure.

[0038] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0039] In order to make the above objectives, features and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without any creative effort belong to the protection scope of the present application.

[0040] The embodiment of the present application provides a multistage flexible load vibration suppression method applied to a synchronous motor control system, please refer to Figure 1 The multistage flexible load vibration suppression method comprises the following steps.

[0041] Step S10: Using the vibration suppression parameters corresponding to the multi-level flexible loads, the initial speed and initial torque are recursively processed to generate the target speed and target torque.

[0042] First, it should be noted that the multi-level flexible load vibration suppression method can be applied to a multi-level flexible load vibration suppression system, which is used to suppress vibration in industrial equipment including multiple flexible load systems. It is understood that, referring to... Figure 2 The multi-flexible load system includes a motor, a primary flexible load connected to the motor, a secondary flexible load connected to the primary flexible load, and so on, until a k-th level load is connected to the (k-1)th level load, where k is the number of flexible loads. Each level of flexible load introduces an independent vibration frequency. In order to suppress each vibration frequency and avoid coupling between vibration frequencies, in this embodiment of the invention, a multi-level vibration suppression module is used to suppress the vibration frequency corresponding to each level of load separately.

[0043] Specifically, the initial speed and initial torque need to be obtained first. The initial speed refers to the current speed of the motor of the industrial equipment, and the initial torque is the current torque of the motor. If the initial torque is not detectable, it is set to a preset value (e.g., 0). The initial speed and initial torque are then input to the vibration suppression submodules corresponding to the multi-level flexible loads. First, the first vibration suppression submodule performs function calculations based on the vibration suppression parameters corresponding to the flexible load, outputting new output speed and output torque. This is then output to the next vibration suppression submodule, and so on, recursively, until the last vibration suppression submodule outputs the target speed and target torque.

[0044] Step S20: Generate position feedforward command, speed feedforward command, and torque feedforward command based on the target speed and the target torque;

[0045] After the vibration suppression submodules at each level suppress the vibration frequency in the input speed and torque, the command output module further generates control commands for controlling the motor operation of industrial equipment. These commands include position feedforward commands, speed feedforward commands, and torque feedforward commands. It is understood that the position feedforward command can be obtained by integrating the target speed, and the target speed can be directly used as the speed feedforward command. The speed feedforward command can be calculated from the target speed, the target rotational speed, and parameters such as the motor's moment of inertia and damping coefficient.

[0046] Step S30: Control the industrial equipment according to the position feedforward command, the speed feedforward command, and the torque feedforward command.

[0047] After determining the position feedforward command, speed feedforward command, and torque feedforward command, these commands can be input into the actual control loop of the industrial equipment through the command output module to control the operation of the industrial equipment motor. The position feedforward command, speed feedforward command, and torque feedforward command are all feedforward commands processed by multiple vibration suppression sub-modules in the aforementioned multi-level vibration suppression module. Therefore, when controlling the motor operation through these command methods, the vibration frequencies introduced by various levels of flexible loads can be effectively suppressed, achieving the suppression of low-frequency vibrations in the industrial equipment.

[0048] The technical solution of this invention can suppress multiple vibration frequencies in a multi-flexible load system with any number of flexible loads, and can solve the coupling problem between vibration frequencies introduced by each level of flexible load. At the same time, the modular design of the vibration suppression module in this invention facilitates effective expansion and portability between industrial equipment, and has high usability.

[0049] In one feasible embodiment, the step of recursively processing the initial rotational speed and initial torque using vibration suppression parameters corresponding to the multi-level flexible loads to generate target rotational speed and target torque may include:

[0050] Step S11: Vibration suppression is performed on the initial rotational speed and the initial torque using the first-level vibration suppression parameters to obtain the output rotational speed and output torque;

[0051] Step S12: Using the vibration suppression parameters of the next level, the output speed and output torque generated after the vibration suppression process of the previous level are subjected to vibration suppression to obtain the output speed and output torque.

[0052] Step S13: If the output speed and output torque generated after the previous vibration suppression process are subjected to vibration suppression through the vibration suppression parameters of the last stage, the resulting output speed and output torque are used as the target speed and target torque.

[0053] Specifically, each vibration suppression submodule processes the input speed and output torque and outputs the speed and output torque, and has dual input and dual output ports, where ω out and T out For the output speed and output torque of the vibration suppression submodule, ω in and T in The input speed and input torque are the values ​​for the vibration suppression submodule. The output speed and output torque of each vibration suppression submodule are the input speed and torque of the next vibration suppression submodule. Finally, the position θ is output through the command output module. ff Rotational speed ω ff and torque Tff The vibration suppression submodules and command output module together form a multi-level vibration suppression module that recursively processes paired speeds and torques. For example, referring to... Figure 3 The first vibration suppression submodule will input the rotational speed ω in0 and torque T in0 Process the data to output a new output speed ω. out1 and output torque T out1 The data is then input to the second vibration suppression submodule, which processes it and outputs a new output speed ω. out2 and output torque T out2 And so on, until the k-th vibration suppression submodule reaches ω out(k-1) and T out(k-1) As input, the target rotational speed ω is output. outk and target torque T outk Finally, the position feedforward command θ is output through the command output module. ff , speed feedforward command ω ff and torque feedforward command T ff In the actual control loop, the operation of the motor is controlled.

[0054] It should be noted that each vibration suppression submodule corresponds one-to-one with each load and vibration suppression parameter in the multi-flexible system. Specifically, the k-th level load corresponds to the first vibration suppression submodule, the (k-1)-th level load corresponds to the second vibration suppression submodule, and so on. The first level load corresponds to the k-th vibration suppression submodule. The k-th vibration suppression submodule is connected to the command output module, which is connected to the actual control loop to output commands to control the motor operation of the industrial equipment.

[0055] In this embodiment of the invention, the input rotational speed and torque are processed by a vibration suppression submodule corresponding to each flexible load, thereby suppressing the vibration frequency introduced by each flexible load. Specifically, each vibration suppression submodule includes relevant vibration suppression parameters corresponding to each flexible load, such as moment of inertia, stiffness coefficient, damping of the flexible transmission mechanism, load damping, vibration frequency introduced by the flexible load, damping filter frequency, etc. Each vibration suppression submodule recursively processes the input rotational speed and torque by combining the above parameters, and independently completes the suppression of the vibration frequency introduced by each flexible load, which can effectively avoid the coupling between vibration frequencies and improve the vibration suppression effect.

[0056] Furthermore, in one feasible embodiment, the vibration suppression parameters include at least the vibration frequency, moment of inertia, stiffness coefficient, damping wave frequency, transmission mechanism damping, and load damping of the flexible load.

[0057] For example, the vibration suppression module includes at least a speed processing function and a torque processing function; the step of calculating and processing the initial speed and initial torque to generate new output speed and output torque may include:

[0058] Step S111: Input the initial rotational speed into the rotational speed processing function, and generate the output rotational speed through the rotational speed processing function. The parameters of the rotational speed processing function include at least the vibration frequency, stiffness coefficient, damping wave frequency, transmission mechanism damping, and load damping of the flexible load corresponding to the first vibration suppression submodule.

[0059] Step S112: Input the initial torque into the torque processing function, and generate the output torque through the torque processing function. The parameters of the torque processing function include at least the vibration frequency, moment of inertia, damping filter frequency, transmission mechanism damping, and load damping of the flexible load corresponding to the first vibration suppression submodule.

[0060] In each vibration suppression submodule, the input speed and torque are processed mainly through preset speed processing functions and torque processing functions, and new output speed and output torque are output.

[0061] For example, refer to Figure 4 The speed processing function and the torque processing function are as follows:

[0062]

[0063] Where, ω out and T out For the output speed and output torque of the vibration suppression submodule, ω in and T in The input speed and input torque of the vibration suppression submodule (in this embodiment, the input speed and output speed are the initial speed and input torque) are... J is the vibration frequency introduced by the flexible load corresponding to this module. l and K c The rotational inertia and stiffness coefficient of the flexible load (k-level flexible load) corresponding to the first vibration suppression submodule are given. and For the damping filter frequency, b e and b l These represent the damping of the flexible transmission mechanism and the load damping, respectively, with s representing the integral over time. It should be noted that in the speed and torque processing functions of the vibration suppression submodule, apart from the input and output speeds, all other parameters are fixed values ​​pre-set according to the flexible load conditions. Therefore, good vibration suppression results can be obtained without complex debugging and training.

[0064] In another feasible embodiment, the other vibration suppression submodules process the input speed and input torque in the same way as described above, and will not be repeated here.

[0065] Furthermore, in a feasible embodiment, before the step of recursively processing the initial rotational speed and initial torque using vibration suppression parameters corresponding to the multi-level flexible loads, the method may further include:

[0066] Step A10: Obtain the current position command, differentiate the current position command, and obtain the initial rotational speed;

[0067] Step A20: Detect the current load torque and set the detected load torque as the initial torque;

[0068] Step A30: If no load torque is detected, the initial torque is set to a preset value.

[0069] This invention provides a method for obtaining initial rotational speed and initial torque. It is understood that the position feedforward command is obtained by integrating the rotational speed command, and the corresponding rotational speed command (i.e., the initial rotational speed) is obtained by differentiating the position feedforward command. The initial rotational speed is the rotational speed command before vibration suppression processing. The initial torque can be obtained by detecting the torque data of the current load. If the torque of the current load is not detected, the initial torque can be set to a preset value (e.g., 0).

[0070] Furthermore, in a feasible embodiment, the step of generating position feedforward commands, speed feedforward commands, and torque feedforward commands based on the target speed and the target torque may include:

[0071] Step S21: Integrate the target rotational speed to obtain the position feedforward command;

[0072] Step S22: Set the target rotational speed as a rotational speed feedforward command;

[0073] Step S23: Calculate the torque feedforward command based on the target speed, the target torque, the motor moment of inertia, and the damping coefficient.

[0074] This invention provides a method for generating feedforward commands. The method mainly uses a command output module to calculate and process the input target speed and target torque to obtain position feedforward commands, speed feedforward commands, and torque feedforward commands, which are then output to the actual control loop of industrial equipment to control the operation of the industrial equipment motor.

[0075] Specifically, the output position feedforward command θ is calculated according to the following expression. ff , speed feedforward command ω ff and torque feedforward command Tff .

[0076]

[0077] Among them, J m b is the moment of inertia of the motor. m ω is the damping coefficient of the motor. out and T out denoted as target speed and target torque, respectively, and s is the integral symbol with respect to time.

[0078] In conjunction with the content of the foregoing embodiments, refer to Figure 5 In this embodiment of the invention, the obtained position command θ is first... ref By performing differentiation based on time s, the initial rotational speed ω is obtained. ref Then, with the obtained initial torque T l The input is fed into a multi-stage flexible load vibration suppression system, where it is processed by the vibration suppression submodules and command output modules at each stage. After processing by the multi-stage vibration suppression module, a position feedforward command θ is output. ff , speed feedforward command ω ff and torque feedforward command T ff In the actual control loop, the operation of the motor is controlled.

[0079] This invention provides a multi-level flexible load vibration suppression method. In this method, initial rotational speed and initial torque are recursively processed using vibration suppression parameters corresponding to each level of flexible load to generate target rotational speed and target torque. Based on the target rotational speed and target torque, position feedforward commands, rotational speed feedforward commands, and torque feedforward commands are generated. Industrial equipment is controlled according to these commands. This invention's solution performs multi-level vibration suppression on initial rotational speed and initial torque according to the hierarchical structure of the multi-level flexible load, enabling multi-frequency suppression of multiple vibrations in multi-flexible load systems with any number of flexible loads. Furthermore, by suppressing vibration frequencies introduced by each level of load separately, this multi-level vibration suppression scheme avoids mutual influence between multiple vibration frequencies, thus resolving coupling problems between them. This invention's solution is well-suited for multi-level flexible load systems and has strong scenario adaptability.

[0080] This invention also provides a multi-level flexible load vibration suppression system, which includes at least a multi-level vibration suppression module, and the multi-level vibration suppression module includes multiple vibration suppression sub-modules and a command output module;

[0081] Each of the vibration suppression submodules is connected in sequence and corresponds one-to-one with each flexible load of the industrial equipment. The vibration suppression submodule is used to perform vibration suppression processing on the input speed and torque to generate new output speed and output torque.

[0082] The command output module is connected to the last-stage vibration suppression submodule and is used to generate position feedforward commands, speed feedforward commands, and torque feedforward commands based on the target speed and target torque output by the last-stage vibration suppression submodule.

[0083] It should be noted that in the aforementioned multi-level flexible load vibration suppression system, referring to Figure 3 The vibration suppression sub-modules in the multi-level vibration suppression module are connected end to end in a chain-like manner. The input port of each vibration suppression sub-module is connected to the output port of the previous vibration suppression sub-module, thereby realizing the recursive processing of the input speed command and torque command. The last vibration suppression sub-module in each vibration suppression sub-module is connected to the command output module. The command output module is used to calculate the position feedforward command, speed feedforward command and torque feedforward command according to the input target speed and the target torque, and input them into the actual control loop of the industrial equipment.

[0084] It should be noted that each vibration suppression submodule is connected sequentially and corresponds one-to-one with each flexible load of the industrial equipment, but the processing direction is reversed compared to the flexible load sequence. Specifically, the first-level flexible load is directly connected to the motor, the second-level flexible load is connected to the first-level flexible load, the third-level flexible load is connected to the second-level flexible load, and so on, up to the k-level flexible load. The first vibration suppression submodule corresponds to the k-level flexible load, and the relevant vibration suppression parameters used for vibration suppression are related to the k-level flexible load (e.g., the rotational inertia and stiffness coefficient of the flexible load, damping filter frequency, damping of the flexible transmission mechanism, and load damping) to receive the initial speed and torque. The second vibration suppression submodule corresponds to the k-1-level flexible load, and so on, with the k-th vibration suppression submodule corresponding to the first-level flexible load. The k-th vibration suppression submodule is also connected to the command output module, which is connected to the actual control loop and the motor, etc., to output commands to control the motor operation.

[0085] Specifically, the method for each vibration suppression submodule to generate new output speed and output torque can refer to steps S111 to S112 of the aforementioned embodiment; the method for the command output module to calculate position feedforward command, speed feedforward command and torque feedforward command can refer to steps S21 to S23 of the aforementioned embodiment, and will not be repeated here.

[0086] Furthermore, the multi-level vibration suppression system also includes a command acquisition module (not shown in the figures), which is used to determine the initial speed and initial torque based on the current position command and the current load torque.

[0087] Specifically, the instruction acquisition module first acquires the current position instruction, differentiates the current position instruction to obtain the initial rotational speed; then it detects the current load torque and sets the detected load torque as the initial torque; if no load torque is detected, the initial torque is set to a preset value (e.g., 0).

[0088] In the technical solution of this invention embodiment, the initial torque can be determined when the load torque can be obtained, or the initial torque can be set to 0 when the system does not have the capability to obtain the load torque.

[0089] The instruction acquisition module also includes a torque sensor, which is used to acquire the load torque.

[0090] The multi-level flexible load vibration suppression system provided by this invention, employing the multi-level flexible load vibration suppression method described in the above embodiments, can solve the technical problem of poor scenario adaptability of current flexible system vibration suppression schemes. Compared with the prior art, the beneficial effects of the multi-level flexible load vibration suppression system provided by this invention are the same as those of the multi-level flexible load vibration suppression method described in the above embodiments, and other technical features of this multi-level flexible load vibration suppression system are the same as those disclosed in the previous embodiment of the multi-level flexible load vibration suppression method, and will not be repeated here.

[0091] This invention also provides an industrial device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the multi-level flexible load vibration suppression method described in Embodiment 1 above.

[0092] The following is for reference. Figure 6 The diagram illustrates a structural schematic suitable for implementing industrial equipment according to embodiments of the present disclosure. The industrial equipment in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The industrial equipment shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0093] like Figure 6As shown, the industrial equipment may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the industrial equipment. The processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows industrial equipment to communicate wirelessly or wiredly with other equipment to exchange data. While the figures show industrial equipment with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0094] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0095] The industrial equipment provided by this invention, employing the multi-stage flexible load vibration suppression method described in the above embodiments, can solve the technical problem of poor scenario adaptability of current flexible system vibration suppression schemes. Compared with the prior art, the beneficial effects of the industrial equipment provided by this invention are the same as those of the multi-stage flexible load vibration suppression method described in the above embodiments, and other technical features of this industrial equipment are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0096] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0097] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0098] This invention also provides a computer-readable storage medium having computer-readable program instructions stored thereon, the computer-readable program instructions being used to execute the multi-level flexible load vibration suppression method in Embodiment 1 above.

[0099] The computer-readable storage medium provided in this embodiment of the invention may be, for example, a USB flash drive, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0100] The aforementioned computer-readable storage medium may be included in industrial equipment or may exist independently without being assembled into industrial equipment.

[0101] The aforementioned computer-readable storage medium carries one or more programs that, when executed by industrial equipment, cause the industrial equipment to: recursively process the initial rotational speed and initial torque using vibration suppression parameters corresponding to the multi-level flexible loads to generate target rotational speed and target torque; generate position feedforward commands, rotational speed feedforward commands, and torque feedforward commands based on the target rotational speed and target torque; and control the industrial equipment based on the position feedforward commands, rotational speed feedforward commands, and torque feedforward commands.

[0102] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0103] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0104] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0105] The readable storage medium provided by this invention is a computer-readable storage medium that stores computer-readable program instructions for executing the above-described multi-level flexible load vibration suppression method, thereby solving the technical problem of poor scenario adaptability of current flexible system vibration suppression schemes. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this embodiment are the same as those of the multi-level flexible load vibration suppression method provided in Embodiment 1 above, and will not be repeated here.

[0106] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the multi-level flexible load vibration suppression method described above.

[0107] The computer program product provided by this invention can solve the technical problem of poor scenario adaptability of current vibration suppression schemes for flexible systems. Compared with the prior art, the beneficial effects of the computer program product provided in this embodiment are the same as those of the multi-level flexible load vibration suppression method provided in Embodiment 1 above, and will not be repeated here.

[0108] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of the present invention.

Claims

1. A method for suppressing vibration under multi-stage flexible loads, characterized in that, The multi-level flexible load vibration suppression method includes: By using the vibration suppression parameters corresponding to the multi-level flexible loads, the initial speed and initial torque are recursively processed to generate the target speed and target torque. Based on the target rotational speed and the target torque, generate position feedforward commands, rotational speed feedforward commands, and torque feedforward commands; The industrial equipment is controlled according to the position feedforward command, the speed feedforward command, and the torque feedforward command.

2. The multi-stage flexible load vibration suppression method as described in claim 1, characterized in that, The step of recursively processing the initial speed and initial torque using vibration suppression parameters corresponding to multiple levels of flexible loads to generate target speed and target torque includes: By using the first-level vibration suppression parameters, vibration suppression is applied to the initial rotational speed and the initial torque to obtain the output rotational speed and output torque. By using the vibration suppression parameters of the next level, the output speed and output torque generated after the vibration suppression process of the previous level are subjected to vibration suppression to obtain the output speed and output torque. If the output speed and output torque generated after the previous vibration suppression process are suppressed by the vibration suppression parameters of the last stage, the resulting output speed and output torque can be used as the target speed and target torque.

3. The multi-stage flexible load vibration suppression method as described in claim 2, characterized in that, The vibration suppression parameters include at least the vibration frequency, moment of inertia, stiffness coefficient, damping wave frequency, transmission mechanism damping, and load damping of the flexible load.

4. The multi-stage flexible load vibration suppression method as described in claim 1, characterized in that, Before the step of recursively processing the initial rotational speed and initial torque using vibration suppression parameters corresponding to the multi-level flexible loads, the method further includes: Obtain the current position command, differentiate the current position command, and obtain the initial rotational speed; Detect the current load torque and set the detected load torque as the initial torque; If no load torque is detected, the initial torque is set to a preset value.

5. The multi-stage flexible load vibration suppression method as described in claim 1, characterized in that, The step of generating position feedforward commands, speed feedforward commands, and torque feedforward commands based on the target speed and the target torque includes: Integrating the target rotational speed yields the position feedforward command; Set the target rotational speed as a rotational speed feedforward command; The torque feedforward command is calculated based on the target speed, the target torque, the motor moment of inertia, and the damping coefficient.

6. A multi-stage flexible load vibration suppression system, characterized in that, The multi-level flexible load vibration suppression system includes at least a multi-level vibration suppression module, which includes multiple vibration suppression sub-modules and a command output module. Each of the vibration suppression submodules is connected in sequence and corresponds one-to-one with each flexible load of the industrial equipment. The vibration suppression submodule is used to perform vibration suppression processing on the input speed and torque to generate new output speed and output torque. The command output module is connected to the last-stage vibration suppression submodule and is used to generate position feedforward commands, speed feedforward commands, and torque feedforward commands based on the target speed and target torque output by the last-stage vibration suppression submodule.

7. The multi-stage flexible load vibration suppression system as described in claim 6, characterized in that, The multi-level vibration suppression system also includes an instruction acquisition module, which is used to determine the initial speed and initial torque based on the current position instruction and the current load torque.

8. The multi-stage flexible load vibration suppression system as described in claim 7, characterized in that, The instruction acquisition module also includes a torque sensor, which is used to acquire the load torque.

9. An industrial device, characterized in that, The industrial equipment includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the steps of the multi-level flexible load vibration suppression method as described in any one of claims 1 to 5.

10. A readable storage medium, characterized in that, The readable storage medium is a computer-readable storage medium, on which a program for implementing a multi-level flexible load vibration suppression method is stored. The program for implementing the multi-level flexible load vibration suppression method is executed by a processor to implement the steps of the multi-level flexible load vibration suppression method as described in any one of claims 1 to 5.

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