Servo system resonance optimization method, device and medium

Abstract

The present invention discloses a servo system resonance optimization method, device and medium, belonging to the field of servo motors. The method comprises: obtaining a simulation model of a servo system; wherein the servo system comprises a servo motor; performing a speed sweep on the simulation model to obtain an actual speed closed-loop sweep curve of the simulation model; determining the motor resonance point in the actual speed closed-loop sweep curve; if the amplitude of the motor resonance point is greater than a preset threshold, then changing the structural parameters of the servo motor to obtain a new simulation model, and returning to execute the speed sweep on the simulation model to obtain an actual speed closed-loop sweep curve of the simulation model until the amplitude is not greater than the preset threshold; determining the servo system when the amplitude is not greater than the preset threshold as a servo system after structural optimization. The method provided by the present invention can reduce the probability of resonance and howling in the servo system as a whole.

Description

Technical Field

[0001] The present application relates to the field of servo motors, and in particular to a servo system resonance optimization method, device and medium. Background Art

[0002] In the related art, since the servo system composed of a driver, a servo motor and an encoder is prone to resonance when moving to a specific mechanical position during operation, causing the system to become unbalanced.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present application is to provide a servo system resonance optimization method, device and medium, aiming to solve the technical problem that the servo system is prone to resonance in the prior art.

[0005] To achieve the above objectives, in a first aspect, the present application provides a servo system resonance optimization method, the method comprising:

[0006] Acquire a simulation model of a servo system; wherein the servo system includes a servo motor;

[0007] Perform speed frequency sweep on the simulation model to obtain the actual speed closed-loop frequency sweep curve of the simulation model;

[0008] Determine the motor resonance point in the actual speed closed-loop frequency sweep curve;

[0009] If the amplitude of the motor resonance point is greater than the preset threshold, the structural parameters of the servo motor are changed to obtain a new simulation model, and the simulation model is returned to perform a speed sweep to obtain the actual speed closed-loop sweep curve of the simulation model until the amplitude is no greater than the preset threshold;

[0010] The servo system when the amplitude is not greater than the preset threshold is determined as the servo system after structural optimization.

[0011] In one embodiment, after obtaining the simulation model of the servo system, the method further includes:

[0012] Performing simulation analysis on the simulation model to obtain at least one vibration mode of the servo system, and determining associated structural parameters corresponding to each vibration mode;

[0013] Change the structural parameters of the servo system to obtain a new simulation model, including:

[0014] For at least one vibration mode, the associated structural parameters are changed to obtain a new simulation model.

[0015] In one embodiment, the servo system further comprises an encoder, the encoder comprises an encoder shaft, the servo motor comprises a motor shaft, and the motor shaft cooperates with the encoder shaft;

[0016] At least one vibration mode includes swing and torsion modes between the motor shaft and the encoder shaft; the swing and torsion modes correspond to the associated structural parameters including the encoder shaft mass;

[0017] For at least one vibration mode, the associated structural parameters are changed to obtain a new simulation model, including:

[0018] For the swing and torsional modes, the motor shaft diameter is increased to obtain a new simulation model.

[0019] In one embodiment, at least one vibration mode includes swing and torsion modes between the motor shaft and the encoder shaft; the swing and torsion modes and the associated structural parameters also include the motor shaft diameter;

[0020] For at least one vibration mode, the associated structural parameters are changed to obtain a new simulation model, including:

[0021] For the swing and torsion modes, the encoder shaft mass is reduced and a new simulation model is obtained.

[0022] In one embodiment, the servo system further comprises an encoder, the encoder comprises an encoder shaft, the servo motor comprises a motor shaft, and the motor shaft has an insert-fitting portion that fits with the encoder shaft;

[0023] The at least one vibration mode includes a nonlinear vibration mode at a connection between the motor shaft and the encoder shaft;

[0024] The associated structural parameters corresponding to the nonlinear vibration mode include the diameter of the insert fitting portion;

[0025] For at least one vibration mode, the associated structural parameters are changed to obtain a new simulation model, including:

[0026] For the nonlinear vibration mode, the diameter of the insert fitting is increased to obtain a new simulation model.

[0027] In one embodiment, the servo motor further comprises a rotor core and an inertia disk, wherein the rotor core and the inertia disk are both sleeved on the motor shaft;

[0028] The at least one vibration mode includes a torsional mode between the rotor core and the inertia disk;

[0029] The associated structural parameters corresponding to the torsional mode include the transition shaft diameter of the motor shaft between the rotor core and the inertia disk;

[0030] For at least one vibration mode, the associated structural parameters are changed to obtain a new simulation model, including:

[0031] For the torsional mode, the transition shaft diameter is increased to obtain a new simulation model.

[0032] In one embodiment, the associated structural parameters corresponding to the torsional mode also include the axial distance between the rotor core and the inertia disk;

[0033] For at least one vibration mode, the associated structural parameters are changed to obtain a new simulation model, including:

[0034] For the torsional mode, the axial distance is reduced to obtain a new simulation model.

[0035] In one embodiment, the servo motor comprises a motor housing, and the cross-sectional shape of the motor housing is a polygon;

[0036] The vibration mode includes a second-order elliptical vibration mode of the motor housing, and the associated structural parameters corresponding to the second-order elliptical vibration mode of the motor housing include the thickness size of the corner position of the polygon;

[0037] The step of changing the associated structural parameters for at least one of the vibration modes to obtain a new simulation model includes:

[0038] Aiming at the second-order elliptical vibration mode of the motor housing, the structural strength of the angular position is improved to obtain a new simulation model.

[0039] In a second aspect, the present invention further provides a servo system resonance optimization device, the device comprising:

[0040] A model acquisition module is used to acquire a simulation model of a servo system; wherein the servo system includes a servo motor;

[0041] The speed sweep module is used to perform speed sweep on the simulation model to obtain the actual speed closed-loop sweep curve of the simulation model;

[0042] A resonance point determination module is used to determine the motor resonance point in the actual speed closed-loop frequency sweep curve;

[0043] The structural optimization module is used to change the structural parameters of the servo system if the amplitude of the motor resonance point is greater than a preset threshold value, obtain a new simulation model, and return to execute the speed sweep of the simulation model to obtain the actual speed closed-loop sweep curve of the simulation model until the amplitude is no greater than the preset threshold value;

[0044] The result determination module is used to determine the servo system when the amplitude is not greater than a preset threshold as a servo system after structural optimization.

[0045] In a third aspect, the present invention further provides a servo system resonance optimization device, comprising: a processor, a memory, and a servo system resonance optimization program stored in the memory, wherein the servo system resonance optimization program implements the steps of the above-mentioned servo system resonance optimization method when executed by the processor.

[0046] In a fourth aspect, the present invention further provides a computer-readable storage medium on which a servo system resonance optimization program is stored. When the servo system resonance optimization program is executed by a processor, the servo system resonance optimization method as described above is implemented.

[0047] The present application provides a servo system resonance optimization method, the method comprising: obtaining a simulation model of the servo system; the servo system has a preset speed closed-loop sweep frequency curve; performing speed sweep on the simulation model to obtain an actual speed closed-loop sweep frequency curve of the simulation model; if the amplitude of the motor resonance point of the actual speed closed-loop sweep frequency curve is greater than a preset threshold, then changing the structural parameters of the servo system to obtain a new simulation model, and returning to perform speed sweep on the simulation model to obtain the actual speed closed-loop sweep frequency curve of the simulation model until the amplitude is not greater than the preset threshold, and determining the servo system when the amplitude is not greater than the preset threshold as the servo system after structural optimization. That is, the resonance optimization method performs speed sweep on the simulation model of the servo system, thereby judging the amplitude of the motor resonance point of the actual speed closed-loop sweep frequency curve obtained, so as to ensure the motor's good applicability and high safety margin in high-rigidity and high-response application scenarios from the perspective of optimizing the structure of the servo motor, and ultimately reduce the probability of resonance and howling of the servo system as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a structural schematic diagram of the servo system resonance optimization device of the present invention;

[0049] Figure 2 It is a flow chart of a first embodiment of a servo system resonance optimization method of the present invention;

[0050] Figure 3 A schematic diagram of an actual speed closed-loop frequency sweep curve of the first embodiment of the servo system resonance optimization method of the present invention;

[0051] Figure 4 It is a flow chart of a second embodiment of the servo system resonance optimization method of the present invention;

[0052] Figure 5 A schematic diagram of the swing and torsion modes of the second embodiment of the servo system resonance optimization method of the present invention;

[0053] Figure 6 A schematic diagram of a torsional mode of a second embodiment of a servo system resonance optimization method of the present invention;

[0054] Figure 7 A schematic diagram of the second-order elliptical vibration mode of a motor housing according to the second embodiment of the servo system resonance optimization method of the present invention;

[0055] Figure 8 A schematic diagram of a structural improvement for the second-order elliptical vibration mode of a motor housing according to a second embodiment of the servo system resonance optimization method of the present invention;

[0056] Fig. 9 It is a functional module diagram of the first embodiment of the servo system resonance optimization device of the present invention.

[0057] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0059] In high-end applications such as high-precision machine tools, laser processing, and robots, the servo system (including servo motors and encoders) needs to have the characteristics of fast response. During installation and commissioning and subsequent long-term operation, the servo system is always in a high-rigidity and high-response working state, that is, the servo system needs to have a higher speed loop bandwidth to meet the application requirements of high-end applications. However, due to the existence of non-ideal mechanical systems in the servo system application scenarios (gears, racks, belt connection solutions or flexible reducers in the equipment, etc.), when the commissioning personnel adjust the machine in the high-gain mode of the servo system, resonance often occurs between the servo system and the external mechanical system, causing system imbalance.

[0060] To this end, an embodiment of the present application provides a servo system resonance optimization method. From the perspective of optimizing the servo motor body structure, the servo system is optimized by taking the motor resonance point in the speed sweep curve of the simulation model as a judgment condition with the purpose of suppressing the amplitude of the motor resonance point, thereby ensuring that the motor can still guarantee reliable and stable operation without howling in a high servo system rigidity mode, and ultimately achieving a design scheme for a high-rigidity and high-response servo system.

[0061] Reference Figure 1 , Figure 1 It is a structural diagram of a servo system resonance optimization device in the hardware operating environment involved in the embodiment of the present application.

[0062] like Figure 1As shown, the servo system resonance optimization device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0063] Those skilled in the art will understand that Figure 2 The structure shown in does not constitute a limitation on the servo system resonance optimization device, and may include more or less components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0064] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a Bluetooth communication module, a user interface module, and a servo system resonance optimization program.

[0065] exist Figure 1 In the servo system resonance optimization device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the servo system resonance optimization device of the present invention can be set in the servo system resonance optimization device, and the servo system resonance optimization device calls the servo system resonance optimization program stored in the memory 1005 through the processor 1001, and executes the servo system resonance optimization method provided in the embodiment of the present application.

[0066] Based on the above hardware structure but not limited to the above hardware structure, a method embodiment of the present application is proposed. Figure 2 , Figure 2 A schematic flow chart of a first embodiment of a servo system resonance optimization method provided in an embodiment of the present application.

[0067] In this embodiment, the method includes:

[0068] Step S101, obtaining a simulation model of a servo system; the servo system includes a servo motor.

[0069] The servo system includes an encoder and a servo motor. For any servo system, the encoder and the servo motor can be three-dimensionally modeled to obtain a simulation model of the entire servo system. For any simulation model with determined structural parameters, it has an ideal speed closed-loop frequency sweep curve, that is, a preset speed closed-loop frequency sweep curve.

[0070] Step S102: Perform a speed sweep on the simulation model to obtain an actual speed closed-loop sweep curve of the simulation model.

[0071] Step S103: determining the motor resonance point in the actual speed closed-loop frequency sweep curve.

[0072] After obtaining a simulation model with any determined structural parameters, a speed sweep can be performed on the simulation model to obtain an actual speed closed-loop sweep curve of the simulation model.

[0073] See also Figure 3 The actual speed closed-loop frequency sweep curve of the high-rigidity and high-gain servo system has three resonance points: point A, point B, and point C. The servo system is prone to resonance at these three resonance points, causing the servo system to be unbalanced.

[0074] Specifically, the resonance at point A can be effectively improved by reducing the torque command filter and speeding up the current response.

[0075] For point B resonance, the resonance problem comes from the mechanical system. In daily use of the servo system, it can be solved by setting the width and depth of the notch parameters.

[0076] Point C is the high-frequency resonance point of the servo motor. That is, it is the mechanical structure resonance point caused by the design defects of the servo motor itself. When the servo system is working, the high-frequency vibration point of the servo motor and the mechanical resonance point of the external load are coupled and affect each other. At this time, setting the notch parameters and filtering parameters of the servo system cannot effectively improve the resonance problem of point C. The existence of point C also leads to higher requirements for the mechanical design scheme of the connection structure, transmission structure, and structural component accuracy of the external equipment when the servo motor is equipped with external equipment, which increases the design difficulty and cost of the supporting equipment.

[0077] It is understandable that for the servo system, solving the C-point resonance problem is the key to improving the servo system resonance problem. Only by improving the mechanical resonance problem of the servo motor itself can the resonance and howling problems of the high-rigidity and high-response servo motor be effectively improved.

[0078] Step S103: If the amplitude of the motor resonance point is greater than a preset threshold, the structural parameters of the servo motor are changed to obtain a new simulation model, and the process returns to step S102 until the amplitude is no greater than the preset threshold.

[0079] See also Figure 3 The higher the frequency of the motor resonance point of the speed closed-loop frequency sweep curve, the lower the amplitude will be as the amplitude on the speed closed-loop frequency sweep curve decays. Therefore, the amplitude of the motor resonance point can be suppressed by increasing the frequency of the motor resonance point.

[0080] Alternatively, the amplitude of the motor resonance point can be directly suppressed.

[0081] In this step, by changing the structural parameters of the motor, that is, directly optimizing the structure of the servo motor itself, the frequency of the motor resonance point can be increased or the amplitude of the motor resonance point can be suppressed, thereby reducing the impact of the mechanical resonance caused by the structure of the servo motor itself on the servo system.

[0082] It is worth mentioning that the preset threshold can be determined according to the speed loop bandwidth on the actual speed closed-loop frequency sweep curve.

[0083] It should be noted that, in the specific implementation, in order to further achieve the ideal effect: to reduce the probability of howling, the preset threshold also leaves sufficient safety margin, so that in this step, the amplitude not only needs to be less than or equal to the preset threshold, but also the difference between the amplitude and the preset threshold is greater than the safety margin.

[0084] Step S104: determining the servo system when the amplitude is not greater than the preset threshold as the servo system after structural optimization.

[0085] In this step, starting from the perspective of structural optimization of the servo motor body, by suppressing the amplitude of the motor resonance point, it is ensured that the servo system and the load can still ensure reliable and stable operation in the high-rigidity and high-response mode, and the probability of howling is reduced, so that the servo motor can be widely used in technical fields such as laser processing, precision machine tools, and robots to meet the needs of customers. At the same time, since the problem of motor resonance points that are not related to notch parameters and filtering parameters is improved, the debugging difficulty of the servo system can be greatly reduced, saving debugging costs.

[0086] As an embodiment, based on the first embodiment of the servo system resonance optimization method of the present application, a second embodiment of the servo system resonance optimization method of the present application is proposed. Figure 4 , Figure 4 This is a flow chart of the second embodiment of the servo system resonance optimization method of the present application.

[0087] In this embodiment, the method includes the following steps:

[0088] Step S201, obtaining a simulation model of a servo system; the servo system includes a servo motor.

[0089] Step S202: Perform simulation analysis on the simulation model to obtain at least one vibration mode of the servo system, and determine the associated structural parameters corresponding to each vibration mode.

[0090] The mechanical vibration of the servo motor itself can be reflected by the vibration mode, so the simulation model can be simulated and analyzed to obtain the vibration mode of the servo motor itself that is easier to be excited. And any vibration mode has a corresponding associated structural parameter, so the associated structural parameter can be changed in a targeted manner, thereby reducing the probability of the vibration mode being excited, so as to improve the efficiency of structural optimization.

[0091] It is worth mentioning that step S202 may also be performed after step S203 or step S204, which is not limited here.

[0092] Step S203: Perform a speed sweep on the simulation model to obtain an actual speed closed-loop sweep curve of the simulation model.

[0093] Step S204: determine the motor resonance point in the actual speed closed-loop frequency sweep curve.

[0094] Step S205: If the amplitude of the motor resonance point is greater than a preset threshold, then for at least one vibration mode, change the associated structural parameters to obtain a new simulation model, and return to execute step S203 until the amplitude is less than or equal to the preset threshold.

[0095] Specifically, after determining the vibration modes that are easily excited on the servo motor and the associated structural parameters corresponding to the vibration modes, the associated structural parameters can be changed in a targeted manner to obtain a new simulation model.

[0096] Step S206: Determine the servo system when the amplitude is not greater than the preset threshold as the servo system after structural optimization.

[0097] In a specific embodiment, the servo system further comprises an encoder 10, the encoder 10 comprises an encoder shaft, the servo motor comprises a motor shaft 22, the motor shaft 22 cooperates with the encoder shaft, and the at least one vibration mode comprises a swing and a torsion mode between the motor shaft 22 and the encoder shaft.

[0098] See also Figure 5 The encoder 10 can be regarded as a mass point, the rotor core 21 of the servo motor can be regarded as another mass point, the two mass points are connected by the motor shaft, and the motor shaft 22 between the two mass points can be regarded as an elastic body, and the two constitute a dual-mass resonance unit. The dual-mass resonance unit has radial swing along the motor shaft 22 on the one hand, and torsion around the axial direction of the motor shaft 22 on the other hand.

[0099] The associated structural parameters corresponding to the swing and torsion modes include the encoder shaft mass and the motor shaft diameter.

[0100] At this time, as an option of this embodiment, step S205 specifically includes: for the swing and torsion modes, reducing the mass of the encoder shaft to obtain a new simulation model.

[0101] When the mass of the encoder shaft is reduced, the encoder shaft is lightened, such as by opening a weight-reducing groove on the encoder shaft, or replacing the material of the encoder shaft with a metal material with a lower density, such as light metal materials such as aluminum. Reducing the mass of the encoder shaft can effectively increase the vibration frequency of the swing and torsional modes, thereby effectively reducing the vibration amplitude, and further reducing the impact of the resonance caused by the mechanical structure of the servo motor itself on the system.

[0102] Alternatively, as another option of this embodiment, step S206 specifically includes: for the swing and torsion modes, increasing the motor shaft diameter to obtain a new simulation model.

[0103] Increasing the diameter of the motor shaft 22 can reduce the elasticity between the two mass points, thereby reducing the vibration amplitude of the entire swing and torsion mode, so as to reduce the influence of the resonance caused by the mechanical structure of the servo motor itself on the system.

[0104] In another specific embodiment, the servo system further includes an encoder 10 , the encoder 10 includes an encoder shaft, the servo motor includes a motor shaft 22 , and the motor shaft 22 has an insert-fitting portion that matches the encoder shaft.

[0105] At least one vibration mode includes a nonlinear vibration mode at the connection between the motor shaft 22 and the encoder shaft. The associated structural parameters corresponding to the nonlinear vibration mode include the diameter of the insertion fitting portion.

[0106] In the existing related technology, the insertion fitting part (the end of the motor shaft) of the motor shaft 22 is pressed against the hole wall of the encoder shaft by two set screws distributed at right angles. At this time, the encoder shaft and the motor shaft 22 are matched with a small clearance, and when the set screws are pre-tightened, the contact between the encoder shaft and the motor shaft is a small area contact. Then there are two vibration modes in this connection mode, namely, the vibration with the contact point between the encoder shaft and the motor shaft 22 as the fulcrum, and the vibration with the contact point between the set screw and the motor shaft as the fulcrum.

[0107] This vibration mode can be improved by increasing the connection strength between the encoder shaft and the motor shaft, such as increasing the diameter of the insertion fitting portion of the motor shaft, increasing the force arm of the above vibration, and improving the anti-disturbance torque in the above vibration.

[0108] At this time, step S206 specifically includes: for the nonlinear vibration mode, increasing the diameter of the insertion fitting portion to obtain a new simulation model.

[0109] In another specific embodiment, the servo motor further comprises a rotor core 21 and an inertia disc 23, wherein the rotor core 21 and the inertia disc 23 are both sleeved on the motor shaft. At least one vibration mode comprises a torsional mode between the rotor core 21 and the inertia disc 23.

[0110] Specifically, in the servo motor, there is usually an inertia disk 23 to ensure the rotational inertia of the rotor. Figure 6 The inertia disk 23 and the rotor core 21 (including magnetic steel) are equivalent to two inertial bodies, which are twisted in opposite directions by the motor axis between each other to form a torsional mode of the dual-mass unit.

[0111] The associated structural parameters corresponding to the torsional mode include the transition shaft diameter of the motor shaft between the rotor core 21 and the inertia disc 23 and the axial distance between the rotor core 21 and the inertia disc 23 .

[0112] Therefore, as an option of this embodiment, step S206 specifically includes:

[0113] For the torsional mode, the transition shaft diameter is increased to obtain a new simulation model.

[0114] As another option of this embodiment, step S206 specifically includes:

[0115] For the torsional mode, the axial distance is reduced to obtain a new simulation model.

[0116] At this time, the transition shaft diameter may be increased or the axial distance between the two inertial bodies may be shortened to increase the vibration frequency of the torsional mode, thereby effectively reducing the vibration amplitude.

[0117] In this embodiment, various vibration modes that are easily excited on the servo motor are improved in a targeted manner by changing the associated structural parameters corresponding to various vibration modes, thereby fundamentally improving the resonance and howling phenomena of the servo system.

[0118] In a specific implementation, the servo motor includes a motor housing, and the cross-sectional shape of the motor housing is a polygon.

[0119] The vibration mode includes a second-order elliptical vibration mode of the motor housing, and the associated structural parameters corresponding to the second-order elliptical vibration mode of the motor housing include the thickness size of the corner position of the polygon.

[0120] See also Figure 7 The cross-sectional shape of the motor housing of the servo motor perpendicular to the axial direction is generally constructed as a rectangle or an octagon, etc. When the motor housing is excited by the radial excitation of the motor, a second-order elliptical vibration mode along the diagonal direction is likely to occur.

[0121] For the second-order elliptical vibration mode of the motor housing, the support strength of the housing at the right angle position can be improved, thereby effectively resisting vibration deformation. The motor housing includes a housing body 231 and a rear end cover 232. In this embodiment, from the perspective of suppressing vibration, the connection strength between the rear end cover 232 and the housing body 231 can be improved, and the support strength of the rear end cover 232 to the housing body 231 can be enhanced, that is, the structural strength of the corners of the motor housing is improved, and the amplitude of the vibration caused by the motor housing is effectively reduced.

[0122] Step S206 specifically includes:

[0123] Aiming at the second-order elliptical vibration mode of the motor housing, the structural strength of the angular position is improved to obtain a new simulation model.

[0124] Specifically, the vibration amplitude of the motor housing can be alleviated by improving the structural strength at the angular positions, thereby improving the second-order elliptical vibration mode of the motor housing.

[0125] For example, in a specific embodiment, for the rear cover and the housing body connected by bolts, the inner end face of the bolt head of the screw is in close contact with the end face of the rear cover, so that on the plane where the end face of the rear cover is located, the fastening of the bolt head and the rear cover is ensured by static friction between each other, and its strength is lower than that of the physical structure. At this time, when the servo motor vibrates, it is difficult for the bolt to constrain the vibration amplitude of the motor housing as a whole.

[0126] Therefore, see Figure 8 In this embodiment, the bolt mounting hole on the rear end cover 232 can be set to be gradually expanded in the direction away from the casing body 231, that is, it can be set as a tapered hole, and the bolt head of the bolt 233 is also gradually expanded in the direction away from the casing body 231, and is also constructed to be tapered to fit tightly with the hole wall of the second mounting hole, thereby improving the connection strength between the rear end cover 232 and the casing body 231, enhancing the supporting strength of the rear end cover 232 to the casing body 231, and effectively reducing the amplitude of the vibration caused by the motor casing, thereby ensuring that the motor can still ensure reliable and stable operation in a high servo system rigidity mode, and reducing the probability of resonance and howling.

[0127] Alternatively, the thickness of the corners may be increased to improve the structural strength of the corners, thereby alleviating the vibration amplitude of the motor housing and further improving the second-order elliptical vibration mode of the motor housing.

[0128] Based on the same inventive concept, in addition, see Fig. 9 The present application also provides a first embodiment of a servo system resonance optimization device, the device comprising:

[0129] A model acquisition module is used to acquire a simulation model of a servo system; wherein the servo system includes a servo motor;

[0130] A speed sweep module is used to perform speed sweep on the simulation model to obtain an actual speed closed-loop sweep curve of the simulation model; wherein the actual speed closed-loop sweep curve includes a motor resonance point;

[0131] A resonance point determination module is used to determine the motor resonance point in the actual speed closed-loop frequency sweep curve;

[0132] The structural optimization module is used to change the structural parameters of the servo system if the amplitude of the motor resonance point is greater than a preset threshold value, obtain a new simulation model, and return to execute the speed sweep of the simulation model to obtain the actual speed closed-loop sweep curve of the simulation model until the amplitude is no greater than the preset threshold value;

[0133] The result determination module is used to determine the servo system when the amplitude is not greater than a preset threshold as a servo system after structural optimization.

[0134] In one embodiment, the apparatus further comprises: performing simulation analysis on the simulation model to obtain at least one vibration mode of the servo system, and determining associated structural parameters corresponding to each vibration mode;

[0135] The structural optimization module is used to change the associated structural parameters for at least one vibration mode to obtain a new simulation model.

[0136] In one embodiment, the structural optimization module is used to reduce the mass of the encoder shaft for swing and torsion modes to obtain a new simulation model.

[0137] In one embodiment, the structural optimization module is used to increase the motor shaft diameter for swing and torsional modes to obtain a new simulation model.

[0138] In one embodiment, the structure optimization module is used to increase the diameter of the insert fitting portion for nonlinear vibration modes to obtain a new simulation model.

[0139] In one embodiment, the structure optimization module is used to increase the transition shaft diameter for the torsional mode to obtain a new simulation model.

[0140] In one embodiment, the structural optimization module is used to reduce the axial distance for the torsional mode to obtain a new simulation model.

[0141] Other embodiments and specific implementations of the servo system resonance optimization device of the present application can refer to the above-mentioned method embodiments and will not be repeated here.

[0142] In addition, an embodiment of the present invention further proposes a computer storage medium, on which a servo system resonance optimization program is stored, and when the servo system resonance optimization program is executed by a processor, the steps of the servo system resonance optimization method described above are implemented. Therefore, no further description will be given here. In addition, the description of the beneficial effects of adopting the same method will not be repeated. For technical details not disclosed in the computer-readable storage medium embodiment involved in the present application, please refer to the description of the method embodiment of the present application. As an example, the program instructions can be deployed to be executed on one computing device, or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network.

[0143] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the above-mentioned program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the above-mentioned storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0144] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without creative work.

[0145] Through the description of the above implementation mode, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present invention, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0146] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A servo system resonance optimization method, characterized in that: The method comprises: Acquire a simulation model of a servo system; wherein the servo system includes a servo motor; Performing a speed frequency sweep on the simulation model to obtain an actual speed closed-loop frequency sweep curve of the simulation model; Determining the motor resonance point in the actual speed closed-loop frequency sweep curve; If the amplitude of the motor resonance point is greater than a preset threshold, the structural parameters of the servo motor are changed to obtain a new simulation model, and the speed sweep of the simulation model is returned to obtain an actual speed closed-loop sweep curve of the simulation model until the amplitude is no greater than the preset threshold; Determine the servo system when the amplitude is not greater than a preset threshold as a servo system after structural optimization; After obtaining the simulation model of the servo system, the method further includes: Performing simulation analysis on the simulation model to obtain at least one vibration mode of the servo system, and determining associated structural parameters corresponding to each vibration mode; The step of changing the structural parameters of the servo motor to obtain a new simulation model includes: For at least one of the vibration modes, the associated structural parameters are changed to obtain a new simulation model.

2. The servo system resonance optimization method according to claim 1, characterized in that: The servo system further comprises an encoder, the encoder comprises an encoder shaft, the servo motor comprises a motor shaft, and the motor shaft cooperates with the encoder shaft; The at least one vibration mode includes a swing and a torsion mode between the motor shaft and the encoder shaft; the structural parameters corresponding to the swing and torsion modes include the mass of the encoder shaft; The step of changing the associated structural parameters for at least one of the vibration modes to obtain a new simulation model includes: Aiming at the swing and torsion modes, the encoder shaft mass is reduced to obtain a new simulation model.

3. The servo system resonance optimization method according to claim 2, characterized in that: The at least one vibration mode includes a swing and torsion mode between the motor shaft and the encoder shaft; the swing and torsion mode corresponding associated structural parameters also include the motor shaft diameter; The step of changing the associated structural parameters for at least one of the vibration modes to obtain a new simulation model includes: According to the swing and torsion modes, the motor shaft diameter is increased to obtain a new simulation model.

4. The servo system resonance optimization method according to claim 1, characterized in that: The servo system further comprises an encoder, the encoder comprises an encoder shaft, the servo motor comprises a motor shaft, and the motor shaft has an insert-fitting portion that fits with the encoder shaft; The at least one vibration mode includes a nonlinear vibration mode at the connection between the motor shaft and the encoder shaft; The associated structural parameters corresponding to the nonlinear vibration mode include the diameter of the insertion fitting portion; The step of changing the associated structural parameters for at least one of the vibration modes to obtain a new simulation model includes: In view of the nonlinear vibration mode, the diameter of the insert fitting portion is increased to obtain a new simulation model.

5. The servo system resonance optimization method according to claim 1, characterized in that: The servo motor comprises a rotor core and an inertia disk, wherein the rotor core and the inertia disk are both sleeved on the motor shaft; The at least one vibration mode includes a torsional mode between the rotor core and the inertia disk; The associated structural parameters corresponding to the torsional mode include a transition shaft diameter of the motor shaft between the rotor core and the inertia disk; The step of changing the associated structural parameters for at least one of the vibration modes to obtain a new simulation model includes: According to the torsional mode, the transition shaft diameter is increased to obtain a new simulation model.

6. The servo system resonance optimization method according to claim 5, characterized in that: The associated structural parameters corresponding to the torsional mode also include the axial distance between the rotor core and the inertia disk; The step of changing the associated structural parameters for at least one of the vibration modes to obtain a new simulation model includes: With respect to the torsional mode, the axial distance is reduced to obtain a new simulation model.

7. The servo system resonance optimization method according to claim 1, characterized in that: The servo motor comprises a motor housing, and the cross-sectional shape of the motor housing is a polygon; The vibration mode includes a second-order elliptical vibration mode of the motor housing, and the associated structural parameters corresponding to the second-order elliptical vibration mode of the motor housing include the structural strength of the corner position of the polygon; The step of changing the associated structural parameters for at least one of the vibration modes to obtain a new simulation model includes: Aiming at the second-order elliptical vibration mode of the motor housing, the structural strength of the angular position is improved to obtain a new simulation model.

8. A servo system resonance optimization device, characterized in that: include: A processor, a memory, and a servo system resonance optimization program stored in the memory, wherein the servo system resonance optimization program, when executed by the processor, implements the steps of the servo system resonance optimization method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a servo system resonance optimization program, and when the servo system resonance optimization program is executed by a processor, the servo system resonance optimization method according to any one of claims 1 to 7 is implemented.

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