S curve generation method and device of servo drive and servo drive

Abstract

The present application discloses an S-curve generation method, device and servo driver of a servo drive. The method comprises: obtaining a predetermined acceleration, a predetermined starting speed and a predetermined target speed of a servo motor; determining a comparison table consisting of a plurality of standard values ​​and a plurality of index values ​​corresponding to a standard curve according to the predetermined starting speed and the predetermined target speed; generating an S-curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed, so as to generate the S-curve with less computing power and in a shorter time. The present application can effectively reduce the generation cost of the S-curve.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motor control, and in particular to a method and device for generating an S curve of a servo drive, and a servo drive. Background Art

[0002] The servo drive is part of the servo system and is a controller used to control the servo motor. Its function is similar to that of a frequency converter on an ordinary AC motor. Common acceleration and deceleration methods include trapezoidal curve acceleration method and S curve acceleration method.

[0003] However, the trapezoidal curve acceleration method of the existing scheme has the problem that the sudden change of torque has a great impact on the machine. Because the acceleration changes from zero to the target value instantly, it has a significant impact on the machine's operating noise, wear life, etc. Especially for machines with obvious gaps, the impact damage caused is greater.

[0004] The S-curve calculation process of the existing solution is complicated and requires pre-calculation of trajectory points, or each real-time calculation consumes a lot of computing time and occupies a lot of processor computing power. Especially for long-distance and long-term positioning, it has very high requirements on processor speed and cannot be implemented using low-cost microprocessors. Summary of the invention

[0005] In view of the above problems, the present application proposes an S-curve generation method, device and servo driver for a servo drive, so as to generate an S-curve in a shorter time and with less computing power.

[0006] In a first aspect, an embodiment of the present application provides a method for generating an S-curve of a servo drive, the method comprising:

[0007] Obtaining a predetermined acceleration, a predetermined starting speed, and a predetermined target speed of the servo motor;

[0008] Determine a comparison table consisting of a plurality of standard values ​​and a plurality of index values ​​corresponding to a standard curve according to the predetermined starting speed and the predetermined target speed;

[0009] An S curve of the servo drive is generated according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed.

[0010] In the S-curve generating method of the servo drive described in the embodiment of the present application, the standard curve is a standard sine curve or a standard cosine curve.

[0011] In the S-curve generating method of the servo drive described in the embodiment of the present application, in the comparison table, the standard angle corresponding to the i-th standard value and the i-th index value is smaller than the standard angle corresponding to the i+1-th standard value and the i+1-th index value, or the standard angle corresponding to the i-th standard value and the i-th index value is larger than the standard angle corresponding to the i+1-th standard value and the i+1-th index value, 1≤i≤I-1, I is the total number of standard values ​​in the comparison table.

[0012] The S-curve generating method of the servo drive described in the embodiment of the present application, wherein the comparison table consisting of a plurality of standard values ​​and a plurality of index values ​​corresponding to the standard curve is determined according to the predetermined starting speed and the predetermined target speed, comprises:

[0013] determining a standard coefficient according to the predetermined starting speed and the predetermined target speed;

[0014] Determine the standard curve according to the standard coefficient;

[0015] Select multiple standard angles within the standard angle range;

[0016] Calculate the standard value corresponding to each standard angle based on the standard curve;

[0017] The comparison table is determined using each standard value and an index value corresponding to each standard value.

[0018] The S-curve generating method of the servo drive according to the embodiment of the present application, wherein the S-curve of the servo drive is determined according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed, including:

[0019] Determine the tth reference speed corresponding to the tth moment according to the predetermined acceleration, 1≤t≤T, T is the total number of moments;

[0020] Determine the tth index value according to the tth reference speed, the predetermined start speed, the predetermined target speed and the total number of standard values ​​in the comparison table;

[0021] Determine the standard value corresponding to the t-th index value based on the comparison table;

[0022] determining a tth actual value according to the standard value corresponding to the tth index value, the maximum standard value corresponding to the standard curve, the predetermined starting speed and the predetermined target speed;

[0023] The S-curve is generated according to T actual values.

[0024] In the S-curve generating method of the servo drive described in the embodiment of the present application, the t-th index value is calculated using the following formula:

[0025]

[0026] Among them, Index t is the tth index value, I is the total number of standard values ​​in the comparison table, V t is the tth reference speed, V O is the predetermined starting speed, V M is the predetermined target speed.

[0027] The S-curve generating method of the servo drive according to the embodiment of the present application, wherein determining the standard value corresponding to the t-th index value based on the comparison table comprises:

[0028] If the comparison table includes the t-th index value, directly searching the comparison table for the standard value based on the t-th index value;

[0029] If the comparison table does not include the tth index value, two adjacent index values ​​adjacent to the tth index value are searched from the comparison table, and the standard value corresponding to the tth index value is determined based on the two adjacent standard values ​​corresponding to the two adjacent index values.

[0030] In the S-curve generating method of the servo drive described in the embodiment of the present application, the t-th actual value is calculated using the following formula:

[0031]

[0032] Among them, S Indext is the standard value corresponding to the t-th index value, S max is the maximum standard value, V O is the predetermined starting speed, V M is the predetermined target speed.

[0033] In a second aspect, an embodiment of the present application further provides an S-curve generating device for a servo drive, the device comprising:

[0034] An acquisition module, used for acquiring a predetermined acceleration, a predetermined starting speed and a predetermined target speed of the servo motor;

[0035] A determination module, configured to determine a comparison table consisting of a plurality of standard values ​​and a plurality of index values ​​corresponding to a standard curve according to the predetermined start speed and the predetermined target speed;

[0036] A generating module is used to generate an S curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed.

[0037] In a third aspect, an embodiment of the present application further proposes a servo drive, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the S-curve generation method of the servo drive described in the embodiment of the present application is executed.

[0038] In a fourth aspect, an embodiment of the present application further proposes a readable storage medium storing a computer program, which, when running on a processor, executes the S-curve generation method of the servo drive described in the embodiment of the present application.

[0039] The present application obtains a predetermined acceleration, a predetermined starting speed, and a predetermined target speed of the servo motor; determines a comparison table consisting of multiple standard values ​​and multiple index values ​​corresponding to a standard curve according to the predetermined starting speed and the predetermined target speed; generates an S curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed, and the predetermined target speed, thereby achieving the generation of the S curve with less computing power and in a shorter time. The present application can effectively reduce the generation cost of the S curve. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0041] Figure 1 A schematic diagram of a flow chart of a method for generating an S curve of a servo drive proposed in an embodiment of the present application is shown;

[0042] Figure 2 A schematic diagram of a trapezoidal curve proposed in an embodiment of the present application is shown;

[0043] Figure 3 A schematic flow chart of a comparison table determination process in an S-curve generation method for a servo drive proposed in an embodiment of the present application is shown;

[0044] Figure 4 A schematic diagram of an S-shaped curve proposed in an embodiment of the present application is shown;

[0045] Figure 5 A schematic flow chart of an S-curve generating process in an S-curve generating method of a servo drive proposed in an embodiment of the present application is shown;

[0046] Figure 6 A schematic structural diagram of an S-curve generating device for a servo drive proposed in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0049] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0050] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0051] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0052] Example 1

[0053] One embodiment of the present application provides a method for generating an S-curve of a servo drive. The method is applied to the servo drive and can generate an S-curve in a shorter time and with less computing power, so that the servo drive can stably control the servo motor according to the S-curve.

[0054] See also Figure 1 The S-curve generating method of the servo drive comprises the following steps S100 to S300:

[0055] Step S100, obtaining a predetermined acceleration, a predetermined starting speed, and a predetermined target speed of the servo motor.

[0056] It can be understood that a servo motor refers to an engine that controls the operation of a mechanical element (e.g., a rotor) in a servo system. It is an auxiliary motor indirect speed change device. The predetermined acceleration, predetermined starting speed, and predetermined target speed of the servo motor can all be acquired in advance. The predetermined acceleration, predetermined starting speed, and predetermined target speed are related to the type of servo motor and manufacturer requirements.

[0057] Among them, the predetermined acceleration refers to the slope of the straight line corresponding to the acceleration and / or deceleration process of the servo motor, the predetermined starting speed refers to the starting speed of the servo motor, and the predetermined target speed refers to the speed of the servo motor from the starting speed to the stable state.

[0058] It can be understood that a trapezoidal curve can be determined based on the predetermined acceleration, the predetermined starting speed and the predetermined target speed, for example, Figure 2 As shown, V O is the predetermined starting speed, V M is the predetermined target speed, V O To V M The slope of the corresponding rising straight line (segment AB) is the predetermined acceleration.

[0059] Step S200: determining a comparison table consisting of a plurality of standard values ​​and a plurality of index values ​​corresponding to a standard curve according to the predetermined starting speed and the predetermined target speed.

[0060] In this embodiment, in order to ensure that the servo driver generates the S curve using less computing power and shorter generation time, a comparison table consisting of multiple standard values ​​and multiple index values ​​is pre-determined using a standard curve to generate the S curve based on the comparison table.

[0061] The standard curve may be a standard sine curve, for example, D=k*sin(α); or a standard cosine curve, for example, D=k*cos(α), where k is a standard coefficient and α is a standard angle.

[0062] For example, see Figure 3 , the step S200 may include the following steps S210 to S250:

[0063] Step S210: determining a standard coefficient according to the predetermined starting speed and the predetermined target speed.

[0064] In this embodiment, considering that when the predetermined starting speed of the trapezoidal curve increases to the predetermined target speed, the acceleration changes greatly and has a great impact on the machine, an S curve can be used to replace Figure 2 The AB segment in the embodiment needs to be obtained as follows Figure 4 The S curve shown, therefore, is preferably the standard coefficient of the standard curve, k = (VO +V M ) / 2.

[0065] Step S220: determining the standard curve according to the standard coefficient.

[0066] Exemplarily, the standard curve can be expressed as (V O +V M ) / 2*sin(α), or, expressed as (V O +V M ) / 2*cos(α).

[0067] Step S230, selecting a plurality of standard angles within the standard angle range.

[0068] It can be understood that if the standard curve is a standard sine curve, according to the characteristics of the standard sine curve, there are multiple ascending intervals of the standard sine curve, and any one of the multiple ascending intervals can be selected as the standard angle range, for example, -90 degrees to 90 degrees, 270 degrees to 450 degrees, etc. If the standard curve is a standard cosine curve, according to the characteristics of the standard cosine curve, there are multiple ascending intervals of the standard cosine curve, and any one of the multiple ascending intervals can be selected as the standard angle range, for example, -180 degrees to 0 degrees, 180 degrees to 360 degrees, etc.

[0069] The plurality of standard angles include two boundary angles of the standard angle range. The remaining standard angles may be randomly selected from the standard angle range, for example, by randomly selecting a plurality of standard angles from the standard angle range using a random selection function. Alternatively, the remaining standard angles may be selected from the standard angle range according to a predetermined angle interval to ensure that the angle interval between each two adjacent angles in the plurality of standard angles is the same.

[0070] Step S240, calculating a standard value corresponding to each standard angle based on the standard curve.

[0071] Substitute each standard angle into the function of the standard curve to obtain the corresponding standard value.

[0072] Step S250, determining the comparison table using each standard value and an index value corresponding to each standard value.

[0073] In the comparison table, each standard value corresponds to each index value one by one, and each standard value and each index value can be arranged in ascending order or in descending order for subsequent use. For example, the standard angle corresponding to the i-th standard value and the i-th index value is smaller than the standard angle corresponding to the i+1-th standard value and the i+1-th index value, or the standard angle corresponding to the i-th standard value and the i-th index value is larger than the standard angle corresponding to the i+1-th standard value and the i+1-th index value, 1≤i≤I-1, I is the total number of standard values ​​in the comparison table.

[0074] Step S300, generating an S curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed.

[0075] In this embodiment, the S curve of the servo drive can be generated according to the above-mentioned comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed. For example, see Figure 5 The step S300 includes the following steps S310 to S350:

[0076] Step S310, determining the t-th reference speed corresponding to the t-th moment according to the predetermined acceleration, 1≤t≤T, T is the total number of moments.

[0077] The total time is from V O To V M The number of T moments obtained according to the predetermined time interval in the time period corresponding to the corresponding rising straight line, that is, the time interval between every two adjacent moments is the same.

[0078] Step S320, determining a tth index value according to the tth reference speed, the predetermined starting speed, the predetermined target speed and the total number of standard values ​​in the comparison table.

[0079] Exemplarily, the tth index value can be calculated using the following formula:

[0080]

[0081] Among them, Index t is the tth index value, I is the total number of standard values ​​in the comparison table, V t is the tth reference speed, V O is the predetermined starting speed, V M is the predetermined target speed.

[0082] It should be noted that if the standard angle corresponding to the i-th standard value and the i-th index value is smaller than the standard angle corresponding to the i+1-th standard value and the i+1-th index value, then the t-th index value is the positive t-th index value; if the standard angle corresponding to the i-th standard value and the i-th index value is greater than the standard angle corresponding to the i+1-th standard value and the i+1-th index value, then the t-th index value is the reciprocal t-th index value.

[0083] Step S330: determining the standard value corresponding to the t-th index value based on the comparison table.

[0084] It can be understood that if the comparison table includes the t-th index value, the standard value is directly searched in the comparison table based on the t-th index value.

[0085] If the comparison table does not include the tth index value, two adjacent index values ​​adjacent to the tth index value are searched from the comparison table; the standard value corresponding to the tth index value can be determined based on the two adjacent standard values ​​corresponding to the two adjacent index values.

[0086] For example, if the tth index value is between Index1 and Index2, then Index1 and Index2 are two adjacent index values ​​of the tth index value. If the standard values ​​corresponding to Index1 and Index2 are D1 and D2 respectively, the standard value Dt corresponding to the tth index value can be calculated using the following formula:

[0087] Dt / (D2-D1)=Index t / (Index2-Index1)

[0088] Step S340, determining the tth actual value according to the standard value corresponding to the tth index value, the maximum standard value corresponding to the standard curve, the predetermined starting speed and the predetermined target speed.

[0089] Exemplarily, the tth actual value is calculated using the following formula:

[0090]

[0091] Among them, S Indext is the standard value corresponding to the t-th index value, S max is the maximum standard value, V O is the predetermined starting speed, V M is the predetermined target speed.

[0092] Step S350: generating the S curve according to T actual values.

[0093] In this embodiment, by obtaining a predetermined acceleration, a predetermined starting speed, and a predetermined target speed of the servo motor; determining a comparison table consisting of multiple standard values ​​and multiple index values ​​corresponding to a standard curve according to the predetermined starting speed and the predetermined target speed; and generating an S curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed, and the predetermined target speed, the S curve can be generated with less computing power and in a shorter time. This embodiment can effectively reduce the generation cost of the S curve.

[0094] Example 2

[0095] See also Figure 6 In another embodiment of the present application, an S-curve generating device 10 for a servo drive is provided. The device includes: an acquiring module 11, a determining module 12 and a generating module 13.

[0096] An acquisition module 11 is used to acquire a predetermined acceleration, a predetermined starting speed and a predetermined target speed of the servo motor; a determination module 12 is used to determine a comparison table consisting of multiple standard values ​​and multiple index values ​​corresponding to a standard curve according to the predetermined starting speed and the predetermined target speed; a generation module 13 is used to generate an S curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed.

[0097] In this embodiment, the S-curve generating device 10 of the servo drive is used to execute the S-curve generating method of the servo drive described in the above embodiment through the coordinated use of the acquiring module 11, the determining module 12 and the generating module 13. The implementation scheme and the beneficial effects involved in the above embodiment are also applicable in this embodiment and will not be described in detail here.

[0098] Example 3

[0099] A third embodiment of the present application provides a servo drive, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the S-curve generation method of the servo drive described in the above embodiment of the present application is executed.

[0100] Example 4

[0101] A fourth embodiment of the present application provides a readable storage medium storing a computer program. When the computer program is run on a processor, the S-curve generating method of the servo drive described in the above embodiment of the present application is executed.

[0102] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0103] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0104] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0105] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for generating an S curve of a servo drive, characterized in that: The method comprises: Obtaining a predetermined acceleration, a predetermined starting speed, and a predetermined target speed of the servo motor; determining a trapezoidal curve based on the predetermined acceleration, the predetermined starting speed, and the predetermined target speed; wherein the slope of the rising straight line corresponding to the predetermined starting speed and the predetermined target speed is the predetermined acceleration; Determine a comparison table consisting of a plurality of standard values ​​and a plurality of index values ​​corresponding to a standard curve according to the predetermined starting speed and the predetermined target speed; The comparison table consisting of a plurality of standard values ​​and a plurality of index values ​​corresponding to the standard curve determined according to the predetermined starting speed and the predetermined target speed includes: determining a standard coefficient according to the predetermined starting speed and the predetermined target speed; Determine the standard curve according to the standard coefficient; Select multiple standard angles within the standard angle range; Calculate the standard value corresponding to each standard angle based on the standard curve; Determine the comparison table using each standard value and an index value corresponding to each standard value; Generate an S curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed; Determining the S curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed includes: Determine the t-th reference speed corresponding to the t-th moment according to the predetermined acceleration, 1≤t≤T, T is the total number of moments; wherein the total number of moments is the number of T moments obtained at predetermined time intervals in the time period corresponding to the rising straight line from the predetermined starting speed to the predetermined target speed; Determine the tth index value according to the tth reference speed, the predetermined start speed, the predetermined target speed and the total number of standard values ​​in the comparison table; The tth index value is calculated using the following formula: Among them, Index t is the t-th index value, I is the total number of standard values ​​in the comparison table, Vt is the t-th reference speed, V O is the predetermined starting speed, V M is the predetermined target speed; Determine the standard value corresponding to the t-th index value based on the comparison table; determining a tth actual value according to the standard value corresponding to the tth index value, the maximum standard value corresponding to the standard curve, the predetermined starting speed and the predetermined target speed; The tth actual value is calculated using the following formula: in, is the standard value corresponding to the t-th index value, S max is the maximum standard value, V O is the predetermined starting speed, V M is the predetermined target speed; The S-curve is generated according to T actual values.

2. The S-curve generating method of the servo drive according to claim 1, characterized in that: The standard curve is a standard sine curve or a standard cosine curve.

3. The S-curve generating method of the servo drive according to claim 1, characterized in that: In the comparison table, the standard angle corresponding to the i-th standard value and the i-th index value is smaller than the standard angle corresponding to the i+1-th standard value and the i+1-th index value, or the standard angle corresponding to the i-th standard value and the i-th index value is larger than the standard angle corresponding to the i+1-th standard value and the i+1-th index value, 1≤i≤I-1, I is the total number of standard values ​​in the comparison table.

4. The S-curve generating method of the servo drive according to claim 1, characterized in that: The determining the standard value corresponding to the t-th index value based on the comparison table includes: If the comparison table includes the t-th index value, directly searching the comparison table for the standard value based on the t-th index value; If the comparison table does not include the tth index value, two adjacent index values ​​adjacent to the tth index value are searched from the comparison table, and the standard value corresponding to the tth index value is determined based on the two adjacent standard values ​​corresponding to the two adjacent index values.

5. An S-curve generating device for a servo drive, characterized in that: The device comprises: An acquisition module, used to acquire a predetermined acceleration, a predetermined starting speed and a predetermined target speed of the servo motor; determine a trapezoidal curve based on the predetermined acceleration, the predetermined starting speed and the predetermined target speed; wherein the slope of the rising straight line corresponding to the predetermined starting speed and the predetermined target speed is the predetermined acceleration; A determination module, configured to determine a comparison table consisting of a plurality of standard values ​​and a plurality of index values ​​corresponding to a standard curve according to the predetermined start speed and the predetermined target speed; The determining module is also used for: determining a standard coefficient according to the predetermined starting speed and the predetermined target speed; Determine the standard curve according to the standard coefficient; Select multiple standard angles within the standard angle range; Calculate the standard value corresponding to each standard angle based on the standard curve; Determine the comparison table using each standard value and an index value corresponding to each standard value; A generating module, used for generating an S curve of the servo drive according to the comparison table, the predetermined acceleration, the predetermined starting speed and the predetermined target speed; The generation module is also used for: Determine the t-th reference speed corresponding to the t-th moment according to the predetermined acceleration, 1≤t≤T, T is the total number of moments; wherein the total number of moments is the number of T moments obtained at predetermined time intervals in the time period corresponding to the rising straight line from the predetermined starting speed to the predetermined target speed; Determine the tth index value according to the tth reference speed, the predetermined start speed, the predetermined target speed and the total number of standard values ​​in the comparison table; The tth index value is calculated using the following formula: Among them, Index t is the t-th index value, I is the total number of standard values ​​in the comparison table, Vt is the t-th reference speed, V O is the predetermined starting speed, V M is the predetermined target speed; Determine the standard value corresponding to the t-th index value based on the comparison table; determining a tth actual value according to the standard value corresponding to the tth index value, the maximum standard value corresponding to the standard curve, the predetermined starting speed and the predetermined target speed; The tth actual value is calculated using the following formula: in, is the standard value corresponding to the t-th index value, S max is the maximum standard value, V O is the predetermined starting speed, V M is the predetermined target speed; The S-curve is generated according to T actual values.

6. A servo drive, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is run on the processor, the S-curve generating method of the servo drive according to any one of claims 1 to 4 is executed.

7. A readable storage medium, characterized in that: The computer program stores a computer program, which executes the S-curve generating method of the servo drive according to any one of claims 1 to 4 when running on a processor.

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