A variable frequency-servo dual mode operation control method and system for intelligent production line

Abstract

This invention relates to the field of intelligent production line control technology, and discloses a variable frequency-servo dual-mode operation control method and system for intelligent production lines. The method involves: when the motor of the intelligent production line is driven in variable frequency control mode, acquiring the real-time status of the motor and determining whether the mode switching conditions are met. If the mode switching conditions are met, a mode switching request signal is output. Within the current switching cycle, the variable frequency control mode is maintained, and the initial position loop setpoint, initial speed loop integral value, and initial current loop integral value of the servo control mode are injected respectively. After injection, the servo control mode is activated. When the phase current deviation exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered. When the phase current deviation does not exceed the current deviation threshold, the servo control mode switch is confirmed to be successful, and the servo control mode operation is maintained. This invention improves the drive control accuracy and operational stability of intelligent production lines under mixed operating conditions.

Description

Technical Field

[0001] This invention relates to the field of intelligent production line control technology, and in particular to a frequency conversion-servo dual-mode operation control method and system for intelligent production lines. Background Technology

[0002] In the field of motor drive control for intelligent production lines, frequency converter control and servo control are two drive methods designed for different operating conditions. Frequency converter control is suitable for non-precision operating conditions with lower position accuracy requirements, offering advantages such as low cost and low energy consumption; servo control, on the other hand, is suitable for precision operating conditions, enabling precise position and torque control. However, in actual intelligent production lines, the same drive shaft often needs to frequently switch between these two types of operating conditions, and neither control mode alone can simultaneously meet the accuracy and energy efficiency requirements of the entire production line operating conditions.

[0003] In existing technologies, frequency converter drive units and servo drive units are typically deployed as two completely independent control loops, with no real-time state quantity sharing or transmission mechanism between them. When production line conditions change, mode switching relies entirely on manual judgment by operators or pre-programmed fixed timing sequences. The system itself cannot autonomously identify the switching timing based on real-time changes in load characteristics, resulting in delayed switching response and poor adaptability to operating conditions. Existing technologies directly interrupt the current control loop and forcibly activate the target control loop during mode switching. At the moment of switching, there is an unavoidable abrupt change in the magnetic flux phase, speed state, and current components between the two loops, which in turn triggers inrush currents with amplitudes far exceeding the rated values ​​and severe mechanical oscillations, reducing production line positioning accuracy and process consistency. Summary of the Invention

[0004] The main objective of this invention is to provide a variable frequency-servo dual-mode operation control method and system for intelligent production lines. This invention can autonomously identify the current operating stage based on the real-time load characteristics of the production line, autonomously determine the mode switching timing, and output a switching request signal. This eliminates the switching methods that rely on manual triggering or fixed timing programs in the prior art, and solves the problems of delayed mode switching response and poor adaptability to operating conditions.

[0005] To achieve the above objectives, the present invention provides a variable frequency-servo dual-mode operation control method for intelligent production lines, comprising the following steps: When the motor of the intelligent production line is driven in frequency conversion control mode, the real-time status of the motor is collected and it is determined whether the mode switching conditions are met. If the mode switching conditions are met, a mode switching request signal is output. In response to the mode switching request signal, the frequency conversion control mode is maintained within the current switching cycle. The first magnetic field orientation angle is calculated synchronously, and the first magnetic field orientation angle, q-axis voltage output value, torque current component and encoder current position are respectively injected into the initial position loop setpoint, initial speed loop integral value and initial current loop integral value of the servo control mode. After injection is completed, the servo control mode is activated and the phase current deviation value is calculated. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered. When the phase current deviation value does not exceed the current deviation threshold, the servo control mode is determined to have been successfully switched and the servo control mode is maintained.

[0006] Optionally, in a first implementation of the first aspect of the present invention, when the motor of the intelligent production line is driven in a variable frequency control mode, the real-time status of the motor is collected and it is determined whether the mode switching condition is met. If the mode switching condition is met, a mode switching request signal is output, including: When the motor of the intelligent production line is driven in frequency conversion control mode, the three-phase stator current and encoder position pulse are collected synchronously, and the q-axis voltage output value of the motor in frequency conversion control mode is recorded. The Clarke and Park transformations are performed on the three-phase stator currents to obtain the d-axis current component, the q-axis torque current component, and the first real-time speed. The d-axis current component, the q-axis torque current component, the first real-time rotational speed, the encoder's current position, and the q-axis voltage output value are collectively used as real-time status variables. Based on the real-time status quantity, determine whether the mode switching condition is met. If the mode switching condition is met, output a mode switching request signal.

[0007] Optionally, in a second implementation of the first aspect of the present invention, the step of performing Clarke and Park transformations on the three-phase stator currents to obtain the d-axis current component, the q-axis torque current component, and the first real-time rotational speed includes: The Clarke transformation is performed on the three-phase stator current to obtain the α-axis current component and β-axis current component in the stationary two-phase coordinate system. Based on the reference angle, the α-axis current component and the β-axis current component are subjected to Park transformation to obtain the d-axis current component and the q-axis torque current component. The pulse increment of the encoder position pulse within two adjacent sampling periods is calculated, and the pulse increment is differentially calculated to obtain the first real-time rotational speed.

[0008] Optionally, in a third implementation of the first aspect of the present invention, the step of determining whether the mode switching condition is met based on the real-time state quantity, and outputting a mode switching request signal if the mode switching condition is met, includes: The first fluctuation variance is calculated based on the q-axis torque current component in the real-time state quantity. When the first fluctuation variance is not lower than the fluctuation variance threshold, and the first position deviation value between the target encoder position and the current encoder position is not lower than the position deviation threshold, it is determined that the mode switching condition is met. If the mode switching conditions are met, a mode switching request signal is output; otherwise, the variable frequency control mode continues to operate.

[0009] Optionally, in a fourth implementation of the first aspect of the present invention, the step of responding to the mode switching request signal, maintaining the frequency conversion control mode within the current switching cycle, synchronously calculating the first magnetic field orientation angle, and injecting the first magnetic field orientation angle, the q-axis voltage output value, the torque current component, and the encoder's current position into the initial position loop setpoint, the initial speed loop integral value, and the initial current loop integral value of the servo control mode, respectively, includes: In response to the mode switching request signal, the frequency conversion control mode is maintained within the current switching cycle. Based on the real-time state quantity, the rotor flux vector is subjected to full-order observation and iterative calculation to obtain the first α-axis flux component and the first β-axis flux component. The first magnetic field orientation angle is obtained by performing four-quadrant arctangent calculation based on the first α-axis magnetic flux component and the first β-axis magnetic flux component. The first magnetic field orientation angle, q-axis voltage output value, torque current component, and encoder current position are respectively injected into the initial position loop setpoint, initial speed loop integral value, and initial current loop integral value of the servo control mode.

[0010] Optionally, in a fifth implementation of the first aspect of the present invention, responding to the mode switching request signal, maintaining the frequency conversion control mode within the current switching cycle, and performing full-order observation iterative calculation of the rotor flux vector based on the real-time state quantity to obtain the first α-axis flux component and the first β-axis flux component includes: In response to the mode switching request signal, the frequency conversion control mode is maintained during the current switching cycle; Calculate the magnetic flux attenuation and magnetic flux excitation based on the real-time state quantities; The magnetic flux attenuation and the magnetic flux excitation are accumulated and iteratively updated with the α-axis magnetic flux component at the previous sampling time to obtain the first α-axis magnetic flux component; the magnetic flux attenuation and the magnetic flux excitation are accumulated and iteratively updated with the β-axis magnetic flux component at the previous sampling time to obtain the first β-axis magnetic flux component.

[0011] Optionally, in a sixth implementation of the first aspect of the present invention, the step of injecting the first magnetic field orientation angle, the q-axis voltage output value, the torque current component, and the encoder's current position into the initial position loop setpoint, the initial speed loop integral value, and the initial current loop integral value of the servo control mode, respectively, includes: Write the first magnetic field orientation angle into the initial phase of the servo control mode coordinate transformation, and at the same time write the current position of the encoder into the initial position loop setpoint. Divide the torque current component by the speed loop integral gain to obtain the initial speed loop integral value, and write the initial speed loop integral value into the speed loop integrator; Divide the q-axis voltage output value by the current loop integral gain to obtain the initial current loop integral value, and write the initial current loop integral value into the current loop q-axis integrator.

[0012] Optionally, in the seventh implementation of the first aspect of the present invention, after the injection is completed, activating the servo control mode and calculating the phase current deviation value, and when the phase current deviation value exceeds the current deviation threshold, re-triggering the pre-synchronization state injection process; when the phase current deviation value does not exceed the current deviation threshold, determining that the servo control mode switch is successful and maintaining the servo control mode operation, includes: After injection is completed, the servo control mode is activated, and the phase current deviation value is calculated in multiple consecutive control cycles after activation. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered; When the phase current deviation value does not exceed the current deviation threshold, the servo control mode is determined to have been successfully switched and the servo control mode is maintained.

[0013] Optionally, in an eighth implementation of the first aspect of the present invention, during the operation of the servo control mode, a second real-time rotational speed is acquired and a second fluctuation variance and a second position deviation value are calculated. When the second fluctuation variance is lower than the fluctuation variance threshold and the second position deviation value is lower than the position deviation threshold, the second α-axis magnetic flux component and the second β-axis magnetic flux component are obtained, and the four-quadrant arctangent calculation is performed based on the second α-axis magnetic flux component and the second β-axis magnetic flux component to obtain the second magnetic field orientation angle. The second magnetic field orientation angle is injected into the initial phase of the frequency conversion control mode coordinate transformation, and the initial given frequency of the frequency conversion control mode is calculated based on the second real-time speed. The initial output voltage is calculated based on the initial given frequency, and the initial given frequency and the initial output voltage are injected into the frequency conversion control loop. The frequency conversion control mode is activated in the next switching cycle, and the seamless switching from servo control mode to frequency conversion control mode is completed.

[0014] This invention also provides a frequency conversion-servo dual-mode operation control system for intelligent production lines, comprising: The mode judgment module is used to collect the real-time status of the motor when the motor of the intelligent production line is driven in the frequency conversion control mode and determine whether the mode switching conditions are met. If the mode switching conditions are met, the mode switching request signal is output. The calculation module is used to respond to the mode switching request signal, maintain the frequency conversion control mode in the current switching cycle, synchronously calculate the first magnetic field orientation angle, and inject the first magnetic field orientation angle, q-axis voltage output value, torque current component and encoder current position into the initial position loop setpoint, initial speed loop integral value and initial current loop integral value of the servo control mode, respectively. The execution module is used to activate the servo control mode after the injection is completed, and calculate the phase current deviation value. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered; when the phase current deviation value does not exceed the current deviation threshold, the servo control mode is determined to have been successfully switched and the servo control mode is kept running.

[0015] In summary, this invention establishes a composite operating condition judgment criterion based on the first fluctuation variance of torque current and the first position deviation value, combined with a continuous multi-frame hysteresis confirmation mechanism. This allows the invention to autonomously identify the current operating condition stage based on the real-time load characteristics of the production line, autonomously determine the mode switching timing, and output a switching request signal. This eliminates the switching methods relying on manual triggering or fixed timing programs in existing technologies, solving the problems of delayed mode switching response and poor operating condition adaptability. This invention proposes a pre-synchronous state handover mechanism that completes full-order observation of rotor flux vector, calculation of the first magnetic field orientation angle, and injection of initial values ​​into the servo three-loop circuit within a single switching cycle. The first magnetic field orientation angle, q-axis voltage output value, torque current component, and encoder current position of the final state of the frequency converter control mode are injected into the initial phase of the coordinate transformation, the initial position loop setpoint, the initial speed loop integral value, and the initial current loop integral value of the servo control mode, respectively. This ensures that all initial control values ​​of the servo control loop at the moment of activation are precisely and continuously connected with the final state of the frequency converter control mode, eliminating state breaks between the two control loops and avoiding inrush currents and mechanical oscillations at the moment of switching. This invention employs a closed-loop verification mechanism for the phase current deviation value within the continuous control cycle after switching to perform online self-correction of the quality of each switching. When the switching quality does not meet the requirements, the pre-synchronization injection process is automatically re-triggered, ensuring the non-disruptive and reliable nature of each bidirectional mode switch and improving the drive control accuracy and operational stability of the intelligent production line under mixed operating conditions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the steps of a frequency conversion-servo dual-mode operation control method for intelligent production lines in one embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the acquisition of real-time status data of the motor and the determination of whether the mode switching conditions are met in an embodiment of the present invention. Figure 3 This is a schematic diagram illustrating the Clarke and Park transformations of the three-phase stator current in an embodiment of the present invention. Figure 4 This is a schematic diagram of the output mode switching request signal in an embodiment of the present invention; Figure 5 This is a schematic diagram showing the initial position loop setpoint, initial velocity loop integral value, and initial current loop integral value injected into the servo control mode in an embodiment of the present invention. Figure 6 This is a schematic diagram illustrating the activation of the servo control mode in an embodiment of the present invention; Figure 7 This is a block diagram of a frequency conversion-servo dual-mode operation control system for intelligent production lines, according to one embodiment of the present invention.

[0017] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] Reference Figure 1 This embodiment provides a variable frequency-servo dual-mode operation control method for intelligent production lines, including the following steps: S1, When the motor of the intelligent production line is driven in the frequency conversion control mode, the real-time status of the motor is collected and it is determined whether the mode switching conditions are met. If the mode switching conditions are met, a mode switching request signal is output. S2, respond to the mode switching request signal, maintain the frequency conversion control mode within the current switching cycle, synchronously calculate the first magnetic field orientation angle, and inject the first magnetic field orientation angle, q-axis voltage output value, torque current component and encoder current position into the initial position loop setpoint, initial speed loop integral value and initial current loop integral value of the servo control mode respectively; S3, after injection is completed, activate the servo control mode and calculate the phase current deviation value. When the phase current deviation value exceeds the current deviation threshold, re-trigger the pre-synchronization state injection process. When the phase current deviation value does not exceed the current deviation threshold, determine that the servo control mode switch is successful and maintain the servo control mode operation.

[0020] In one example, such as Figure 2When the motor in the intelligent production line is driven in variable frequency control mode, the system collects the real-time status data of the motor and determines whether the mode switching conditions are met. If the mode switching conditions are met, a mode switching request signal is output, including: S11, When the motor of the intelligent production line is driven in the frequency conversion control mode, the three-phase stator current and encoder position pulse are collected synchronously, and the q-axis voltage output value of the motor in the frequency conversion control mode is recorded. S12, perform Clarke and Park transformations on the three-phase stator currents to obtain the d-axis current component, the q-axis torque current component, and the first real-time speed; S13, the d-axis current component, the q-axis torque current component, the first real-time speed, the encoder current position and the q-axis voltage output value are used together as real-time state quantities; S14: Determine whether the mode switching condition is met based on the real-time status quantity. If the mode switching condition is met, output a mode switching request signal.

[0021] In this example, the controller uses a fixed sampling period. Instantaneous value of three-phase stator current , , and incremental encoder position pulse Simultaneous data acquisition is performed, while retaining the q-axis voltage output value at the current moment in the frequency converter control mode. In variable frequency control mode, the controller was originally set to operate according to a constant voltage-frequency ratio. Run, and according to Calculate the output voltage amplitude, and then combine it with the given frequency. Generate three-phase PWM drive pulses, therefore These are not newly constructed quantities, but rather existing control quantities extracted directly from the current SPWM modulation state. After acquiring the raw quantities, the controller performs a Clarke transformation on the three-phase currents, converting the three-phase stationary coordinate quantities into two-phase stationary coordinate quantities. , The α-axis current component required for magnetic field orientation calculation is obtained. Shaft current component. The controller derives the reference angle relationship based on the frequency conversion control mode. The reference angle is updated in real time, and when the reference angle exceeds... The model is processed periodically to ensure that the angle remains within the periodic range. After obtaining the reference angle, the model is then... and Perform the Park transform to obtain the axis current components. With q-axis torque current component Simultaneously, the first real-time rotational speed is directly calculated based on the position pulse increment between two adjacent sampling cycles of the encoder, and the calculation relationship is as follows: ,in This represents the pulse difference between two adjacent samples, thereby ensuring that the current variable and the velocity variable are under the same time reference, and avoiding phase mismatch in subsequent switching decisions due to asynchronous sampling.

[0022] The controller will , First real-time speed Encoder current position and q-axis voltage output value The data is uniformly written to the circular data register area, forming a set of real-time state variables used for mode switching judgment. Used to reflect the current controlled status of the magnetic flux channel. Used to reflect the current electromagnetic torque demand and load disturbance level Used to describe the instantaneous speed state of the motor. Used to characterize the current position This is used to retain drive output information in the unstate of the variable frequency control mode. The controller establishes a composite judgment mechanism of "torque fluctuation + position deviation" so that the mode switching request signal is only triggered when a precise operating condition actually occurs. It reads the most recent consecutive sampling points from the circular buffer. First, calculate the mean of the data, then calculate the first fluctuation variance, and compare the result with the fluctuation variance threshold. Comparison; During the threshold tuning stage, the controller collects data from no less than several sampling periods of no-load conveying conditions and precision operation entry conditions, and then... A judgment threshold is obtained, thereby reducing the space for misjudgment between the two types of operating conditions. Simultaneously, the controller reads the current position setpoint. and based on Calculate the first position deviation value.

[0023] In one example, such as Figure 3 The Clarke and Park transformations of the three-phase stator currents are performed to obtain the d-axis current component, the q-axis torque current component, and the first real-time speed, including: S121, perform Clarke transformation on the three-phase stator current to obtain the α-axis current component and β-axis current component in the stationary two-phase coordinate system; S122, based on the reference angle, perform Park transformation on the α-axis current component and the β-axis current component to obtain the d-axis current component and the q-axis torque current component; S123, calculate the pulse increment of the encoder position pulse within two adjacent sampling periods, and perform differential calculation on the pulse increment to obtain the first real-time speed.

[0024] In this example, the three-phase current calculation and encoder speed measurement are executed continuously within the same control cycle, ensuring that the current and speed states always correspond to the operating conditions at the same moment. At the arrival of each sampling cycle, the controller synchronously reads the instantaneous values ​​of the three-phase stator current and the encoder position pulse count. The controller performs a Clarke transform on the three-phase stator current, mapping the originally coupled three-phase currents to a stationary two-phase coordinate system, obtaining the α-axis and β-axis current components. The controller uses a reference angle update relationship, recursively calculating the reference angle based on the current given frequency within each sampling cycle, and performing a rewind process after completing a full electrical angle cycle, ensuring that the reference angle remains synchronized with the current output rhythm of the frequency converter control mode. The controller performs a Park transformation on the α-axis and β-axis current components based on a reference angle, projecting the current from the stationary coordinate system onto the rotating synchronous coordinate system, thereby obtaining the d-axis current component and the q-axis torque current component. The d-axis current component characterizes the current state in the flux linkage direction, while the q-axis torque current component characterizes the current state in the drive torque establishment direction. Therefore, the q-axis torque current component is directly used as a crucial input for continuous buffering in operating condition identification and mode switching determination. The controller uses the difference in encoder pulse counts between the current sampling time and the previous sampling time as the pulse increment, and combines this with a fixed sampling period to complete differential speed measurement, obtaining the first real-time speed. Since the speed calculation and current transformation share the same sampling cycle, the obtained first real-time speed is synchronized with the d-axis current component and the q-axis torque current component.

[0025] In one example, such as Figure 4 Based on real-time status variables, determine whether the mode switching conditions are met. If the mode switching conditions are met, output a mode switching request signal, including: S141, Calculate the first fluctuation variance based on the q-axis torque current component in the real-time state variables; S142, when the first fluctuation variance is not lower than the fluctuation variance threshold and the first position deviation between the target encoder position and the current encoder position is not lower than the position deviation threshold, it is determined that the mode switching condition is met. S143: If the mode switching conditions are met, output a mode switching request signal; if the mode switching conditions are not met, continue to operate in the frequency converter control mode.

[0026] In this example, within each sampling period, the controller extracts the q-axis torque current components from the most recent consecutive sampling points in the circular buffer, calculates the average value of this set of current data, and then calculates the deviation of each sampling point from the average value. All deviations are squared, accumulated, and averaged to obtain the first fluctuation variance. The controller obtains a statistical result of the strength of torque current fluctuations over a continuous period, which can reflect whether the current load has begun to fluctuate significantly. This is more suitable for operating condition identification than the instantaneous changes of a single sampling point. The fluctuation variance threshold is determined during the process debugging phase. At least several sampling periods of q-axis torque current data are collected under both no-load conveying and precision operation entry conditions. The fluctuation range under each of the two operating conditions is calculated, and the boundary between the two operating conditions is used as the fluctuation variance threshold and written into the controller parameter area. This ensures that the threshold is consistent with the production line mechanical characteristics, motor parameters, and load change characteristics.

[0027] The controller reads the target encoder position and the current encoder position, and calculates the difference to obtain the first position deviation value. When the first fluctuation variance reaches or exceeds the fluctuation variance threshold, and the first position deviation value reaches or exceeds the position deviation threshold, it indicates that the current operating state exhibits both increased load disturbance and increased position error characteristics. At this point, it is determined that the conditions for mode switching have been met. To prevent misjudgments caused by current spikes, instantaneous mechanical vibrations, or single-cycle sampling anomalies, the controller adds a continuous confirmation process, that is, repeatedly checking whether the above two conditions are always met within multiple consecutive sampling cycles; only if both conditions remain met within this duration will the controller output a mode switching request signal and enter the state injection and mode handover process. As long as the first fluctuation variance falls below the threshold, or the first position deviation value is lower than the position deviation threshold, the controller does not output a mode switching request signal, but continues to maintain the frequency conversion control mode operation.

[0028] In one example, such as Figure 5 In response to the mode switching request signal, the variable frequency control mode is maintained within the current switching cycle. The first field orientation angle is calculated synchronously, and the first field orientation angle, q-axis voltage output value, torque current component, and encoder current position are respectively injected into the initial position loop setpoint, initial speed loop integral value, and initial current loop integral value of the servo control mode, including: S21, respond to the mode switching request signal, maintain the frequency conversion control mode within the current switching cycle, and perform full-order observation and iterative calculation of the rotor flux vector based on real-time state variables to obtain the first α-axis flux component and the first β-axis flux component. S22, the first magnetic field orientation angle is obtained by performing four-quadrant arctangent calculation based on the first α-axis magnetic flux component and the first β-axis magnetic flux component; S23, the first magnetic field orientation angle, q-axis voltage output value, torque current component and encoder current position are respectively injected into the initial position loop setpoint, initial speed loop integral value and initial current loop integral value of the servo control mode.

[0029] In this example, after receiving the mode switching request signal, the controller compresses the state handover process into the current switching cycle, which is taken as... This maintains the continuity of the stator current during switching, preventing flux linkage breakage and current surges during control loop handover. The controller directly calls the updated real-time state variables, including the current component in the stationary two-phase coordinate system, the q-axis voltage output value, and the encoder position, etc., and uses these variables as inputs to the full-order observer to perform discrete iterative calculations on the rotor flux vector, obtaining the first α-axis flux component. and the first β-axis magnetic flux component The observation process employs an iterative relationship: ; ; in, and These represent the rotor flux α-axis and β-axis observations at the current sampling time, respectively, in units of... and This represents the magnetic flux observation value corresponding to the previous sampling time, also in Wb; Indicates the sampling period; Represents rotor resistance, in units of ; This represents rotor inductance, measured in ohms (H). Indicates the mutual inductance between the stator and rotor, in units of and These represent the α-axis and β-axis current components in the stationary two-phase coordinate system at the previous sampling time, respectively, in amperes (A). According to calculations, the controller simultaneously generates a flux decay term and a flux excitation term within each sampling period, and accumulates and updates these terms with the flux state at the previous time. Therefore, the obtained first α-axis and first β-axis flux components are not isolated instantaneous values, but rather flux linkage final-state estimates consistent with the continuous operating state before the switch. The controller performs four-quadrant arctangent calculations based on these two flux components, using the calculation relationship... Obtain the first magnetic field orientation angle ,in, This represents the magnetic field orientation angle corresponding to the final state of the variable frequency control mode, in rad. Its function is to simultaneously identify the sign and quadrant position of the α-axis and β-axis magnetic flux components, therefore in Even when the magnetic flux vector changes across quadrants, the angle calculation direction remains correct, ensuring that the initial phase of the servo magnetic field orientation after switching is consistent with the spatial position of the flux linkage before switching. The controller simultaneously latches the magnetic field orientation angle, q-axis voltage output value, torque current component, and encoder current position, forming a state snapshot. Then, each quantity is written into the corresponding initial value register unit of the servo three-loop control: the first magnetic field orientation angle is directly written into the initial phase of the servo control mode coordinate transformation, and the encoder current position is directly written into the initial position loop setpoint, ensuring that the position loop starts from the current actual mechanical position at the moment of activation, avoiding sudden jumps in position setpoint; the torque current component is divided by the speed loop integral gain to obtain the initial speed loop integral value, which is then written into the speed loop integrator. The speed loop integral gain is taken as... Next, divide the q-axis voltage output value by the current loop integration gain to obtain the initial current loop integral value, and write it into the current loop q-axis integrator. The current loop integration gain is taken as... Through this set of injection actions, the initial position value, initial speed integral value, and initial current integral value used by the servo control mode at the moment of activation are all continuous with the final state of the frequency converter control mode. Therefore, no additional position step, speed change or current surge will occur at the mode switching point, and the servo loop after switching can smoothly continue to operate from the original operating point.

[0030] In one example, in response to a mode switching request signal, the frequency converter control mode is maintained during the current switching cycle. Based on real-time state variables, a full-order observation iterative calculation of the rotor flux vector is performed to obtain the first α-axis flux component and the first β-axis flux component, including: Respond to the mode switching request signal and maintain the frequency converter control mode during the current switching cycle; Calculate magnetic flux attenuation and magnetic flux excitation based on real-time state variables; The magnetic flux attenuation and magnetic flux excitation are accumulated and iteratively updated with the α-axis magnetic flux component at the previous sampling time to obtain the first α-axis magnetic flux component; the magnetic flux attenuation and magnetic flux excitation are accumulated and iteratively updated with the β-axis magnetic flux component at the previous sampling time to obtain the first β-axis magnetic flux component.

[0031] In this example, after receiving the mode switching request signal, the controller compresses the state handover within the current switching cycle, which is 100μs. Within this time window, the original drive state of the inverter bridge is maintained for continuous output, ensuring the continuous evolution of stator current and rotor flux linkage. This avoids phenomena such as magnetic field phase interruption, inrush current amplification, and enhanced mechanical vibration at the moment of mode switching. Simultaneously, the controller extracts the α-axis and β-axis current components in the stationary two-phase coordinate system from the real-time state variables and calls upon the α-axis and β-axis flux components saved at the previous sampling time. The sampling period is 500μs, which serves as the input basis for the full-order flux observation iteration. For the α-axis channel, the controller first calculates the flux attenuation based on the magnitude of the α-axis flux component at the previous sampling time. The physical meaning of flux attenuation is the portion of the rotor flux linkage that naturally decays over time under the influence of rotor resistance, and the decay rate is determined by both rotor resistance and rotor inductance. Then, it calculates the flux excitation based on the currently observed α-axis current component. The physical meaning of flux excitation is the portion of the stator current that replenishes the rotor flux linkage through stator-rotor mutual inductance coupling, and its magnitude is related to rotor resistance, rotor inductance, stator-rotor mutual inductance, and the α-axis current component. The controller then accumulates and updates this attenuation component, the excitation component, and the α-axis flux component retained from the previous sampling time to obtain the first α-axis flux component at the current time. For the β-axis channel, the β-axis flux attenuation is generated based on the β-axis flux component at the previous sampling time, and the β-axis flux excitation is generated based on the current β-axis current component. Finally, the two increments are superimposed with the β-axis flux component from the previous sampling time to obtain the first β-axis flux component at the current time. To ensure stable calculation results, the rotor resistance, rotor inductance, and stator-rotor mutual inductance are all written into the controller parameter area using the measured parameter values ​​corresponding to the motor nameplate, so that the magnetic flux decay rate and magnetic flux excitation intensity can truly reflect the current characteristics of the motor itself.

[0032] In one example, the first magnetic field orientation angle, q-axis voltage output value, torque current component, and encoder current position are respectively injected into the initial position loop setpoint, initial speed loop integral value, and initial current loop integral value of the servo control mode, including: Write the first magnetic field orientation angle into the initial phase of the coordinate transformation in the servo control mode, and write the current position of the encoder into the initial position loop setpoint. Divide the torque current component by the speed loop integral gain to obtain the initial speed loop integral value, and write the initial speed loop integral value into the speed loop integrator; Divide the q-axis voltage output value by the current loop integral gain to obtain the initial current loop integral value, and write the initial current loop integral value into the current loop q-axis integrator.

[0033] In this example, the magnetic field direction, position state, current state, and voltage state are latched simultaneously to form a snapshot of the state at the moment of switching. Then, the initial values ​​of the servo three-loop control circuit are injected within the current PWM switching cycle, ensuring that all control quantities are aligned with the final state of the frequency converter control mode before the servo control mode takes over. The controller directly writes the first magnetic field orientation angle into the initial phase register of the servo control mode coordinate transformation module, ensuring that the synchronous rotating coordinate system used when the servo control mode starts is consistent with the magnetic flux spatial direction at the moment of switching. Simultaneously, the controller sets the encoder's current position P0=P... enc Write the initial setpoint of the position ring, where P0 represents the initial setpoint of the position ring, in units of pulses. enc This indicates the actual feedback position of the encoder at the moment of switching, also in pulses. After writing, the target position seen by the position loop at the moment of activation is consistent with the current position of the mechanical axis. The position loop output will not produce an additional step due to the sudden change of the given value, which helps to suppress position jitter at the moment of mode transition.

[0034] After writing the initial position value, the controller processes the initial value of the speed loop integrator. Since the switching moment confirms that the frequency converter control mode is in a stable tracking state and the speed error is close to zero, the core objective of the speed loop is to ensure that the q-axis torque current setpoint output at the moment the servo control mode is activated remains continuous with the torque current component before the switch. To meet this continuity requirement, the controller follows... Calculate the integral value of the initial velocity loop, where This represents the initial value of the velocity loop integrator, in seconds (s). This represents the torque current component latched at the moment of switching, in amperes (A). This indicates the speed loop integral gain. After obtaining the initial integral value, the controller writes the initial speed loop integral value into the speed loop integrator storage unit, ensuring that when the speed loop enters operation, it can directly continue outputting along the electromagnetic torque operating point before the switch, without torque collapse or instantaneous rise due to the integrator starting from zero. Similar to the speed loop injection logic, the initial value setting goal for the current loop q-axis integrator is to maintain the continuity between the q-axis voltage output at the moment the servo control mode is activated and the final state voltage of the frequency converter control mode. Therefore, the controller follows... Calculate the integral value of the initial current loop, where This represents the initial value of the q-axis integrator in the current loop, in units of... , This represents the q-axis voltage output value latched in the final state of the frequency converter control mode, in volts (V). This represents the gain of the current loop integral. After the controller writes the initial current loop integral value into the current loop q-axis integrator, the servo current loop can maintain the same q-axis voltage support level as before the switch at startup, thereby reducing the current fluctuation amplitude after the coordinate transformation switch. At the same time, the d-axis current control target remains zero, so the initial value of the d-axis integrator can be set to zero, and no additional compensation is required.

[0035] After execution according to this injection link, the first magnetic field orientation angle ensures the initial phase continuity of the servo coordinate system, the encoder's current position ensures the initial setpoint continuity of the position loop, the torque current component and the speed loop integral gain jointly determine the starting point of the speed loop integrator, and the q-axis voltage output value and the current loop integral gain jointly determine the starting point of the current loop q-axis integrator. With these four initial quantities written simultaneously, the electromagnetic and mechanical states at the end of the frequency converter control mode can be smoothly transferred to the starting point of the servo control mode. Therefore, after the servo control mode is activated, no additional shocks will occur due to position setpoint jumps, integrator resets, or phase mismatches, and the mode switching process can maintain current continuity, torque continuity, and position continuity.

[0036] In one example, such as Figure 6 After injection is completed, the servo control mode is activated, and the phase current deviation value is calculated. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered. When the phase current deviation value does not exceed the current deviation threshold, the servo control mode switch is confirmed to be successful, and the servo control mode is maintained, including: S31, after injection is completed, activate the servo control mode and calculate the phase current deviation value in multiple consecutive control cycles after activation; S32, when the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered; S33, when the phase current deviation value does not exceed the current deviation threshold, determine that the servo control mode switch is successful and maintain the servo control mode operation.

[0037] In this example, after writing the field orientation angle, initial setpoint of the position loop, initial integral value of the speed loop, and initial integral value of the current loop, the controller puts the servo control mode into a monitored takeover state and performs closed-loop verification of the takeover quality over multiple consecutive control cycles. The control cycle is 500μs; therefore, after the servo control mode is activated, the position loop, speed loop, and current loop all run continuously according to this cycle. At the end of each cycle, the driver synchronously reads the actual phase current and compares it with the reference phase current that should be reached in the current cycle of the servo control mode. The absolute value of the difference between the two forms the phase current deviation value. The phase current deviation value is used to determine whether the electromagnetic torque establishment process remains continuous after the final state of the frequency converter control mode is transferred to the initial state of the servo control mode, whether the field orientation is misaligned, and whether the injection of the three loop initial values ​​truly eliminates the interruption at the switching moment. If the phase current deviation is still significantly large even though the servo control mode has been activated, it indicates that there is still a deviation between the coordinate phase, the initial value of the integrator, or the magnetic flux observation results and the actual operating state. If the servo control mode is continued to operate at this time, it is easy to cause current surge amplification, mechanical vibration enhancement, and a decrease in positioning accuracy. Therefore, the switching results should be checked again.

[0038] After servo control mode is activated, the controller starts the switching quality verification counter and sets the verification window to N consecutive control cycles. Within F consecutive control cycles, the controller compares the phase current deviation value with this threshold value cycle by cycle. If any control cycle detects that the phase current deviation value exceeds a preset proportion of the rated current, it is determined that the current switching has not met the requirements for seamless takeover. At the end of the current verification cycle, the successful switching flag is revoked, and the pre-synchronization state injection process is retried. The preset proportion can be set to 2%. Upon retried, the controller returns to the flux observation, magnetic field direction determination, and initial value writing stages for the position loop, velocity loop, and current loop. It reconstructs the servo takeover starting point consistent with the instantaneous switching state, then reactivates the servo control mode and enters a new F-cycle verification window.

[0039] When the phase current deviation value does not exceed the preset proportion of the rated current for F consecutive control cycles, the controller can determine that a smooth transition has been achieved between the final state of the frequency converter control mode and the initial state of the servo control mode, and that no current disturbance exceeding the allowable range occurred during the switching process. At this time, the controller sets the servo control mode switching success flag and deactivates the switching quality verification state, allowing the servo control mode to transition from the monitored takeover state to the normal closed-loop operation state. Simultaneously, the servo control mode continues to operate without re-executing state injection on the frequency converter control mode side.

[0040] In one example, during servo control mode operation, a second real-time rotational speed is acquired and a second fluctuation variance and a second position deviation value are calculated. When the second fluctuation variance is lower than the fluctuation variance threshold and the second position deviation value is lower than the position deviation threshold, the second α-axis magnetic flux component and the second β-axis magnetic flux component are obtained, and the four-quadrant arctangent calculation is performed based on the second α-axis magnetic flux component and the second β-axis magnetic flux component to obtain the second magnetic field orientation angle. The second magnetic field orientation angle is injected into the initial phase of the coordinate transformation of the frequency conversion control mode, and the initial given frequency of the frequency conversion control mode is calculated based on the second real-time speed. The initial output voltage is calculated based on the initial given frequency, and the initial given frequency and initial output voltage are injected into the frequency converter control loop. The frequency converter control mode is activated in the next switching cycle, and the seamless switching from servo control mode to frequency converter control mode is completed.

[0041] In this example, the controller performs stability checks on load fluctuations and position errors during continuous servo closed-loop operation. Within each sampling cycle, the controller continuously reads the relevant states of the speed and position loops and statistically analyzes the current fluctuation level from the q-axis torque and current components of multiple consecutive sampling points. Simultaneously, it uses the difference between the target encoder position and the current encoder position to form a second position deviation value. Only when the second fluctuation variance has decreased to within the allowable back-cut range, and the second position deviation value also remains within the allowable back-cut range, is the production line considered to have left the high-precision servo operation section and is ready to return to the frequency converter operation section. To avoid mode oscillations in the boundary region, the back-cut determination does not share the same threshold as the forward switching; instead, a back-cut threshold setting with hysteresis is used. After processing, the controller only initiates the servo-to-frequency converter state handover when both load fluctuations and position errors have significantly decreased to a low level, thereby suppressing control jitter caused by repeated switching near the threshold.

[0042] After confirming that the return-to-cut condition is met, the controller reads the second α-axis magnetic flux component and the second β-axis magnetic flux component at the current moment, and completes the magnetic field direction determination at the same sampling moment. The four-quadrant arctangent function is responsible for spatial quadrant identification here, so the controller obtains the second magnetic field orientation angle based on the two-axis magnetic flux components. ,in, This indicates the initial phase used for re-establishing the system in the frequency converter control mode at the moment of cutback, in rad; This represents the second α-axis flux component, in Wb. This represents the second β-axis flux component, measured in Wb. The controller directly writes this angle into the initial phase register of the frequency converter control mode coordinate transformation, ensuring that the electrical angle reference used when the frequency converter control mode takes over is consistent with the flux linkage spatial direction when the servo control mode exits. Simultaneously, the controller latches the second real-time speed and uses it to calculate the initial setpoint frequency for the frequency converter control mode. ,in, This indicates the initial set frequency of the variable frequency control mode after the switchback, in Hz. Indicates the second real-time speed; p indicates the number of pole pairs of the motor; This represents the number of pulses per encoder revolution. Using this conversion, the mechanical speed at the moment the servo control mode exits can be directly mapped to the electrical frequency when the frequency converter control mode takes over again, thus avoiding the artificial introduction of a frequency step during the switchback.

[0043] After writing the initial phase and initial given frequency, the controller calculates the initial output voltage that matches the initial given frequency based on the constant voltage-frequency ratio relationship. ,in, The voltage represents the initial output voltage after the cutback, in volts (V); C represents the constant voltage-frequency ratio constant, in volts (V). ; This indicates the initial set frequency, measured in Hz, calculated from the second real-time rotational speed. The controller simultaneously writes the initial set frequency and initial output voltage into the frequency conversion control loop and activates the frequency conversion control mode in the next PWM switching cycle. Since the initial phase is given by the current magnetic flux spatial direction, the initial frequency by the current mechanical speed, and the initial output voltage strictly corresponds to the initial frequency, the phase state, speed state, and voltage state of the frequency conversion control mode can be continuously connected with the electromagnetic state at the moment the servo control mode exits when it takes over again. Therefore, the return process does not require first reducing to zero speed and then increasing the frequency again, nor does it require cutting off the drive and then re-establishing the linkage. Instead, it completes the synchronous handover of the coordinate reference, frequency setpoint, and voltage setpoint under continuous motor operation, thereby reducing current fluctuations, torque mutations, and mechanical vibrations at the moment of return. This achieves a seamless return from servo control mode to frequency conversion control mode and enables the intelligent production line to form a bidirectional continuous switching capability between the conveyor section and the precision operation section.

[0044] Reference Figure 7 This embodiment provides a frequency conversion-servo dual-mode operation control system for intelligent production lines, including: The mode judgment module 1 is used to collect the real-time status of the motor and determine whether the mode switching conditions are met when the motor of the intelligent production line is driven in the frequency conversion control mode. If the mode switching conditions are met, the mode switching request signal is output. Calculation module 2 is used to respond to the mode switching request signal, maintain the frequency conversion control mode in the current switching cycle, synchronously calculate the first magnetic field orientation angle, and inject the first magnetic field orientation angle, q-axis voltage output value, torque current component and encoder current position into the initial position loop setpoint, initial speed loop integral value and initial current loop integral value of the servo control mode, respectively. Execution module 3 is used to activate the servo control mode after the injection is completed and calculate the phase current deviation value. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered. When the phase current deviation value does not exceed the current deviation threshold, the servo control mode is determined to have been successfully switched and the servo control mode is kept running.

[0045] In this embodiment, the specific implementation of each unit in the above system embodiment is described in the above method embodiment, and will not be repeated here.

[0046] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, system, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, system, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, system, article, or method that includes that element.

[0047] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A variable frequency-servo dual-mode operation control method for intelligent production lines, characterized in that, include: When the motor of the intelligent production line is driven in frequency conversion control mode, the real-time status of the motor is collected and it is determined whether the mode switching conditions are met. If the mode switching conditions are met, a mode switching request signal is output. In response to the mode switching request signal, the frequency conversion control mode is maintained within the current switching cycle. The first magnetic field orientation angle is calculated synchronously, and the first magnetic field orientation angle, q-axis voltage output value, torque current component and encoder current position are respectively injected into the initial position loop setpoint, initial speed loop integral value and initial current loop integral value of the servo control mode. After injection is completed, the servo control mode is activated and the phase current deviation value is calculated. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered. When the phase current deviation value does not exceed the current deviation threshold, the servo control mode is determined to have been successfully switched and the servo control mode is maintained.

2. The frequency conversion-servo dual-mode operation control method for intelligent production lines according to claim 1, characterized in that, When the motor of the intelligent production line is driven in variable frequency control mode, the real-time status of the motor is collected and it is determined whether the mode switching conditions are met. If the mode switching conditions are met, a mode switching request signal is output, including: When the motor of the intelligent production line is driven in frequency conversion control mode, the three-phase stator current and encoder position pulse are collected synchronously, and the q-axis voltage output value of the motor in frequency conversion control mode is recorded. The Clarke and Park transformations are performed on the three-phase stator currents to obtain the d-axis current component, the q-axis torque current component, and the first real-time speed. The d-axis current component, the q-axis torque current component, the first real-time rotational speed, the encoder's current position, and the q-axis voltage output value are collectively used as real-time status variables. The real-time status quantity is used to determine whether the mode switching condition is met. If the mode switching condition is met, a mode switching request signal is output.

3. The frequency conversion-servo dual-mode operation control method for intelligent production lines according to claim 2, characterized in that, The process of performing Clarke and Park transformations on the three-phase stator currents to obtain the d-axis current component, the q-axis torque current component, and the first real-time speed includes: The Clarke transformation is performed on the three-phase stator current to obtain the α-axis current component and β-axis current component in the stationary two-phase coordinate system. Based on the reference angle, the α-axis current component and the β-axis current component are subjected to Park transformation to obtain the d-axis current component and the q-axis torque current component. The pulse increment of the encoder position pulse within two adjacent sampling periods is calculated, and the pulse increment is differentially calculated to obtain the first real-time rotational speed.

4. The frequency conversion-servo dual-mode operation control method for intelligent production lines according to claim 3, characterized in that, The step of determining whether the mode switching condition is met based on the real-time status quantity, and outputting a mode switching request signal if the mode switching condition is met, includes: The first fluctuation variance is calculated based on the q-axis torque current component in the real-time state quantity. When the first fluctuation variance is not lower than the fluctuation variance threshold, and the first position deviation value between the target encoder position and the current encoder position is not lower than the position deviation threshold, it is determined that the mode switching condition is met. If the mode switching conditions are met, a mode switching request signal is output; otherwise, the variable frequency control mode continues to operate.

5. The frequency conversion-servo dual-mode operation control method for intelligent production lines according to claim 4, characterized in that, In response to the mode switching request signal, the variable frequency control mode is maintained within the current switching cycle. The first field orientation angle is calculated synchronously, and the first field orientation angle, q-axis voltage output value, torque current component, and encoder current position are respectively injected into the initial position loop setpoint, initial speed loop integral value, and initial current loop integral value of the servo control mode, including: In response to the mode switching request signal, the frequency conversion control mode is maintained within the current switching cycle. Based on the real-time state quantity, the rotor flux vector is subjected to full-order observation and iterative calculation to obtain the first α-axis flux component and the first β-axis flux component. The first magnetic field orientation angle is obtained by performing four-quadrant arctangent calculation based on the first α-axis magnetic flux component and the first β-axis magnetic flux component. The first magnetic field orientation angle, q-axis voltage output value, torque current component, and encoder current position are respectively injected into the initial position loop setpoint, initial speed loop integral value, and initial current loop integral value of the servo control mode.

6. The frequency conversion-servo dual-mode operation control method for intelligent production lines according to claim 5, characterized in that, In response to the mode switching request signal, the variable frequency control mode is maintained within the current switching cycle. Based on the real-time state variables, the rotor flux vector is subjected to full-order observation and iterative calculation to obtain the first α-axis flux component and the first β-axis flux component, including: In response to the mode switching request signal, the frequency conversion control mode is maintained during the current switching cycle; Calculate the magnetic flux attenuation and magnetic flux excitation based on the real-time state quantities; The magnetic flux attenuation and the magnetic flux excitation are accumulated and iteratively updated with the α-axis magnetic flux component at the previous sampling time to obtain the first α-axis magnetic flux component; the magnetic flux attenuation and the magnetic flux excitation are accumulated and iteratively updated with the β-axis magnetic flux component at the previous sampling time to obtain the first β-axis magnetic flux component.

7. The frequency conversion-servo dual-mode operation control method for intelligent production lines according to claim 6, characterized in that, The step of injecting the first magnetic field orientation angle, q-axis voltage output value, torque current component, and encoder current position into the initial position loop setpoint, initial speed loop integral value, and initial current loop integral value of the servo control mode, respectively, includes: Write the first magnetic field orientation angle into the initial phase of the servo control mode coordinate transformation, and at the same time write the current position of the encoder into the initial position loop setpoint. Divide the torque current component by the speed loop integral gain to obtain the initial speed loop integral value, and write the initial speed loop integral value into the speed loop integrator; Divide the q-axis voltage output value by the current loop integral gain to obtain the initial current loop integral value, and write the initial current loop integral value into the current loop q-axis integrator.

8. The frequency conversion-servo dual-mode operation control method for intelligent production lines according to claim 7, characterized in that, After the injection is completed, the servo control mode is activated and the phase current deviation value is calculated. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered. When the phase current deviation value does not exceed the current deviation threshold, the servo control mode switch is determined to be successful and the servo control mode is maintained, including: After injection is completed, the servo control mode is activated, and the phase current deviation value is calculated in multiple consecutive control cycles after activation. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered; When the phase current deviation value does not exceed the current deviation threshold, the servo control mode is determined to have been successfully switched and the servo control mode is maintained.

9. The frequency conversion-servo dual-mode operation control method for intelligent production lines according to claim 8, characterized in that, During servo control mode operation, the second real-time speed is acquired and the second fluctuation variance and second position deviation value are calculated; When the second fluctuation variance is lower than the fluctuation variance threshold and the second position deviation value is lower than the position deviation threshold, the second α-axis magnetic flux component and the second β-axis magnetic flux component are obtained, and the four-quadrant arctangent calculation is performed based on the second α-axis magnetic flux component and the second β-axis magnetic flux component to obtain the second magnetic field orientation angle. The second magnetic field orientation angle is injected into the initial phase of the frequency conversion control mode coordinate transformation, and the initial given frequency of the frequency conversion control mode is calculated based on the second real-time speed. The initial output voltage is calculated based on the initial given frequency, and the initial given frequency and the initial output voltage are injected into the frequency conversion control loop. The frequency conversion control mode is activated in the next switching cycle, and the seamless switching from servo control mode to frequency conversion control mode is completed.

10. A frequency conversion-servo dual-mode operation control system for intelligent production lines, characterized in that, The steps for implementing the frequency conversion-servo dual-mode operation control method for intelligent production lines according to any one of claims 1 to 9 include: The mode judgment module is used to collect the real-time status of the motor when the motor of the intelligent production line is driven in the frequency conversion control mode and determine whether the mode switching conditions are met. If the mode switching conditions are met, the mode switching request signal is output. The calculation module is used to respond to the mode switching request signal, maintain the frequency conversion control mode in the current switching cycle, synchronously calculate the first magnetic field orientation angle, and inject the first magnetic field orientation angle, q-axis voltage output value, torque current component and encoder current position into the initial position loop setpoint, initial speed loop integral value and initial current loop integral value of the servo control mode, respectively. The execution module is used to activate the servo control mode after the injection is completed, and calculate the phase current deviation value. When the phase current deviation value exceeds the current deviation threshold, the pre-synchronization state injection process is re-triggered; when the phase current deviation value does not exceed the current deviation threshold, the servo control mode is determined to have been successfully switched and the servo control mode is kept running.

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