High response servo driver
By detecting the real-time operating position information and torque adjustment of the servo motor, a speed adjustment command is generated, which solves the problem of slow response speed of the servo driver, realizes stable and fast control of the servo motor, and improves the response speed and stability of the servo motor.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI XINRUI DRIVE TECH CO LTD
- Filing Date
- 2022-01-22
- Publication Date
- 2026-07-21
AI Technical Summary
Existing servo drives have shortcomings in response speed and position control accuracy, and cannot adjust the actual working state of the servo motor in a timely manner, resulting in reduced stability and speed of the servo motor.
By detecting the real-time operating position information of the servo motor, the operating position offset and torque adjustment amount are determined, a speed adjustment command is generated, and the servo motor is shut down when the secondary operating position offset is too large, thus realizing closed-loop control of the servo motor.
This improves the servo driver's response speed to the servo motor, ensuring the stable and continuous operation of the servo motor and enhancing the accuracy and speed of position control.
Smart Images
Figure CN114421821B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of servo drives, and particularly to high-response servo drives. Background Technology
[0002] A servo driver is a drive device used to drive a servo motor. In practical applications, servo drivers typically control the servo motor in three aspects: operating position, output torque, and angular velocity, thereby achieving stable and continuous operation. Existing control modes based on operating position, output torque, and angular velocity suffer from slow response times and cannot dynamically and promptly adjust the drive according to the actual operating state of the servo motor. This reduces the accuracy and speed of servo motor position control and fails to guarantee stable operation. Summary of the Invention
[0003] To address the shortcomings of existing technologies, this invention provides a high-response servo driver. It detects and analyzes the real-time operating position information of the servo motor to determine the corresponding operating position offset and the torque adjustment amount of the servo motor output. Based on the torque adjustment amount, it generates a corresponding speed adjustment command to adjust the servo motor speed. Then, it detects and analyzes the real-time operating position information of the servo motor again to determine the secondary operating position offset after speed adjustment. Finally, based on the secondary operating position offset, it switches the on / off operating state of the servo motor. This enables closed-loop control of the servo motor at three levels: operating position, torque, and speed. It adjusts the torque and speed of the servo motor based on its operating position and promptly shuts down the servo motor when the operating position offset is too large, thereby improving the servo driver's response speed to servo motor drive control and ensuring stable and continuous operation of the servo motor.
[0004] This invention provides a high-response servo driver, comprising a servo motor position detection and analysis module, a torque adjustment determination module, a speed adjustment module, and a servo drive state switching control module, characterized in that:
[0005] The servo motor position detection and analysis module is used to detect the real-time operating position information of the servo motor connected to the servo driver; and to determine the operating position offset of the servo motor during operation based on the real-time operating position information.
[0006] The torque adjustment determination module is used to determine the torque adjustment amount output by the servo motor based on the operating position offset.
[0007] The speed adjustment module is used to determine the speed adjustment amount of the servo motor based on the torque adjustment amount, thereby generating a corresponding speed adjustment command;
[0008] The servo motor position detection and analysis module is also used to detect the real-time operating position information of the servo motor again after the speed adjustment command is applied to the servo motor; and to determine the secondary operating position offset of the servo motor after speed adjustment based on the real-time operating position information detected again.
[0009] The servo drive state switching control module is used to switch the on / off working state of the servo motor according to the secondary operation position offset.
[0010] Furthermore, the servo motor position detection and analysis module detects the real-time operating position information of the servo motor connected to the servo driver, specifically including:
[0011] The servo motor position detection and analysis module detects the real-time operating position coordinate information of the servo motor within one complete operating cycle; and determines the continuous trajectory of the real-time operating position of the servo motor within the complete operating cycle based on the real-time operating position coordinate information.
[0012] Furthermore, the servo motor position detection and analysis module determines the servo motor's position offset during operation based on the real-time operating position information, specifically including:
[0013] The servo motor position detection and analysis module compares the real-time continuous trajectory of the operating position with the preset expected continuous trajectory of the operating position to determine the position offset of the servo motor in three-dimensional space during operation.
[0014] Furthermore, the torque adjustment determination module determines the torque adjustment amount output by the servo motor based on the operating position offset, specifically including:
[0015] The torque adjustment determination module determines the upper and lower fluctuation values of the torque output by the servo motor based on the operating position offset in the three-dimensional space; and then determines the torque adjustment amount of the servo motor based on the upper and lower fluctuation values of the torque.
[0016] Furthermore, the torque adjustment determination module determines the vertical fluctuation value of the servo motor output torque based on the operating position offset in the three-dimensional space; then, based on the vertical fluctuation value of the torque, the specific determination of the servo motor torque adjustment includes:
[0017] Step S1: Using the formula (1) below, calculate the planar rotation offset projected onto the plane perpendicular to the torque output by the servo motor, based on the rotation position offset in the three-dimensional space.
[0018]
[0019] In the above formula (1), S(t) represents the planar operating position offset of the three-dimensional space at time t projected onto the plane perpendicular to the torque output by the servo motor; [x(t),y(t),z(t)] represents the three-dimensional vector form of the operating position offset of the three-dimensional space at time t. This represents the torque direction vector output by the servo motor. The angle between the three-dimensional vector representing the offset of the operating position in the three-dimensional space at time t and the torque direction vector output by the servo motor is represented by ||; | represents the magnitude of the orientation vector.
[0020] Step S2: Using the following formula (2), the upper and lower fluctuation values of the torque output by the servo motor are obtained based on the offset of the planar operating position and the direction of the driving force of the load.
[0021]
[0022] In the above formula (2), D(t) represents the fluctuation value of the torque output by the servo motor at time t; This represents a unit direction vector on the plane perpendicular to the torque output by the servo motor, which is perpendicular to the direction of the load's driving force and points towards the axis of rotation of the servo motor. The three-dimensional vector representing the offset of the operating position in three-dimensional space at time t and The angle between them;
[0023] If D(t) = -1, it means that the torque output by the servo motor at time t needs to be lowered.
[0024] If D(t) = 0, it means that the torque output by the servo motor at time t does not need to be adjusted.
[0025] If D(t) = 1, it means that the torque output by the servo motor at time t needs to be increased.
[0026] Step S3: Using the following formula (3), determine the servo motor torque adjustment amount based on the fluctuation value of the servo motor output torque and the driving force of the load.
[0027] ΔM(t)=F×D(t)×S(t) (3)
[0028] In the above formula (3), ΔM(t) represents the torque adjustment of the servo motor at time t; F represents the driving force of the servo motor on the load;
[0029] Furthermore, the speed adjustment module determines the speed adjustment amount of the servo motor based on the torque adjustment amount, thereby generating a corresponding speed adjustment command, specifically including:
[0030] The speed adjustment module determines the target torque adjustment value of the servo motor based on the torque adjustment amount; and determines the rotational angular velocity adjustment amount of the servo motor based on the output power of the servo motor and the target torque adjustment value; then generates a corresponding rotational angular velocity adjustment command based on the rotational angular velocity adjustment amount, and sends the rotational angular velocity adjustment command to the servo motor.
[0031] Furthermore, the servo motor position detection and analysis module, after the speed adjustment command is applied to the servo motor, specifically detects the real-time operating position information of the servo motor again, including:
[0032] After the rotational angular velocity adjustment command is applied to the servo motor, the servo motor position detection and analysis module detects the real-time operating position coordinate information of the servo motor again within a complete operating cycle of the servo motor; and determines the continuous trajectory of the real-time operating position of the servo motor within the complete operating cycle based on the real-time operating position coordinate information.
[0033] Furthermore, the servo motor position detection and analysis module determines the secondary operating position offset of the servo motor after speed adjustment based on the re-detected real-time operating position information, specifically including:
[0034] The servo motor position detection and analysis module compares the real-time continuous trajectory of the detected position with the preset expected continuous trajectory of the position to determine the secondary position offset of the servo motor in three-dimensional space after the speed adjustment.
[0035] Furthermore, the servo drive state switching control module switches the on / off operating state of the servo motor according to the secondary operation position offset, specifically including:
[0036] The servo drive state switching control module compares the maximum operating position offset of the servo motor in three-dimensional space after speed adjustment with a preset offset threshold. If the maximum operating position offset is greater than or equal to the preset offset threshold, the servo motor is controlled to stop working. If the maximum operating position offset is less than the preset offset threshold, the current working state of the servo motor remains unchanged.
[0037] Compared to existing technologies, this high-response servo driver detects and analyzes the real-time operating position information of the servo motor to determine the corresponding operating position offset and the torque adjustment amount of the servo motor output. Based on the torque adjustment amount, it generates a corresponding speed adjustment command to adjust the speed of the servo motor. Then, it detects and analyzes the real-time operating position information of the servo motor again to determine the secondary operating position offset of the servo motor after speed adjustment. Finally, based on the secondary operating position offset, it switches the on / off operating state of the servo motor. This enables closed-loop control of the servo motor at three levels: operating position, torque, and speed. It adjusts the torque and speed of the servo motor based on its operating position and shuts down the servo motor in a timely manner when the operating position offset is too large, thereby improving the servo driver's response speed to servo motor drive control and ensuring the stable and continuous operation of the servo motor.
[0038] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.
[0039] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description
[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0041] Figure 1 This is a schematic diagram of a high-response servo driver provided by the present invention. Detailed Implementation
[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0043] See Figure 1This is a schematic diagram of a high-response servo driver provided in an embodiment of the present invention. The high-response servo driver includes a servo motor position detection and analysis module, a torque adjustment determination module, a speed adjustment module, and a servo drive state switching control module.
[0044] The servo motor position detection and analysis module is used to detect the real-time operating position information of the servo motor connected to the servo driver; and based on the real-time operating position information, determine the operating position offset of the servo motor during operation.
[0045] The torque adjustment determination module is used to determine the torque adjustment amount output by the servo motor based on the operating position offset.
[0046] The speed adjustment module is used to determine the speed adjustment amount of the servo motor based on the torque adjustment amount, thereby generating the corresponding speed adjustment command;
[0047] The servo motor position detection and analysis module is also used to detect the real-time operating position information of the servo motor again after the speed adjustment command is applied to the servo motor; and to determine the secondary operating position offset of the servo motor after the speed adjustment based on the real-time operating position information detected again.
[0048] The servo drive state switching control module is used to switch the on / off working state of the servo motor according to the secondary operation position offset.
[0049] The beneficial effects of the above technical solution are as follows: This high-response servo driver detects and analyzes the real-time operating position information of the servo motor to determine the corresponding operating position offset and the torque adjustment amount of the servo motor output; and generates a corresponding speed adjustment command based on the torque adjustment amount to adjust the speed of the servo motor; then, it detects and analyzes the real-time operating position information of the servo motor again to determine the secondary operating position offset of the servo motor after speed adjustment; finally, it switches the on / off working state of the servo motor based on the secondary operating position offset. This enables closed-loop control of the servo motor at three levels: operating position, torque, and speed. It adjusts the torque and speed of the servo motor based on the operating position of the servo motor, and promptly shuts down the servo motor when the operating position offset is too large, thereby improving the servo driver's response speed to the servo motor drive control and ensuring the stable and continuous operation of the servo motor.
[0050] Preferably, the servo motor position detection and analysis module detects the real-time operating position information of the servo motor connected to the servo driver, specifically including:
[0051] The servo motor position detection and analysis module detects the real-time operating position coordinates of the servo motor within one complete operating cycle; and determines the continuous trajectory of the servo motor's real-time operating position within that complete operating cycle based on the real-time operating position coordinates.
[0052] The beneficial effects of the above technical solution are as follows: The servo motor position detection and analysis module can include a position sensor and a position information processor. During the operation of the servo motor, the position sensor can detect the real-time operating position coordinates of the servo motor within a complete operating cycle. The servo motor is in different operating positions at different times within a complete operating cycle, and these positions change continuously over time. By recording all real-time operating position coordinates within a complete operating cycle and sending them to the position information processor for processing, the continuous real-time operating position trajectory of the servo motor within that complete operating cycle can be obtained, thus facilitating accurate quantitative calculation of the servo motor's operating deviation.
[0053] Preferably, the servo motor position detection and analysis module determines the servo motor's position offset during operation based on the real-time operating position information, specifically including:
[0054] The servo motor position detection and analysis module compares the real-time continuous trajectory of the operating position with the preset expected continuous trajectory of the operating position to determine the position offset of the servo motor in three-dimensional space during operation.
[0055] The beneficial effects of the above technical solution are as follows: During ideal operation, the servo motor corresponds to a continuous trajectory of a preset desired operating position. However, in actual operation, the real-time continuous trajectory of the servo motor's operating position will have a corresponding offset relative to the preset desired operating position continuous trajectory. By comparing these two continuous trajectories, the corresponding operating position offset in three-dimensional space can be calculated, thus facilitating the accurate calculation of the servo motor's torque adjustment.
[0056] Preferably, the torque adjustment determination module determines the torque adjustment amount output by the servo motor based on the operating position offset, specifically including:
[0057] The torque adjustment determination module determines the upper and lower fluctuation values of the servo motor output torque based on the offset of the operating position in the three-dimensional space; then, based on these upper and lower fluctuation values, it determines the torque adjustment amount of the servo motor.
[0058] The beneficial effects of the above technical solution are as follows: there is a positive correlation between the offset of the servo motor's operating position in three-dimensional space and the change in the servo motor's output torque. The greater the difference between the upper and lower fluctuations in the servo motor's output torque, the greater the offset of the servo motor's operating position in three-dimensional space. Based on this torque fluctuation value, the torque adjustment amount of the servo motor is calculated and determined. This allows for adjustment of the servo motor's output torque according to the torque adjustment amount, thereby effectively reducing the offset of the servo motor's operating position in three-dimensional space.
[0059] Preferably, the torque adjustment determination module determines the vertical fluctuation value of the servo motor output torque based on the operating position offset in the three-dimensional space; then, based on the vertical fluctuation value of the torque, it determines the servo motor torque adjustment amount, specifically including:
[0060] Step S1: Using the formula (1) below, calculate the planar offset of the three-dimensional position offset projected onto the plane perpendicular to the torque output by the servo motor, based on the position offset in the three-dimensional space.
[0061]
[0062] In the above formula (1), S(t) represents the planar operating position offset of the three-dimensional space at time t projected onto the plane perpendicular to the torque output by the servo motor; [x(t),y(t),z(t)] represents the three-dimensional vector form of the operating position offset at time t. This represents the torque direction vector output by the servo motor. The angle between the three-dimensional vector representing the offset of the operating position in three-dimensional space at time t and the torque direction vector output by the servo motor is represented by ||; | represents the magnitude of the orientation vector.
[0063] Step S2: Using the formula (2) below, the upper and lower fluctuation values of the torque output by the servo motor are obtained based on the offset of the plane's operating position and the direction of the load's driving force.
[0064]
[0065] In the above formula (2), D(t) represents the fluctuation value of the torque output by the servo motor at time t; This represents a unit direction vector on the plane perpendicular to the torque output by the servo motor, which is perpendicular to the direction of the load's driving force and points towards the axis of rotation of the servo motor. The three-dimensional vector representing the offset of the operating position in three-dimensional space at time t and The angle between them;
[0066] If D(t) = -1, it means that the torque output by the servo motor at time t needs to be adjusted downwards.
[0067] If D(t) = 0, it means that the torque output by the servo motor at time t does not need to be adjusted.
[0068] If D(t) = 1, it means that the torque output by the servo motor at time t needs to be increased.
[0069] Step S3: Using the following formula (3), determine the servo motor torque adjustment amount based on the fluctuation value of the servo motor output torque and the driving force of the load.
[0070] ΔM(t)=F×D(t)×S(t) (3)
[0071] In the above formula (3), ΔM(t) represents the torque adjustment of the servo motor at time t; F represents the driving force of the servo motor on the load.
[0072] The beneficial effects of the above technical solution are as follows: Using the above formula (1), the displacement of ...
[0073] Preferably, the speed adjustment module determines the speed adjustment amount of the servo motor based on the torque adjustment amount, thereby generating a corresponding speed adjustment command, specifically including:
[0074] The speed adjustment module determines the target torque adjustment value of the servo motor based on the torque adjustment amount; and determines the rotational angular velocity adjustment amount of the servo motor based on the output power of the servo motor and the target torque adjustment value; then generates a corresponding rotational angular velocity adjustment command based on the rotational angular velocity adjustment amount, and sends the rotational angular velocity adjustment command to the servo motor.
[0075] The beneficial effects of the above technical solution are as follows: The speed adjustment module performs corresponding addition and subtraction processing based on the current output torque of the servo motor and the torque adjustment amount to determine the target torque adjustment value of the servo motor. When the output power of the servo motor is fixed, the rotational angular velocity of the servo motor is inversely proportional to the output torque of the servo motor. Using this relationship and based on the output power of the servo motor and the target torque adjustment value, the adjustment amount of the rotational angular velocity of the servo motor can be determined, so as to send corresponding rotational angular velocity adjustment commands to the servo motor for accurate rotational angular velocity adjustment.
[0076] Preferably, the servo motor position detection and analysis module, after the speed adjustment command is applied to the servo motor, further detects the real-time operating position information of the servo motor, specifically including:
[0077] After the rotational angular velocity adjustment command is applied to the servo motor, the servo motor position detection and analysis module detects the real-time operating position coordinate information of the servo motor during one complete operating cycle. Based on the real-time operating position coordinate information, it determines the continuous trajectory of the real-time operating position of the servo motor during the complete operating cycle.
[0078] The beneficial effects of the above technical solution are as follows: after the servo motor completes the adjustment of the rotational angular velocity according to the rotational angular velocity adjustment command, the servo motor position detection and analysis module detects and analyzes the real-time operating position coordinate information of the servo motor again, thereby redetermining the real-time continuous trajectory of the servo motor during the complete operating cycle. This allows for a reassessment of the degree of servo motor position deviation after the rotational angular velocity adjustment is completed.
[0079] Preferably, the servo motor position detection and analysis module determines the secondary operating position offset of the servo motor after speed adjustment based on the re-detected real-time operating position information, specifically including:
[0080] The servo motor position detection and analysis module compares the real-time continuous trajectory of the detected position with the preset expected continuous trajectory of the position to determine the secondary position offset of the servo motor in three-dimensional space after speed adjustment.
[0081] The beneficial effects of the above technical solution are as follows: by comparing the real-time continuous trajectory of the operating position obtained by the re-detection with the preset expected continuous trajectory of the operating position, it is possible to determine the secondary operating position offset of the servo motor in three-dimensional space after the speed adjustment, thereby re-determining whether the operating position offset of the servo motor after the speed adjustment has been reduced.
[0082] Preferably, the servo drive state switching control module switches the on / off operating state of the servo motor according to the secondary operation position offset, specifically including:
[0083] The servo drive state switching control module compares the maximum operating position offset of the servo motor in three-dimensional space after speed adjustment with a preset offset threshold. If the maximum operating position offset is greater than or equal to the preset offset threshold, the servo motor is controlled to stop working. If the maximum operating position offset is less than the preset offset threshold, the current working state of the servo motor remains unchanged.
[0084] The beneficial effects of the above technical solution are as follows: The maximum operating position offset is extracted from the secondary operating position offset in three-dimensional space after speed adjustment. This maximum operating position offset refers to the offset with the maximum position offset amplitude. This maximum operating position offset is compared with a preset offset threshold. If the maximum operating position offset is greater than or equal to the preset offset threshold, it indicates that the servo motor is currently in an unstable operating state. In this case, the servo motor needs to be stopped to avoid irreversible damage caused by prolonged unstable operation. If the maximum operating position offset is less than the preset offset threshold, it indicates that the servo motor is currently in a stable operating state. In this case, the current operating state of the servo motor is maintained, thereby ensuring the normal and continuous operation of the servo motor.
[0085] As can be seen from the above embodiments, this high-response servo driver detects and analyzes the real-time operating position information of the servo motor to determine the corresponding operating position offset and the torque adjustment amount of the servo motor output; and generates a corresponding speed adjustment command based on the torque adjustment amount to adjust the speed of the servo motor; then, it detects and analyzes the real-time operating position information of the servo motor again to determine the secondary operating position offset of the servo motor after speed adjustment; finally, it switches the on / off working state of the servo motor based on the secondary operating position offset. This enables closed-loop control of the servo motor at three levels: operating position, torque, and speed. It adjusts the torque and speed of the servo motor based on the operating position of the servo motor, and promptly shuts down the servo motor when the operating position offset is too large, thereby improving the servo driver's response speed to the servo motor drive control and ensuring the stable and continuous operation of the servo motor.
[0086] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.
Claims
1. A high-response servo driver, comprising a servo motor position detection and analysis module, a torque adjustment determination module, a speed adjustment module, and a servo drive state switching control module, characterized in that: The servo motor position detection and analysis module is used to detect the real-time operating position information of the servo motor connected to the servo driver; and to determine the operating position offset of the servo motor during operation based on the real-time operating position information. The torque adjustment determination module is used to determine the torque adjustment amount output by the servo motor based on the operating position offset. The speed adjustment module is used to determine the speed adjustment amount of the servo motor based on the torque adjustment amount, thereby generating a corresponding speed adjustment command; The servo motor position detection and analysis module is also used to detect the real-time operating position information of the servo motor again after the speed adjustment command is applied to the servo motor; and to determine the secondary operating position offset of the servo motor after speed adjustment based on the real-time operating position information detected again. The servo drive state switching control module is used to switch the on / off working state of the servo motor according to the secondary operation position offset. The torque adjustment determination module determines the torque adjustment amount output by the servo motor based on the operating position offset, including: The torque adjustment determination module determines the vertical fluctuation value of the servo motor output torque based on the operating position offset in three-dimensional space; then, based on the vertical fluctuation value of the torque, it determines the servo motor torque adjustment amount, including: Step S1: Using the formula (1) below, calculate the planar rotation offset projected onto the plane perpendicular to the torque output by the servo motor, based on the rotation position offset in the three-dimensional space. （1） In the above formula (1), express The offset of the operating position in the three-dimensional space at any given time is projected onto the plane operating position offset on the plane perpendicular to the torque output by the servo motor. express The three-dimensional vector form of the offset of the operating position in the three-dimensional space at that moment; This represents the torque direction vector output by the servo motor. The angle between the three-dimensional vector representing the offset of the operating position in three-dimensional space at the given time and the torque direction vector output by the servo motor; Indicates the magnitude of the orientation quantity; Step S2: Using the following formula (2), the upper and lower fluctuation values of the torque output by the servo motor are obtained based on the offset of the planar operating position and the direction of the driving force of the load. （2） In the above formula (2), express The fluctuation value of the torque output by the servo motor at any given time; This represents a unit direction vector on the plane perpendicular to the torque output by the servo motor, which is perpendicular to the direction of the load's driving force and points towards the axis of rotation of the servo motor. express The angle value between the three-dimensional vector of the operational position offset in three-dimensional space at that moment; If, it means The torque output by the servo motor at any given time needs to be adjusted downwards; If, it means The torque output by the servo motor at any given time does not need to be adjusted. like ,express The torque output by the servo motor at any given time needs to be increased. Step S3: Using the following formula (3), determine the servo motor torque adjustment amount based on the fluctuation value of the servo motor output torque and the driving force of the load. （3） In the above formula (3), Indicates in The torque adjustment amount of the servo motor at any given time; This indicates the driving force of the servo motor on the load.
2. The high-response servo driver as described in claim 1, characterized in that: The servo motor position detection and analysis module detects the real-time operating position information of the servo motor connected to the servo driver, specifically including: The servo motor position detection and analysis module detects the real-time operating position coordinate information of the servo motor within one complete operating cycle; and determines the continuous trajectory of the servo motor's real-time operating position within the complete operating cycle based on the real-time operating position coordinate information.
3. The high-response servo driver as described in claim 2, characterized in that: The servo motor position detection and analysis module determines the servo motor's position offset during operation based on the real-time operating position information, specifically including: The servo motor position detection and analysis module compares the real-time continuous trajectory of the operating position with the preset expected continuous trajectory of the operating position to determine the position offset of the servo motor in three-dimensional space during operation.
4. The high-response servo driver as described in claim 1, characterized in that: The speed adjustment module determines the speed adjustment amount of the servo motor based on the torque adjustment amount, and generates a corresponding speed adjustment command, specifically including: The speed adjustment module determines the target torque adjustment value of the servo motor based on the torque adjustment amount; and determines the rotational angular velocity adjustment amount of the servo motor based on the output power of the servo motor and the target torque adjustment value; then generates a corresponding rotational angular velocity adjustment command based on the rotational angular velocity adjustment amount, and sends the rotational angular velocity adjustment command to the servo motor.
5. The high-response servo driver as described in claim 4, characterized in that: The servo motor position detection and analysis module detects the real-time operating position information of the servo motor again after the speed adjustment command is applied to the servo motor. Specifically, this includes: After the rotational angular velocity adjustment command is applied to the servo motor, the servo motor position detection and analysis module detects the real-time operating position coordinate information of the servo motor again within a complete operating cycle of the servo motor; and determines the continuous trajectory of the real-time operating position of the servo motor within the complete operating cycle based on the real-time operating position coordinate information.
6. The high-response servo driver as described in claim 5, characterized in that: The servo motor position detection and analysis module determines the secondary operating position offset of the servo motor after speed adjustment based on the re-detected real-time operating position information, specifically including: The servo motor position detection and analysis module compares the real-time continuous trajectory of the detected position with the preset expected continuous trajectory of the position to determine the secondary position offset of the servo motor in three-dimensional space after speed adjustment.
7. The high-response servo driver as described in claim 6, characterized in that: The servo drive state switching control module switches the on / off operating state of the servo motor according to the secondary operation position offset, specifically including: The servo drive state switching control module compares the maximum operating position offset of the servo motor in three-dimensional space after speed adjustment with a preset offset threshold. If the maximum operating position offset is greater than or equal to the preset offset threshold, the servo motor is controlled to stop working. If the maximum operating position offset is less than the preset offset threshold, the current working state of the servo motor remains unchanged.