Automatic setting method and system for control parameters, servo driver and medium

Abstract

The invention discloses an automatic setting method for control parameters. The method comprises the following steps: acquiring a currently set rigidity level; controlling the motor to move according to the motion instruction; according to the currently set rigidity level, determining an optimal gain parameter which does not exceed the current rigidity level in a preset rigidity gain table; performing automatic inertia identification when the motor moves according to the movement instruction; and adjusting a gain parameter according to the identified inertia parameter to obtain a target rigidity level and a corresponding target gain parameter. The automatic setting of the gain parameter is realized through the automatically identified inertia parameter, and the requirements of the servo driver for debugging rapidity and stability are met; according to the invention, the gain parameter of the servo driver can be automatically and quickly set without manual participation, and the parameter setting efficiency of the servo driver is improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to an automatic tuning method, system, servo driver, and medium for control parameters. Background Technology

[0002] Currently, parameter tuning of servo drives in servo system applications often involves various aspects. Although the final result is the gain parameter, i.e., the system bandwidth, the actual adjustment requires consideration of multiple different factors such as load inertia and mechanical resonance, and manual tuning is performed for each factor individually. Sometimes, it is also necessary to consider functions such as gain switching and speed feedforward, and manual tuning is performed for each function individually.

[0003] The above-mentioned method of individually adjusting parameters requires not only an understanding of the servo control principle, but also a clear understanding of how each factor affects the application effect, and individual adjustment of these factors in actual application. This undoubtedly greatly increases the burden on staff and reduces the efficiency of servo drive parameter tuning.

[0004] Therefore, the existing control parameter tuning schemes for servo drives still need to be improved and enhanced. Summary of the Invention

[0005] The main technical problem this invention addresses is how to improve the efficiency of servo drive system parameter tuning.

[0006] According to a first aspect, one embodiment provides an automatic tuning method for control parameters in a servo drive system, the method comprising: Get the currently set rigidity level; Control the motor movement according to motion commands; Based on the currently set rigidity level, determine the gain parameter corresponding to the rigidity level from the preset rigidity gain table; Automatic inertia identification is performed during the motor's movement according to motion commands; After adjusting the gain parameters based on the identified inertia parameters, the target stiffness level and the corresponding target gain parameters are obtained.

[0007] According to a second aspect, one embodiment provides an automatic tuning system for control parameters, comprising: The acquisition unit is used to acquire the currently set rigidity level; The control unit is used to control the movement of the motor according to motion commands; The determining unit is used to determine the gain parameter corresponding to the rigidity level from a preset rigidity gain table based on the currently set rigidity level. The identification unit is used to automatically identify inertia and vibration information during the movement of the motor according to the motion command; The processing unit is used to adjust the gain parameter according to the identified inertia parameter to obtain the target stiffness level and the corresponding target gain parameter.

[0008] According to a third aspect, one embodiment provides a servo driver, comprising: Memory, used to store computer programs; A processor is configured to implement the automatic tuning method for the control parameters described above by executing the computer program stored in the memory.

[0009] According to a fourth aspect, one embodiment provides a computer-readable storage medium storing a computer program that can be executed by a processor to implement the above-described automatic tuning method for control parameters.

[0010] The automatic tuning method for control parameters according to the above embodiments automatically tunes the gain parameters by automatically identifying the inertia parameters, thus meeting the requirements for speed and stability in servo drive debugging. It can automatically and quickly tune the servo drive gain parameters without human intervention, thereby improving the efficiency of servo drive parameter tuning. Attached Figure Description

[0011] Figure 1 This is a flowchart illustrating an automatic tuning method for control parameters provided in this embodiment. Figure 2 This is a flowchart illustrating the self-tuning mode provided in this embodiment; Figure 3 This is a structural block diagram of an automatic control parameter tuning system provided in this embodiment. Detailed Implementation

[0012] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0013] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0014] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the objects being described and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0015] Currently, in servo system applications, the parameter tuning of servo drives often involves multiple aspects. Although the final result is the gain parameter, i.e. the system bandwidth, the actual adjustment needs to consider multiple different factors such as load inertia and mechanical resonance, and each factor needs to be manually tuned separately. Sometimes, it is also necessary to consider functions such as gain switching and speed feedforward, and each function also needs to be manually tuned separately.

[0016] In the aforementioned application scenarios where parameters are tuned individually, operators not only need to understand the principles of servo control but also require a clear understanding of how each factor affects the application results. This manual, individual parameter tuning method not only significantly increases the operator's workload but also reduces the efficiency of servo drive parameter tuning. Therefore, existing servo drive control parameter tuning schemes need further improvement.

[0017] Based on this, the solution proposed in this application is proposed. This application integrates the control parameter tuning and debugging method with the relevant content of parameter adjustment. Different parameter tuning modes can be selected according to motion characteristics or tuning requirements. It can realize automatic parameter tuning of servo drives. It can also set an appropriate tuning time according to tuning requirements (e.g., the default value is 60 seconds) and display the tuning progress so as to observe the tuning progress at any time. This reduces the difficulty of parameter tuning and meets the user's requirements for efficient and stable parameter tuning.

[0018] In practical applications, this application can achieve rapid and automatic tuning of servo parameters by default enabling the self-tuning mode upon power-on, without the need for manual parameter adjustment, and automatically stop tuning after the tuning time is reached.

[0019] This self-tuning mode is a technique in servo drives that automatically adjusts control parameters to adapt to the characteristics of the controlled object. Its core is to analyze the system's dynamic characteristics online by identifying load parameters, designing motor control parameters and empirical parameters (empirical values), and automatically calculating and optimizing control parameters such as PID controllers to achieve stable, fast, and overshoot-free control. Specifically, when entering self-tuning mode, select the "Self-tuning" function in the servo drive's debugging interface and set the tuning parameters (such as the tuning method). The servo drive controls the motor movement according to motion commands, and the response of the controlled object is observed. During the tuning process, the servo drive can automatically calculate and store the optimized PID parameters. After tuning is complete, the servo drive exits self-tuning mode.

[0020] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating an automatic control parameter tuning method provided in this embodiment. The method specifically includes the following steps S101-S105: Step S101: Obtain the currently set rigidity level.

[0021] In some embodiments, obtaining the currently set rigidity level includes: obtaining the default rigidity level of the servo driver, obtaining the rigidity level input by the user through the servo driver host computer debugging interface, and obtaining any one of the rigidity levels input by the user through the servo driver control panel.

[0022] It should be noted that the rigidity rating reflects the servo drive system's ability to resist interference. A higher rigidity rating means a stronger ability to resist load changes and external disturbances (such as friction and impact), resulting in smaller positional errors. For example, in CNC machining, high rigidity can reduce tool vibration and improve machining accuracy.

[0023] Step S102: Control the motor movement according to the motion command.

[0024] It should be noted that controlling the motor to move according to motion commands can be achieved by a servo drive system controlling the motor to drive the load to move according to the motion commands.

[0025] In some embodiments, the motion command includes any one of the following: a motion command triggered by a motion controller, a motion command triggered by a servo driver host computer debugging interface, or a motion command triggered by a servo driver control panel.

[0026] It should be noted that motion controllers include, but are not limited to, programmable logic controllers (PLCs).

[0027] It should be noted that the motion command includes multiple options such as motion mode, motion direction, current position, and motion speed. Among these, the motion mode includes reciprocating motion.

[0028] It should be noted that the direction of movement includes, but is not limited to: forward and reverse.

[0029] It should be noted that the self-tuning modes include: standard mode and positioning mode.

[0030] It should be noted that the self-tuning mode is the default parameter tuning mode. This mode can automatically identify inertia, automatically set notch parameters (adaptive notch filtering), and switch gain. In practical applications, after tuning the control parameters of the servo drive system using self-tuning mode, it can automatically exit self-tuning mode.

[0031] It should be noted that in standard / positioning mode, the load inertia data of the servo drive is provided by automatically measuring the load-motor inertia ratio, and parameters such as the gain of the current loop, speed loop and position loop are automatically configured, reducing the complexity of manual debugging and achieving the purpose of automatic tuning of control parameters.

[0032] It should be noted that the load can be a rigid load, a flexible load, or a load with large inertia. This application does not impose any limitations on this. Rigid loads include, but are not limited to: the worktable of a CNC machine tool, and the sliders and guide rails in a tool feed system. Flexible loads include, but are not limited to: the slender arms of a space robotic arm, and the main beam structure of a bridge.

[0033] Step S103: Based on the currently set rigidity level, determine the gain parameter corresponding to the rigidity level in the preset rigidity gain table.

[0034] In some embodiments, the preset rigidity gain table includes gain parameters that correspond one-to-one with the rigidity level. These gain parameters include: position loop gain, velocity loop gain, velocity integral time constant, and torque filter time constant. In practical applications, the gain parameters also include model following bandwidth (MFC).

[0035] It should be noted that the gain parameters can be divided into first gain parameters and second gain parameters. The first gain parameters include: first position loop gain, first velocity loop gain, first velocity integral time constant, first torque filter time constant, and first model following bandwidth. The second gain parameters include: second position loop gain, second velocity loop gain, second velocity integral time constant, second torque filter time constant, and second model following bandwidth. There is a one-to-one correspondence between the stiffness level and the first gain parameters; there is also a one-to-one correspondence between the stiffness level and the second gain parameters. That is, one stiffness level can correspond to one set of first gain parameters and one set of second gain parameters.

[0036] In practical applications, the two sets of gain parameters can be switched by setting conditions (such as time, speed, acceleration, and load). For example, when stationary, a low gain can be used to suppress vibration, while a high gain can be used to improve response when in motion. This gain switching also supports torque / position command-triggered switching.

[0037] In practical applications, the position loop gain determines the command tracking bandwidth, the speed loop gain and the speed integral time constant eliminate steady-state errors, and the torque filter time constant suppresses high-frequency resonance.

[0038] It should be noted that the position loop gain is a key parameter in a servo control system used to measure the system's ability to follow commanded positions. It is the ratio of the actual speed of the load to the position following error, reflecting the system's dynamic following performance.

[0039] In practical applications, a higher position loop gain indicates a faster system response to commanded positions and a smaller tracking error at the same feed rate. For example, in CNC machine tools, high position loop gain can reduce toolpath deviation and improve machining accuracy. When the servo motor is stopped, increasing the position loop gain can improve motor rigidity (locking force) and reduce position deviation caused by external disturbances. High position loop gain allows the system to reach the target position faster, reducing adjustment time; provided the mechanical system does not generate resonance or noise, increasing the gain can significantly reduce position tracking error.

[0040] It should be noted that the speed loop gain is used to characterize the change in torque or voltage output by the servo driver under unit speed error. It determines the system's response speed to speed commands and its anti-interference capability, and directly affects the smoothness, accuracy and dynamic performance of mechanical motion.

[0041] In practical applications, a higher speed loop gain indicates that the system corrects speed errors faster and the response time of motor acceleration or deceleration is shorter. For example, when spindle speed fluctuations cause surface ripples during high-speed cutting, the speed loop gain can be increased through automatic tuning, while the integral time constant is increased to suppress overshoot.

[0042] It should be noted that the speed integral time constant represents the time constant required for the servo control system to eliminate steady-state errors through integral action. The smaller the speed loop integral time, the stronger the integral action and the faster the error elimination, but it may cause overshoot or oscillation; conversely, the weaker the integral action, the more stable the system, but the slower the error elimination speed.

[0043] For example, during the cutting process of a CNC machine tool, sudden changes in load can cause speed fluctuations that affect machining accuracy. The self-tuning function can optimize the integral time, thereby reducing steady-state error. Another example is in the spindle drive of a CNC machine tool; if the cutting force suddenly increases, a system with a reasonable integral time can quickly adjust the motor torque to maintain the target speed.

[0044] It should be noted that the torque filter time constant is used to filter out high-frequency noise and glitches in the torque command, thereby preventing motor jitter or mechanical vibration caused by signal interference.

[0045] In practical applications, a larger torque filter time value results in stronger suppression of high-frequency noise, but it reduces the response speed of the servo system. For example, when the servo system experiences mechanical vibration, some vibration sources can be eliminated by adjusting the torque filter time parameter.

[0046] It should be noted that the model follower bandwidth represents the maximum frequency at which the servo drive system, through the Model Follower Control (MFC) algorithm, can closely track the actual output (such as motor position and speed) to the command input. When the input signal frequency exceeds this bandwidth, the system response will exhibit significant attenuation or phase lag.

[0047] It should be noted that each rigidity level corresponds to at least one set of gain parameters. For example, a rigidity level may correspond to a first position loop gain, a first speed loop gain, a first speed integral time constant, and a first torque filter time constant; or, a rigidity level may correspond to a second position loop gain, a second speed loop gain, a second speed integral time constant, and a second torque filter time constant; or, a rigidity level may correspond to a first position loop gain, a first speed loop gain, a first speed integral time constant, a first torque filter time constant, a second position loop gain, a second speed loop gain, a second speed integral time constant, and a second torque filter time constant. This application does not impose any limitations on this.

[0048] It should be noted that, in order to more intuitively illustrate the correspondence between rigidity level and gain parameter, this application provides the following preset rigidity gain table.

[0049] Table 1. Preset Rigid Gain Table

[0050] It should be noted that determining the gain parameter corresponding to the currently set rigidity level in the preset rigidity gain table specifically includes: selecting a rigidity level in the rigidity gain table that is no higher than the current rigidity level according to a predetermined rule, and using the gain parameter corresponding to the selected rigidity level as the current control parameter of the servo drive. For example, the predetermined rule could be: selecting a rigidity level one level lower than the currently set rigidity level. For instance, if the currently set rigidity level is 15, then the gain parameter corresponding to rigidity level 14 would be selected as the current control parameter of the servo drive. Of course, a rigidity parameter two levels lower than the currently set rigidity level could also be selected; this application does not impose any limitations on this.

[0051] Step S104: Automatic inertia identification is performed during the motor's movement according to the motion command.

[0052] It should be noted that automatic inertia identification during the motor's movement according to the motion command can be achieved by a servo drive system controlling the motor to drive the load to move according to the motion command; during the movement, the inertia parameters of the load and the rotor inertia parameters of the motor are automatically acquired; and the inertia parameters are automatically identified based on the inertia parameters of the load and the rotor inertia parameters of the motor.

[0053] In practical applications, this servo drive system supports automatic identification of scenarios with inertia exceeding 30 times. For example, it can automatically identify the ratio of load inertia to motor rotor inertia online / offline, providing basic parameters for speed loop and position loop gain calculations.

[0054] It should be noted that the load inertia parameter characterizes the magnitude of the load's inertia during rotational motion. This load inertia parameter indicates the load's tendency to maintain its original state of motion (velocity or direction) when subjected to an external torque. The larger the load inertia, the greater the torque required for the system to accelerate or decelerate, and the slower the response speed.

[0055] It should be noted that the rotor inertia parameter of a motor characterizes the magnitude of the rotor's inertia during rotational motion. This parameter indicates the rotor's tendency to maintain its original state of motion (speed or direction) when subjected to an external torque. The greater the rotor inertia, the greater the torque required for the motor to accelerate or decelerate, and the slower the response speed.

[0056] It should be noted that this inertia parameter is the load inertia ratio obtained from the load inertia parameter and the motor rotor inertia parameter.

[0057] It should be noted that the ratio of load inertia parameters to motor rotor inertia parameters (load inertia ratio) directly affects the dynamic response of the servo drive system. If the load inertia ratio is too large, the servo motor needs to consume more energy to accelerate / decelerate the load, which may lead to system oscillation or instability; if the load inertia ratio is too small, the control accuracy may decrease due to insufficient load inertia. Therefore, the risk of system oscillation or instability can only be avoided when the target inertia parameters are matched with the servo drive system.

[0058] In some embodiments, vibration information is identified during the motor's movement according to motion commands, and mechanical resonance generated by the servo drive system is suppressed by a notch filter based on set notch parameters; wherein, the notch parameters include at least one of notch frequency, notch depth, and notch width.

[0059] In practical applications, the servo drive system automatically detects vibration frequencies from 50Hz to 4000Hz and dynamically adjusts the notch depth / width parameters, forming a dual suppression in conjunction with the torque filter.

[0060] In some embodiments, after obtaining the target stiffness level, it is possible to continue to determine whether the minimum number of vibrations of the load driven by the motor is less than the number of vibrations corresponding to the target stiffness level, and whether the minimum overshoot of the load is less than the overshoot corresponding to the target stiffness level during the motor's movement according to the motion command. If so, the stiffness level corresponding to the minimum number of vibrations and the minimum overshoot of the load is set as the new target stiffness level.

[0061] In some embodiments, when the overshoot of the load driven by the motor exceeds a preset overshoot threshold during the motor's movement according to the motion command, the control mode of the load is switched from rigid mode to flexible mode. The rigid mode is used to achieve a control mode with high stiffness, fast response, high-precision positioning, and anti-interference for the load; the flexible mode is used to achieve a control mode with low stiffness, low response, high-precision positioning, and allowable elastic deformation for the load.

[0062] It should be noted that the vibration number represents the number of vibrations of the load.

[0063] It should be noted that overshoot is used to characterize the difference between the maximum peak value and the steady-state value of a servo drive system's response, expressed as a percentage of the steady-state value. A larger overshoot indicates a more drastic response from the servo drive system, which may be accompanied by oscillations or instability.

[0064] It should be noted that the preset overshoot threshold can be any value greater than zero. For example, the preset overshoot threshold can be any value between 20% and 30%, such as 22%.

[0065] It should be noted that a notch filter can be a device that suppresses harmonic frequencies of a servo drive system. For example, the notch filter can be a second-order adaptive filter.

[0066] In some embodiments, a notch filter is used to suppress mechanical resonance generated by the servo drive system based on set notch parameters. If the fluctuation of the notch parameters is greater than or equal to a preset fluctuation threshold, the notch parameters are dynamically updated using a preset filtering algorithm to obtain updated notch parameters, and the updated notch parameters are used to suppress the mechanical resonance generated by the servo drive system. The fluctuation reflects the deviation of the notch parameters from the ideal value caused by the dynamic changes of the servo drive system or environmental interference when the notch filter suppresses the harmonic frequencies of the servo drive system.

[0067] It should be noted that the preset fluctuation threshold can be any value. For example, the preset fluctuation threshold can be any value between 1% and 100% of the nominal value of the notch parameter of the notch filter.

[0068] Step S105: After adjusting the gain parameters according to the identified inertia parameters, the target stiffness level and the corresponding target gain parameters are obtained.

[0069] It should be noted that the target stiffness level can be obtained by adjusting the gain parameter based on the identified inertia parameter. This can be achieved by adjusting the gain parameter according to the ratio of the identified load inertia parameter to the motor rotor inertia parameter. For example, the identified load inertia ratio can be multiplied by the value of the gain parameter to obtain the target gain parameter, thus adjusting the gain parameter. The target stiffness level corresponding to the target gain parameter can then be determined based on a preset stiffness gain table.

[0070] In practical applications, such as Figure 2 The flowchart of the self-tuning mode is shown below. The specific tuning steps are as follows: Enable self-tuning mode: Self-tuning mode 5 (standard mode) is enabled by default upon power-on; the motor is controlled to move according to motion commands.

[0071] Gain Search: Perform a gain search, specifically to search for stiffness levels. Specifically, determine the gain parameter corresponding to the stiffness level from a preset stiffness gain table.

[0072] Determine if the inertia identification has been updated. If it has, set the inertia parameters and adjust the gain parameters according to the identified inertia parameters to obtain the target stiffness level and the corresponding target gain parameters. If it has not been updated, do not set them.

[0073] Oscillation Suppression: Vibration information is identified during the motor's movement according to motion commands. A notch filter, based on set notch parameters, suppresses mechanical resonance generated by the servo drive system. If the fluctuation of the notch parameters is greater than or equal to a preset fluctuation threshold, the notch parameters are dynamically updated using a preset filtering algorithm to obtain updated notch parameters (set notch parameters). These updated notch parameters are then used to suppress mechanical resonance generated by the servo drive system. The notch parameters include at least one of notch frequency, notch depth, and notch width.

[0074] Determining whether the rigidity index is less than the set value can be done by continuing to determine whether the minimum number of vibrations of the load driven by the motor is less than the number of vibrations corresponding to the target rigidity level, and whether the minimum overshoot of the load is less than the overshoot corresponding to the target rigidity level during the motor's movement according to the motion command. If so, the rigidity level corresponding to the minimum number of vibrations and the minimum overshoot of the load is set as the new target rigidity level.

[0075] Otherwise, continue to determine whether the flexibility index is greater than the threshold. This could be done by determining whether the load overshoot is greater than the preset overshoot threshold. If so, switch the load control mode from rigid mode to flexible mode.

[0076] Otherwise, continue to check if the tuning time has reached the preset duration threshold. If the tuning time has not reached the preset duration threshold, continue the gain search. If the tuning time reaches the preset duration threshold and inertia identification is successful, exit the self-tuning mode. If the tuning time reaches the preset duration threshold, but inertia identification fails, continue the gain search.

[0077] It should be noted that the above self-tuning mode 5 can be switched to self-tuning mode 6 (positioning mode).

[0078] In practical applications, the stiffness level can be manually set to any value. For example, the stiffness level can be set to 20. In self-tuning mode 5, the high inertia load mode will be enabled by default, suitable for scenarios with load changes of up to 50 times.

[0079] This application discloses an automatic tuning method for control parameters in a servo drive system. The method includes: obtaining a currently set rigidity level; controlling a motor to move according to a motion command; determining a gain parameter corresponding to the rigidity level from a preset rigidity gain table based on the currently set rigidity level; automatically identifying the inertia during the motor's movement according to the motion command; and adjusting the gain parameter based on the identified inertia parameter to obtain a target rigidity level and a corresponding target gain parameter. This application achieves automatic tuning of the gain parameter through automatically identified inertia parameters, meeting the speed and stability requirements of servo drive debugging; it can automatically and quickly tune the servo drive gain parameter without manual intervention, improving the efficiency of servo drive parameter tuning.

[0080] Please refer to Figure 3 , Figure 3 This is a structural block diagram of an automatic control parameter tuning system provided in this embodiment. The system 20 includes: an acquisition unit 201, a control unit 202, a determination unit 203, an identification unit 204, and a processing unit 205.

[0081] Acquisition unit 201 is used to acquire the currently set rigidity level.

[0082] Control unit 202 is used to control the movement of the motor according to motion commands.

[0083] The determining unit 203 is used to determine the gain parameter corresponding to the rigidity level in a preset rigidity gain table based on the currently set rigidity level.

[0084] The identification unit 204 is used to automatically identify inertia and vibration information during the movement of the motor according to the motion command.

[0085] The processing unit 205 is used to adjust the gain parameter according to the identified inertia parameter to obtain the target stiffness level and the corresponding target gain parameter.

[0086] This application discloses an automatic control parameter tuning system, comprising: an acquisition unit for acquiring a currently set rigidity level; a control unit for controlling motor movement according to motion commands; a determination unit for determining a gain parameter corresponding to the rigidity level from a preset rigidity gain table based on the currently set rigidity level; an identification unit for automatically identifying inertia and vibration information during motor movement according to motion commands; and a processing unit for adjusting the gain parameter based on the identified inertia parameter to obtain the target rigidity level and the corresponding target gain parameter. This application achieves automatic tuning of the gain parameter through automatically identified inertia parameters, meeting the speed and stability requirements of servo drive debugging; it can automatically and quickly tune the servo drive gain parameter without manual intervention, improving the efficiency of servo drive parameter tuning.

[0087] Those skilled in the art will understand that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, which may include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the above functions are implemented by executing the program with a computer. For example, the program can be stored in the memory of a device, and when the program in the memory is executed by the processor, all or part of the above functions can be implemented. In addition, when all or part of the functions in the above embodiments are implemented by computer programs, the program can also be stored in a server, another computer, disk, optical disk, flash drive, or external hard drive, etc., and can be downloaded or copied to the memory of a local device, or the system of the local device can be updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be implemented.

[0088] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. An automatic tuning method for control parameters, used in a servo drive system, characterized in that, The method includes: Get the currently set rigidity level; Control the motor movement according to motion commands; Based on the currently set rigidity level, determine the gain parameter corresponding to the rigidity level from the preset rigidity gain table; Automatic inertia identification is performed during the motor's movement according to motion commands; After adjusting the gain parameters based on the identified inertia parameters, the target stiffness level and the corresponding target gain parameters are obtained.

2. The method as described in claim 1, characterized in that, The preset rigidity gain table includes gain parameters that correspond one-to-one with the rigidity level, and the gain parameters include: Position loop gain, velocity loop gain, velocity integral time constant, torque filter time constant.

3. The method as described in claim 1, characterized in that, The motion commands include any one of the following: motion commands triggered by a motion controller, motion commands triggered by the servo driver host computer debugging interface, and motion commands triggered by the servo driver control panel.

4. The method as described in claim 1, characterized in that, The process of obtaining the currently set rigidity level includes: obtaining the default rigidity level of the servo driver, obtaining the rigidity level input by the user through the servo driver host computer debugging interface, and obtaining any one of the rigidity levels input by the user through the servo driver control panel.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Vibration information is identified during the motor's movement according to the motion command, and mechanical resonance generated by the servo drive system is suppressed by a notch filter based on set notch parameters; wherein, the notch parameters include at least one of notch frequency, notch depth, and notch width.

6. The method according to any one of claims 1-4, characterized in that, The method further includes: During the movement of the motor according to the motion command, it is further determined whether the minimum number of vibrations of the load driven by the motor is less than the number of vibrations corresponding to the target rigidity level, and whether the minimum overshoot of the load is less than the overshoot corresponding to the target rigidity level. If so, the rigidity level corresponding to the minimum number of vibrations and the minimum overshoot of the load is set as the new target rigidity level.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: When the overshoot of the load driven by the motor exceeds a preset overshoot threshold during the movement of the motor according to the motion command, the control mode of the load is switched from rigid mode to flexible mode. The rigid mode is used to achieve high stiffness, fast response, high-precision positioning, and anti-interference control mode for the load. The flexible mode is used to achieve low stiffness, low response, high-precision positioning, and allow elastic deformation control mode for the load.

8. An automatic tuning system for control parameters, characterized in that, include: The acquisition unit is used to acquire the currently set rigidity level; The control unit is used to control the movement of the motor according to motion commands; The determining unit is used to determine the gain parameter corresponding to the rigidity level from a preset rigidity gain table based on the currently set rigidity level. The identification unit is used to automatically identify inertia and vibration information during the movement of the motor according to the motion command; The processing unit is used to adjust the gain parameter according to the identified inertia parameter to obtain the target stiffness level and the corresponding target gain parameter.

9. A servo driver, characterized in that, include: Memory, used to store computer programs; A processor for implementing the method as described in any one of claims 1-7 by executing the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that, The medium stores a computer program that can be executed by a processor to implement the method as described in any one of claims 1-7.

Images