Servo drive and method of controlling the same, servo system

Abstract

This application discloses a servo driver and its control method, as well as a servo system, relating to the field of servo driver control technology. The control method for the servo driver includes: acquiring the current position command of the servo driver; determining the rigid position output signal and the flexible position output signal of the servo driver based on the current position command; fusing the rigid position output signal and the flexible position output signal to obtain the target position command of the servo driver; and controlling the servo driver to operate according to the target position command. This application can ensure the position control accuracy of the servo system while ensuring the normal operation of the electronically controlled equipment in the servo system.

Description

Technical Field

[0001] This application relates to the field of servo drive control technology, and in particular to a servo drive and its control method, and a servo system. Background Technology

[0002] Servo drives are widely used in electrical control equipment. When the system rigidity of the electrical control equipment is low or the load inertia is large, the position command of the servo drive is prone to lose smoothness. This will lead to instability and long arrival time of the servo system, thereby affecting the position control accuracy of the equipment. In severe cases, it will cause the equipment to fail and malfunction.

[0003] Currently, command notch filters are commonly used to solve the above problems. However, command notch filters can cause phase lag in the servo system, thus affecting the position control accuracy of the servo system. Summary of the Invention

[0004] The main purpose of this application is to provide a servo driver and its control method, as well as a servo system, which aims to ensure the position control accuracy of the servo system while ensuring the normal operation of the electrical control equipment in the servo system.

[0005] To achieve the above objectives, this application provides a control method for a servo driver, the method comprising:

[0006] Obtain the current position command of the servo driver;

[0007] Based on the current position command, determine the rigid position output signal and the flexible position output signal of the servo driver;

[0008] The rigid position output signal and the flexible position output signal are fused to obtain the target position command of the servo driver;

[0009] Control the servo driver to operate according to the target position command.

[0010] In one embodiment, the step of determining the rigid position output signal and the flexible position output signal of the servo driver based on the current position command includes:

[0011] The current position command is subjected to rigid filtering to obtain the rigid position output signal and rigid acceleration output signal of the servo driver;

[0012] The rigid acceleration output signal is subjected to flexible filtering to obtain the flexible position output signal.

[0013] In one embodiment, the method further includes:

[0014] The rigid current output signal of the servo driver is determined based on the current position command;

[0015] The current command compensation value of the servo driver is determined based on the rigid current output signal.

[0016] Based on the current command compensation value, the current command of the servo driver is compensated to obtain the target current command;

[0017] After controlling the servo driver to operate according to the target position command, control the servo driver to operate according to the target current command; and / or,

[0018] Based on the current position command, determine the rigid speed output signal and the flexible speed output signal of the servo driver;

[0019] The speed command compensation value of the servo driver is determined based on the rigid speed output signal and the flexible speed output signal.

[0020] Based on the speed command compensation value, the speed command of the servo driver is compensated to obtain the target speed command;

[0021] After controlling the servo drive to run according to the target position command, control the servo drive to run according to the target speed command.

[0022] In one embodiment, the step of determining the current command compensation value of the servo driver based on the rigid current output signal includes:

[0023] Based on a preset current coefficient, the rigid current output signal is subjected to signal suppression processing to obtain the current command compensation value of the servo driver.

[0024] In one embodiment, the step of determining the speed command compensation value of the servo driver based on the rigid speed output signal and the flexible speed output signal includes:

[0025] The rigid velocity output signal and the flexible velocity output signal are fused to obtain a velocity output signal and value;

[0026] Based on a preset speed coefficient, the speed output signal and value are subjected to signal suppression processing to obtain the speed command compensation value of the servo driver.

[0027] In one embodiment, the step of determining the rigid current output signal of the servo driver based on the current position command includes:

[0028] The current position command is subjected to rigid filtering to obtain the rigid acceleration output signal of the servo driver;

[0029] The product of the rigid acceleration output signal and the system inertia of the servo system to which the servo driver belongs is calculated to obtain the motor torque of the servo system.

[0030] The ratio of the motor torque to the motor torque coefficient of the servo system is calculated to obtain the rigid current output signal of the servo driver.

[0031] In one embodiment, the step of determining the rigid speed output signal and the flexible speed output signal of the servo driver based on the current position command includes:

[0032] The current position command is subjected to rigid filtering to obtain the rigid velocity output signal and rigid acceleration output signal of the servo driver;

[0033] The rigid acceleration output signal is subjected to flexible filtering to obtain the flexible speed output signal of the servo driver.

[0034] Furthermore, to achieve the above objectives, this application also provides a servo driver, the servo driver comprising:

[0035] The output signal determination module is used to acquire the current position command of the servo driver; and determine the rigid position output signal and the flexible position output signal of the servo driver based on the current position command.

[0036] The instruction generation module is used to fuse the rigid position output signal and the flexible position output signal to obtain the target position instruction of the servo driver;

[0037] The control module is used to control the servo driver to operate according to the target position command.

[0038] In addition, to achieve the above objectives, this application also provides a servo driver, the servo driver comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method of the servo driver as described above.

[0039] In addition, to achieve the above objectives, this application also provides a servo system, which includes a servo driver and an electronic control device, wherein the servo driver is connected to the electronic control device, and the servo system is used to execute the steps of implementing the control method of the servo driver as described above.

[0040] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the servo drive control method described above.

[0041] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the servo drive control method described above.

[0042] This application provides a control method for a servo drive. First, the current position command of the servo drive is acquired. Then, based on the current position command, the rigid position output signal and the flexible position output signal of the servo drive are determined, that is, the performance of the current position command under the rigid characteristics and the performance under the flexible characteristics of the servo drive are determined. Next, the rigid position output signal and the flexible position output signal are fused to effectively eliminate various non-smooth factors in the signal by utilizing their complementary characteristics, thereby obtaining a smooth position command, that is, the target position command of the servo drive. Then, the servo drive is controlled to run according to the target position command, which can improve the adverse effects on the servo system caused by the non-smoothness of the servo drive's position command, thereby improving the stability of the servo system and shortening the arrival time of the servo system. This ensures the normal operation of the electronic control equipment in the servo system while maintaining the position control accuracy of the servo system. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A flowchart illustrating the control method of the servo driver provided in the first embodiment of this application;

[0046] Figure 2 A flowchart illustrating the control method of the servo driver provided in the second embodiment of this application;

[0047] Figure 3 This is another schematic flowchart illustrating the control method of the servo driver provided in the second embodiment of this application;

[0048] Figure 4 A schematic diagram illustrating the implementation principle of the control method for the servo driver provided in this application embodiment;

[0049] Figure 5A schematic diagram of the module structure of the servo driver provided in an embodiment of this application;

[0050] Figure 6 This is a schematic diagram of the hardware operating environment involved in the embodiments of this application.

[0051] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0053] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0054] Servo drives are widely used in electrical control equipment. When the system rigidity of the electrical control equipment is low or the load inertia is large, the position command of the servo drive is prone to lose smoothness. This will lead to instability and long arrival time of the servo system, thereby affecting the position control accuracy of the equipment. In severe cases, it will cause the equipment to fail and malfunction.

[0055] Currently, command notch filters are commonly used to solve the above problems. However, command notch filters can cause phase lag in the servo system, thus affecting the position control accuracy of the servo system.

[0056] Based on this, this application provides a control method for a servo drive. First, the current position command of the servo drive is acquired. Then, based on the current position command, the rigid position output signal and the flexible position output signal of the servo drive are determined, that is, the performance of the current position command under the rigid characteristics and the performance under the flexible characteristics of the servo drive are determined. Next, the rigid position output signal and the flexible position output signal are fused to effectively eliminate various non-smooth factors in the signal by utilizing their complementary characteristics, thereby obtaining a smooth position command, that is, the target position command of the servo drive. Then, the servo drive is controlled to run according to the target position command, which can improve the adverse effects on the servo system caused by the non-smoothness of the servo drive's position command, thereby improving the stability of the servo system and shortening the arrival time of the servo system, so as to ensure the position control accuracy of the servo system and the normal operation of the electronic control equipment in the servo system.

[0057] The execution subject of the servo drive control method of this application can be a servo drive, home appliance, industrial equipment, etc. with data processing, network communication and program running functions, or a control system, control circuit, etc. that can realize the above functions, or a servo system. This embodiment does not specifically limit it in this regard.

[0058] The following description uses a servo driver as the execution subject to illustrate the various embodiments.

[0059] Based on this, this application proposes a servo driver control method according to the first embodiment, please refer to... Figure 1 The control method for the servo drive includes steps S10 to S40:

[0060] Step S10: Obtain the current position command of the servo driver;

[0061] It should be noted that the current position command is the position command of the servo drive at the current moment. The position command is essentially a control signal that clearly tells the servo drive the desired position of the motor shaft (or load).

[0062] Step S20: Determine the rigid position output signal and flexible position output signal of the servo driver according to the current position command;

[0063] It should be noted that the rigid position output signal is used to characterize the performance of the current position command under the rigid characteristics of the servo drive, while the flexible position output signal characterizes the performance of the current position command under the flexible characteristics of the servo drive.

[0064] In one feasible implementation, step S20 may include steps S21 to S22:

[0065] Step S21: Perform rigid filtering on the current position command to obtain the rigid position output signal and rigid acceleration output signal of the servo driver;

[0066] It should be noted that the rigid acceleration output signal is used to characterize the acceleration performance of the servo drive under the rigidity of the servo drive in response to the current position command. The current position command can be substituted into Equations 1 and 2 below to perform rigid filtering on the current position command, thereby obtaining the rigid position output signal and rigid acceleration output signal of the servo drive.

[0067]

[0068] Where, θ IM For rigid position output signal, θ refM ω is the current position instruction. nξ is the rigid filtering frequency, s is the complex frequency variable, and ξ is the rigid damping. Both the rigid filtering frequency and the rigid damping can be user-defined values. The rigid filtering frequency can be set to any frequency value from 1 to 4000 Hz, and the rigid damping can be set to any value from 0 to 10.

[0069]

[0070] Where, α IM It is a rigid acceleration output signal.

[0071] Step S22: Perform flexible filtering on the rigid acceleration output signal to obtain a flexible position output signal.

[0072] It should be noted that the rigid acceleration output signal can be substituted into the following formula 3 to perform flexible filtering of the rigid acceleration output signal and obtain the flexible position output signal.

[0073]

[0074] Where, θ l / m For flexible position output signal, ω LPFM For flexible filtering frequency, ω b The flexible vibration frequency is the user-defined frequency. Both the flexible filter frequency and the flexible vibration frequency can be set by the user. The flexible filter frequency can be set to any frequency value between 100 and 5000 Hz, and the flexible vibration frequency can be set to any frequency value between 10 and 200 Hz.

[0075] This embodiment does not specifically limit the implementation of step S20. For example, in other feasible implementations, the rigid position output signal and flexible position output signal of the servo driver under different position commands can be calculated in advance and recorded using a relationship table. Thus, the rigid position output signal and flexible position output signal of the servo driver under the current position command can be quickly determined by looking up the table, thereby improving the efficiency of determining the rigid position output signal and flexible position output signal.

[0076] Step S30: The rigid position output signal and the flexible position output signal are fused to obtain the target position command of the servo driver;

[0077] It should be noted that the process of fusing the rigid position output signal and the flexible position output signal is essentially adding the rigid position output signal and the flexible position output signal together.

[0078] Understandably, a rigid position output signal essentially provides a basic framework for rapid positioning, ensuring the system can move efficiently towards the target location. A flexible position output signal, on the other hand, modifies the abrupt changes that might occur during rapid transitions in the rigid position output signal. For example, when the rigid position output signal jumps from one position to another, the flexible position output signal plays a role in the transition phase, making the position change smoother. Therefore, by fusing the rigid and flexible position output signals, their complementary characteristics can be leveraged to effectively eliminate discontinuities, abrupt changes, and other factors that cause signal unevenness, resulting in a smooth position command.

[0079] Step S40: Control the servo drive to run according to the target position command.

[0080] It should be noted that by inputting the target position command into the position command interface of the servo drive, the servo drive can be controlled to run according to the target position command.

[0081] In this embodiment, by inputting the target position command to the position command interface of the servo driver, the command update can be completed directly in the time domain, unlike the command notch filter which updates the command in the frequency domain. Therefore, in improving the adverse effects of the non-smooth position command of the servo driver on the servo system, this embodiment does not change the phase characteristics of the command, and thus does not cause phase lag problems to the servo system.

[0082] This embodiment provides a control method for a servo drive. First, the current position command of the servo drive is acquired. Then, based on the current position command, the rigid position output signal and the flexible position output signal of the servo drive are determined, that is, the performance of the current position command under the rigid characteristics and the performance under the flexible characteristics of the servo drive are determined. Next, the rigid position output signal and the flexible position output signal are fused to effectively eliminate various non-smooth factors in the signal by utilizing their complementary characteristics, thereby obtaining a smooth position command, that is, the target position command of the servo drive. Then, the servo drive is controlled to run according to the target position command, which can improve the adverse effects on the servo system caused by the non-smoothness of the servo drive's position command, thereby improving the stability of the servo system and shortening the arrival time of the servo system. This ensures the normal operation of the electronic control equipment in the servo system while maintaining the position control accuracy of the servo system.

[0083] Based on the first embodiment described above, a second embodiment of the control method for the servo driver of this application is proposed. For the second embodiment, please refer to... Figure 2 and Figure 3The control method for the servo drive may further include steps S501 to S801, and / or steps S502 to S802:

[0084] Step S501: Determine the rigid current output signal of the servo driver according to the current position command;

[0085] It should be noted that the rigid current output signal is used to characterize the current behavior of the servo drive under the rigidity of the servo drive when it is under the action of the current position command.

[0086] In one feasible implementation, step S501 may include steps S51 to S53:

[0087] Step S51: Perform rigid filtering on the current position command to obtain the rigid acceleration output signal of the servo driver;

[0088] Step S52: Calculate the product of the rigid acceleration output signal and the system inertia of the servo system to which the servo driver belongs, to obtain the motor torque of the servo system;

[0089] Step S53: Calculate the ratio of motor torque to the motor torque coefficient of the servo system to obtain the rigid current output signal of the servo driver.

[0090] It should be noted that the implementation process of steps S52 to S53 can be expressed as the following formula 4:

[0091]

[0092] Among them, i qrefM For rigid current output signal, α IM The output signal is the rigid acceleration signal, Jr is the system inertia, and Kt is the motor torque coefficient.

[0093] This embodiment does not specifically limit the implementation of step S501. For example, in other feasible implementations, the rigid current output signal of the servo driver under different rigid acceleration output signals can be calculated in advance and recorded using a relationship table. Thus, the rigid current output signal of the servo driver under the current rigid acceleration output signal can be quickly determined by looking up the table, thereby improving the efficiency of determining the rigid current output signal.

[0094] Step S601: Determine the current command compensation value of the servo driver based on the rigid current output signal.

[0095] In one feasible implementation, step S601 may include step S61:

[0096] Step S61: Based on the preset current coefficient, perform signal suppression processing on the rigid current output signal to obtain the current command compensation value of the servo driver.

[0097] It should be noted that the preset current coefficient is greater than 0 and less than the first preset threshold, where the first preset threshold is less than or equal to 1. The preset current coefficient determines the magnitude of the current command compensation value; it can be a default value or flexibly set by the user according to actual conditions. The first preset threshold limits the magnitude of the preset current coefficient. By multiplying the preset current coefficient by the rigid current output signal, signal suppression processing of the rigid current output signal can be achieved.

[0098] It is understandable that when compensating for the current command of a servo driver, if the determined current command compensation value is too large, that is, if the amount of current command compensation required is too large, it may cause overcurrent problems in the servo driver, thereby affecting the safety of the servo system. Therefore, in this embodiment, when determining the current command compensation value of the servo driver, a preset current coefficient is used to perform signal suppression processing on the rigid current output signal, so as to reduce the magnitude of the rigid current output signal to a certain extent, thereby obtaining a current command compensation value of appropriate magnitude.

[0099] Step S701: Based on the current command compensation value, compensate the current command of the servo driver to obtain the target current command;

[0100] It should be noted that by inputting the current command compensation value to the servo driver's current command interface, the compensation value is added to the servo driver's current current command at the interface, thus compensating for the servo driver's current command and obtaining the target current command. Here, the current current command refers to the servo driver's current command at the current moment.

[0101] Step S801: After controlling the servo driver to run according to the target position command, control the servo driver to run according to the target current command.

[0102] And / or, in step S502, determine the rigid speed output signal and the flexible speed output signal of the servo driver according to the current position command;

[0103] It should be noted that the rigid speed output signal is used to characterize the speed performance of the servo drive under the action of the current position command, which is due to the rigidity of the servo drive; while the flexible speed output signal is used to characterize the speed performance of the servo drive under the action of the current position command, which is due to the flexibility of the servo drive.

[0104] In one feasible implementation, step S502 may include steps S54 to S55:

[0105] Step S54: Perform rigid filtering on the current position command to obtain the rigid velocity output signal and rigid acceleration output signal of the servo driver.

[0106] It should be noted that the current position command can be substituted into Formula 5 below and Formula 2 mentioned above to perform rigid filtering on the current position command, thereby obtaining the rigid speed output signal and rigid acceleration output signal of the servo drive.

[0107]

[0108] Where, ω IM For rigid velocity output signal, θ refM ω is the current position instruction. n ξ is the rigid filter frequency, s is the complex frequency variable, and ξ is the rigid damping.

[0109] Step S55: Perform flexible filtering on the rigid acceleration output signal to obtain the flexible speed output signal of the servo driver.

[0110] It should be noted that the rigid acceleration output signal can be substituted into the following formula 6 to perform flexible filtering of the rigid acceleration output signal, thereby obtaining the flexible speed output signal of the servo driver.

[0111]

[0112] Where, ω l / m For flexible speed output signal, α IM The output signal is a rigid acceleration signal, s is a complex frequency variable, and ω is a complex frequency variable. LPFM For flexible filtering frequency, ω b This is the frequency of flexible vibration.

[0113] This embodiment does not specifically limit the implementation of step S502. For example, in other feasible implementations, the rigid speed output signal and flexible speed output signal of the servo driver under different position commands can be calculated in advance and recorded using a relationship table. Thus, the rigid speed output signal and flexible speed output signal of the servo driver under the current position command can be quickly determined by looking up the table, thereby improving the efficiency of determining the rigid speed output signal and flexible speed output signal.

[0114] Step S602: Determine the speed command compensation value of the servo driver based on the rigid speed output signal and the flexible speed output signal;

[0115] In one feasible implementation, step S602 may include steps S62 to S63:

[0116] Step S62: The rigid velocity output signal and the flexible velocity output signal are fused to obtain the velocity output signal and value;

[0117] It should be noted that the process of fusing the rigid speed output signal and the flexible speed output signal is essentially adding the rigid speed output signal and the flexible speed output signal together.

[0118] Step S63: Based on the preset speed coefficient, perform signal suppression processing on the speed output signal and value to obtain the speed command compensation value of the servo driver.

[0119] It should be noted that the preset speed coefficient is greater than 0 and less than the second preset threshold, and the second preset threshold is less than or equal to 1. The preset speed coefficient determines the magnitude of the speed command compensation value; it can be a default value or flexibly set by the user according to actual conditions. The second preset threshold limits the magnitude of the preset speed coefficient. By multiplying the preset speed coefficient by the speed output signal and its value, signal suppression processing of the speed output signal and its value can be achieved.

[0120] It is understandable that when compensating for the speed command of a servo driver, if the determined speed command compensation value is too large, that is, if the amount of speed command compensation required is too large, it may cause instability in the servo system due to excessively fast arrival time. Therefore, in this embodiment, when determining the speed command compensation value of the servo driver, a preset speed coefficient is used to perform signal suppression processing on the sum of the rigid and flexible speed output signals to reduce the magnitude of the sum of the speed output signals to a certain extent, thereby obtaining a speed command compensation value of appropriate size.

[0121] Step S702: Based on the speed command compensation value, compensate the speed command of the servo drive to obtain the target speed command;

[0122] It should be noted that by inputting the speed command compensation value into the servo drive's speed command interface, the compensation value is added to the servo drive's current speed command at the interface, thus compensating for the servo drive's speed command and obtaining the target speed command. Here, the current speed command refers to the servo drive's speed command at the current moment.

[0123] Step S802: After controlling the servo drive to run according to the target position command, control the servo drive to run according to the target speed command.

[0124] This embodiment, after controlling the servo driver to operate according to the target position command, further controls the servo driver to operate according to a compensated current command and / or a compensated speed command. This increases the current amplitude and / or speed amplitude of the servo system, thereby further improving the amplitude and phase response of the servo system in the position control stage, thus further improving the stability of the servo system and further shortening the arrival time. Therefore, while further ensuring the position control accuracy of the servo system, the normal operation of the electrical control equipment within the servo system is also guaranteed.

[0125] Furthermore, in this embodiment, by inputting the current command compensation value to the current command interface of the servo driver, and / or inputting the speed command compensation value to the speed command interface of the servo driver, the command update is completed directly in the time domain, rather than in the frequency domain as with a command notch filter. Therefore, in achieving the goal of improving the amplitude and phase response of the servo system in the position control stage and shortening the arrival time of the servo system, this embodiment does not change the phase characteristics of the command, and thus does not cause phase lag problems to the servo system.

[0126] For example, to help understand the implementation principle of the servo driver control method obtained by combining the above embodiments, please refer to... Figure 4 , specifically:

[0127] The servo driver may include an output signal determination module 10, an instruction generation module 20, and a control module 30. The output signal determination module 10 may include a rigid output signal determination submodule 11 and a flexible output signal determination submodule 12.

[0128] After obtaining the current position command θ of the servo drive refM Subsequently, by inputting it into the rigid output signal determination submodule 11, the rigid output signal determination submodule 11 can calculate the rigid position output signal θ of the servo drive using the aforementioned formulas 1, 2, and 5. IM rigid acceleration output signal α IM and rigid velocity output signal ω IM Then, the rigid acceleration output signal α IM Substituting into Equation 4 mentioned above, the rigid current output signal i of the servo driver can be calculated. qrefM And output the rigid acceleration signal α IM Input flexible output signal determination submodule 12.

[0129] The flexible output signal determination submodule 12 receives the rigid acceleration output signal α IMSubsequently, the flexible position output signal θ of the servo driver is calculated using the aforementioned formulas 3 and 6. l / m and flexible speed output signal ω l / m .

[0130] The instruction generation module 20 generates the rigid position output signal θ determined by the rigid output signal determination submodule 11. IM The flexible position output signal θ determined by the flexible output signal determination submodule 12 l / m The fusion is performed to obtain the target position command θ of the servo driver. mref The instruction generation module 20 determines the rigid velocity output signal ω by the rigid output signal determination submodule 11. IM The flexible velocity output signal ω determined by the flexible output signal determination submodule 12 l / m The signals are then fused, and the fused signal and value are multiplied by a preset speed coefficient vffgain to obtain the speed command compensation value ω of the servo driver. mff The instruction generation module 20 determines the rigid current output signal i by the rigid output signal determination submodule 11. qrefM Multiply this by the preset current coefficient iffgain to obtain the current command compensation value i of the servo driver. mff .

[0131] Subsequently, the instruction generation module 20 transmits the target position instruction θ mref Speed ​​command compensation value ω mff and current command compensation value i mff The input is sent to the control module 30, which then controls the servo driver to move according to the target position command θ. mref Speed ​​command compensation value ω mff The current speed command ω of the servo driver ref The sum of the values ​​and the current command compensation value i mff Current current command i of the servo driver qref The sum of values ​​is calculated.

[0132] It should be noted that this example is only for the purpose of assisting in understanding this application and does not constitute a limitation on the control method of the servo driver of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0133] This application also provides a servo driver, please refer to... Figure 5 The servo driver may include:

[0134] The output signal determination module 10 is used to acquire the current position command of the servo drive; and determine the rigid position output signal and the flexible position output signal of the servo drive based on the current position command.

[0135] The instruction generation module 20 is used to fuse the rigid position output signal and the flexible position output signal to obtain the target position instruction of the servo driver.

[0136] The control module 30 is used to control the servo drive to run according to the target position command.

[0137] In one embodiment, the output signal determination module 10 is further configured to:

[0138] The current position command is subjected to rigid filtering to obtain the rigid position output signal and rigid acceleration output signal of the servo driver;

[0139] The rigid acceleration output signal is processed by flexible filtering to obtain the flexible position output signal.

[0140] In one embodiment, the output signal determination module 10 is further configured to:

[0141] Determine the rigid current output signal of the servo driver based on the current position command;

[0142] Instruction generation module 20 is also used for:

[0143] Determine the current command compensation value of the servo driver based on the rigid current output signal;

[0144] Based on the current command compensation value, the current command of the servo driver is compensated to obtain the target current command.

[0145] Control module 30 is also used for:

[0146] After controlling the servo drive to run according to the target position command, control the servo drive to run according to the target current command;

[0147] And / or, the output signal determination module 10 is also used for:

[0148] Based on the current position command, determine the rigid speed output signal and the flexible speed output signal of the servo driver;

[0149] Instruction generation module 20 is also used for:

[0150] The speed command compensation value of the servo driver is determined based on the rigid speed output signal and the flexible speed output signal.

[0151] Based on the speed command compensation value, the speed command of the servo driver is compensated to obtain the target speed command;

[0152] Control module 30 is also used for:

[0153] After controlling the servo drive to run according to the target position command, control the servo drive to run according to the target speed command.

[0154] In one embodiment, the instruction generation module 20 is further configured to:

[0155] Based on a preset current coefficient, the rigid current output signal is subjected to signal suppression processing to obtain the current command compensation value of the servo driver.

[0156] In one embodiment, the instruction generation module 20 is further configured to:

[0157] The rigid velocity output signal and the flexible velocity output signal are fused to obtain the velocity output signal and value;

[0158] Based on the preset speed coefficient, the speed output signal and value are subjected to signal suppression processing to obtain the speed command compensation value of the servo driver.

[0159] In one embodiment, the output signal determination module 10 is further configured to:

[0160] The current position command is rigidly filtered to obtain the rigid acceleration output signal of the servo driver;

[0161] The motor torque of the servo system is obtained by multiplying the rigid acceleration output signal by the system inertia of the servo system to which the servo driver belongs.

[0162] The ratio of motor torque to the motor torque coefficient of the servo system is calculated to obtain the rigid current output signal of the servo driver.

[0163] In one embodiment, the output signal determination module 10 is further configured to:

[0164] The current position command is subjected to rigid filtering to obtain the rigid velocity output signal and rigid acceleration output signal of the servo driver;

[0165] The rigid acceleration output signal is processed by flexible filtering to obtain the flexible speed output signal of the servo driver.

[0166] The servo driver provided in this application, employing the control method of the servo driver in the above embodiments, can ensure the position control accuracy of the servo system while guaranteeing the normal operation of the electronically controlled equipment in the servo system. Compared with the prior art, the beneficial effects of the servo driver provided in this application are the same as those of the control method of the servo driver provided in the above embodiments, and will not be repeated here.

[0167] This application also provides a servo driver, 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 control method of the servo driver in the above embodiments.

[0168] The following is for reference. Figure 6 It shows a schematic diagram of a servo driver suitable for implementing embodiments of this application. Figure 6 The servo driver shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application.

[0169] like Figure 6 As shown, the servo drive may include a processing unit 101 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 102 or a program loaded from storage device 103 into random access memory (RAM) 104. RAM 104 also stores various programs and data required for the operation of the servo drive. The processing unit 101, ROM 102, and RAM 104 are interconnected via bus 105. Input / output (I / O) interface 106 is also connected to the bus. Typically, the following systems can be connected to I / O interface 106: input devices 107 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 108 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 103 including, for example, magnetic tapes, hard disks, etc.; and communication devices 109. Communication device 109 allows the servo drive to communicate wirelessly or wiredly with other devices to exchange data. While the figures show servo drives with various systems, it should be understood that implementing or having all of the systems shown is not required. More or fewer systems may be implemented alternatively.

[0170] 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 103, or installed from ROM 102. When the computer program is executed by processing device 101, it performs the functions defined in the methods of the embodiments of this application.

[0171] The servo driver provided in this application, employing the control method of the servo driver in the above embodiments, can ensure the position control accuracy of the servo system while guaranteeing the normal operation of the electronically controlled equipment in the servo system. Compared with the prior art, the beneficial effects of the servo driver provided in this application are the same as those of the control method of the servo driver provided in the above embodiments, and other technical features of this servo driver are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0172] It should be understood that various parts of the embodiments of this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0173] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the above claims.

[0174] This application also provides a servo system, which includes a servo driver and an electronic control device. The servo driver is connected to the electronic control device, and the servo system is used to execute the control method of the servo driver in the above embodiments.

[0175] The servo system provided in this application adopts the servo driver control method in the above embodiments, which can ensure the position control accuracy of the servo system while ensuring the normal operation of the electronically controlled equipment in the servo system. Compared with the prior art, the beneficial effects of the servo system provided in this application are the same as the beneficial effects of the servo driver control method provided in the above embodiments, and will not be repeated here.

[0176] This application also provides a computer-readable storage medium storing a computer program that can run on a processor. The computer program is used to execute the servo driver control method in the above embodiments.

[0177] The computer-readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, 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.

[0178] The aforementioned computer-readable storage medium may be included in the servo drive; or it may exist independently and not be assembled into the servo drive.

[0179] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the servo driver, cause the servo driver to: acquire the current position command of the servo driver; determine the rigid position output signal and the flexible position output signal of the servo driver based on the current position command; fuse the rigid position output signal and the flexible position output signal to obtain the target position command of the servo driver; and control the servo driver to run according to the target position command.

[0180] 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).

[0181] 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 this application. 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.

[0182] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0183] The computer-readable storage medium provided in this application embodiment stores computer-readable program instructions for executing the control method of the servo driver described above, which can ensure the position control accuracy of the servo system while ensuring the normal operation of the electronically controlled equipment in the servo system. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application embodiment are the same as the beneficial effects of the control method of the servo driver provided in the above embodiments, and will not be repeated here.

[0184] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the servo drive control method described above.

[0185] The computer program product provided in this application can ensure the position control accuracy of the servo system while guaranteeing the normal operation of the electronically controlled equipment in the servo system. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the servo driver control method provided in the above embodiments, and will not be repeated here.

[0186] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A control method for a servo driver, characterized in that, The method includes: Obtain the current position command of the servo driver; Based on the current position command, determine the rigid position output signal and the flexible position output signal of the servo driver; The rigid position output signal and the flexible position output signal are fused to obtain the target position command of the servo driver; Control the servo driver to operate according to the target position command.

2. The control method for the servo driver as described in claim 1, characterized in that, The step of determining the rigid position output signal and the flexible position output signal of the servo driver according to the current position command includes: The current position command is subjected to rigid filtering to obtain the rigid position output signal and rigid acceleration output signal of the servo driver; The rigid acceleration output signal is subjected to flexible filtering to obtain the flexible position output signal.

3. The control method for the servo driver as described in claim 1, characterized in that, The method further includes: The rigid current output signal of the servo driver is determined based on the current position command; The current command compensation value of the servo driver is determined based on the rigid current output signal. Based on the current command compensation value, the current command of the servo driver is compensated to obtain the target current command; After controlling the servo driver to operate according to the target position command, control the servo driver to operate according to the target current command; and / or, Based on the current position command, determine the rigid speed output signal and the flexible speed output signal of the servo driver; The speed command compensation value of the servo driver is determined based on the rigid speed output signal and the flexible speed output signal. Based on the speed command compensation value, the speed command of the servo driver is compensated to obtain the target speed command; After controlling the servo drive to run according to the target position command, control the servo drive to run according to the target speed command.

4. The control method for the servo driver as described in claim 3, characterized in that, The step of determining the current command compensation value of the servo driver based on the rigid current output signal includes: Based on a preset current coefficient, the rigid current output signal is subjected to signal suppression processing to obtain the current command compensation value of the servo driver.

5. The control method for the servo driver as described in claim 3, characterized in that, The step of determining the speed command compensation value of the servo driver based on the rigid speed output signal and the flexible speed output signal includes: The rigid velocity output signal and the flexible velocity output signal are fused to obtain a velocity output signal and value; Based on a preset speed coefficient, the speed output signal and value are subjected to signal suppression processing to obtain the speed command compensation value of the servo driver.

6. The control method for the servo driver as described in claim 3, characterized in that, The step of determining the rigid current output signal of the servo driver based on the current position command includes: The current position command is subjected to rigid filtering to obtain the rigid acceleration output signal of the servo driver; The product of the rigid acceleration output signal and the system inertia of the servo system to which the servo driver belongs is calculated to obtain the motor torque of the servo system. The ratio of the motor torque to the motor torque coefficient of the servo system is calculated to obtain the rigid current output signal of the servo driver.

7. The control method for the servo driver as described in claim 3, characterized in that, The step of determining the rigid speed output signal and the flexible speed output signal of the servo driver according to the current position command includes: The current position command is subjected to rigid filtering to obtain the rigid velocity output signal and rigid acceleration output signal of the servo driver; The rigid acceleration output signal is subjected to flexible filtering to obtain the flexible speed output signal of the servo driver.

8. A servo driver, characterized in that, The servo driver includes: The output signal determination module is used to acquire the current position command of the servo driver; and determine the rigid position output signal and the flexible position output signal of the servo driver based on the current position command. The instruction generation module is used to fuse the rigid position output signal and the flexible position output signal to obtain the target position instruction of the servo driver; The control module is used to control the servo driver to operate according to the target position command.

9. A servo driver, characterized in that, The servo drive includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method of the servo drive as described in any one of claims 1 to 7.

10. A servo system, characterized in that, The servo system includes a servo driver and an electronic control device, the servo driver being connected to the electronic control device, and the servo system being used to perform the steps of implementing the control method of the servo driver as described in any one of claims 1 to 7.

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