Motor parameter setting method and system

Abstract

This invention relates to a method and system for motor parameter tuning. The method includes: inducing a motor to perform a first tuning movement according to predetermined first configuration conditions to automatically redetermine the motor's tuning parameter values; acquiring at least one performance evaluation data of the motor based on the tuning parameter values, and determining whether the performance evaluation data meets the corresponding preset target; when the performance evaluation data does not meet the corresponding preset target, inducing the motor to perform a second tuning movement according to second configuration conditions and tuning parameter values, acquiring the motor's performance evaluation data during the second tuning movement, and adjusting the motor's tuning parameter values ​​according to the performance evaluation data to make the performance evaluation data meet the corresponding preset target; and taking the tuning parameter value when all performance evaluation data meet the corresponding preset target as the target tuning result. In some implementations, this method can improve the motor tuning effect.

Description

Technical Field

[0001] This invention relates to the field of motor automation, and in particular to a method and system for motor parameter tuning. Background Technology

[0002] During motor operation, numerous parameters are involved, and the effectiveness of motor control is often related to the parameters set in the control loop. Motor tuning can be performed manually based on engineering experience, with technicians continuously observing the system's operating status under different control parameters to adjust the motor parameters. However, this is time-consuming and requires highly skilled technicians. To simplify the tuning process, some systems employ self-tuning, where the system automatically determines the values ​​of the tuning parameters using a pre-defined algorithm. However, this type of self-tuning often has limitations, typically only suitable for simple operating conditions with small variations in load inertia. Its tuning performance is not ideal in other scenarios.

[0003] Therefore, how to effectively achieve better tuning results is an urgent problem to be solved. Summary of the Invention

[0004] In view of the shortcomings of the above-mentioned related technologies, the purpose of this application is to provide a method and system for motor parameter tuning, which aims to solve the problems of high requirements for technicians or poor tuning effect in motor tuning.

[0005] A method for tuning motor parameters, comprising:

[0006] The motor is made to perform a first setting motion according to a predetermined first configuration condition, so as to automatically redetermine the setting parameter values ​​of the motor;

[0007] Obtain at least one performance evaluation data of the motor based on the set parameter values, and determine whether each performance evaluation data meets the corresponding preset target;

[0008] When the performance evaluation data does not meet the corresponding preset target, the motor is made to perform a second adjustment movement according to the second configuration conditions and the adjustment parameter value, the performance evaluation data of the motor during the second adjustment movement is obtained, and the adjustment parameter value of the motor is adjusted according to the performance evaluation data until the performance evaluation data meets the corresponding preset target.

[0009] The tuning parameter value when all the performance evaluation data meet the corresponding preset target is taken as the target tuning result.

[0010] The aforementioned motor parameter tuning method, in the second tuning motion, allows for targeted adjustment or completion of the tuning parameters after determining their impact. By specifically adjusting the tuning parameter values ​​in the second tuning motion, a better tuning result can be obtained than in the first tuning motion. Therefore, when the tuning parameter values ​​automatically re-determined in the first tuning motion are not ideal, targeted adjustment of the tuning parameter values ​​in the second tuning motion serves as a substitute or further supplement to the tuning process of the first motion, ensuring that the motor's tuning parameter values ​​achieve a better configuration and resulting in a better motor tuning effect.

[0011] Optionally, the performance evaluation data is either overshoot or jitter count;

[0012] The determination of whether each of the performance evaluation data meets the corresponding preset target includes:

[0013] Determine whether the overshoot exceeds a first threshold; if so, it does not meet the corresponding preset target. Alternatively, determine whether the number of jitters exceeds a second threshold; if so, it does not meet the corresponding preset target.

[0014] Optionally, after determining that the overshoot exceeds the first threshold, adjusting the motor's tuning parameter value based on the performance evaluation data until the performance evaluation data meets the corresponding preset target includes:

[0015] Gradually reduce the bandwidth of Model Tracking Control (MFC) until at least one of the following conditions is met:

[0016] The overshoot amount does not exceed the first threshold;

[0017] The model tracking control MFC bandwidth reaches the minimum set value;

[0018] When the model tracking control MFC bandwidth reaches the minimum set value, the following is also included:

[0019] Determine whether the overshoot exceeds the first threshold. If so, perform a first response operation until the overshoot does not exceed the first threshold.

[0020] Optionally, the minimum setting value of the Model Tracking Control (MFC) bandwidth is 50% of the initial value of the Model Tracking Control (MFC) bandwidth.

[0021] Optionally, after determining that the number of vibrations exceeds the second threshold, adjusting the motor's tuning parameter value based on the performance evaluation data until the performance evaluation data meets the corresponding preset target includes:

[0022] The rigidity parameter value of the motor is controlled to decrease until the number of vibrations does not exceed the second threshold.

[0023] Optionally, determining whether each of the performance evaluation data meets the corresponding preset target includes: determining whether the number of jitters exceeds a second threshold; and determining whether the overshoot exceeds a first threshold after determining that the number of jitters does not exceed the second threshold.

[0024] After determining that the number of vibrations exceeds the second threshold, adjusting the setting parameter value of the motor according to the performance evaluation data until the performance evaluation data meets the corresponding preset target includes: controlling the rigidity parameter value of the motor to decrease until the number of vibrations does not exceed the second threshold;

[0025] After determining that the overshoot exceeds the first threshold, adjusting the motor's tuning parameter value based on the performance evaluation data until the performance evaluation data meets the corresponding preset target includes: reducing the Model Tracking Control (MFC) bandwidth until at least one of the following conditions occurs:

[0026] The overshoot amount does not exceed the first threshold;

[0027] The model tracking control MFC bandwidth reaches the minimum set value;

[0028] When the Model Tracking Control (MFC) bandwidth reaches the minimum set value, it is determined whether the overshoot exceeds the first threshold; if so, the first response operation is executed until the overshoot does not exceed the first threshold.

[0029] Optionally, performing the first response operation until the overshoot does not exceed the first threshold includes:

[0030] The rigidity parameter value of the motor is increased until the overshoot does not exceed the first threshold.

[0031] Optionally, the first configuration conditions include:

[0032] The motor is shielded from external enable and external control commands. The jogging speed is automatically set according to rules, and at least one of the following parameters can be directly set through tuning software:

[0033] The extreme positions and response modes of left and right movements.

[0034] Optionally, the second configuration condition includes:

[0035] The motor is set to the ON state by at least one of the following parameters issued by the control command:

[0036] The extreme positions of left and right movements, the jogging speed, the acceleration and deceleration time, and the predetermined number of reciprocating movements.

[0037] Based on the same inventive concept, this application also provides a motor tuning system, including a first tuning module and a second tuning module:

[0038] The first tuning module is used to make the motor perform a first tuning movement according to a predetermined first configuration condition, so as to automatically redetermine the tuning parameter values ​​of the motor;

[0039] The second tuning module is used to cause the motor to perform a second tuning movement according to the second configuration conditions and the tuning parameter values ​​when at least one performance evaluation data of the motor based on the tuning parameter values ​​does not meet the corresponding preset target. In the second tuning movement, the performance evaluation data of the motor is acquired, and the tuning parameter values ​​of the motor are adjusted according to the performance evaluation data until the performance evaluation data meets the corresponding preset target; and the tuning parameter value when all the performance evaluation data meets the corresponding preset target is taken as the target tuning result.

[0040] The aforementioned motor tuning system has two tuning modules with different tuning modes. The second tuning module, after determining the impact of adjusting the tuning parameters, can continue to adjust the tuning parameters in a targeted manner or complete the tuning process, achieving better tuning results than the first tuning module. Therefore, when the tuning parameter values ​​automatically determined by the first tuning module are not ideal, the second tuning module acts as a substitute or further supplement to the first tuning module, ensuring that the tuning parameter values ​​of the motor can be better configured, resulting in better motor tuning performance. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the basic process of the motor parameter tuning method provided in the embodiments of the present invention;

[0042] Figure 2 A waveform diagram provided for an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of a motor tuning system provided in another optional embodiment of the present invention. Detailed Implementation

[0044] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0046] In related technologies, motor tuning requires highly skilled technicians or may result in unsatisfactory tuning effects.

[0047] Therefore, this application aims to provide a solution that can solve the above-mentioned technical problems, the details of which will be described in subsequent embodiments.

[0048] Example:

[0049] Please see Figure 1 This embodiment provides a method for tuning motor parameters, including:

[0050] S101. Make the motor perform a first setting motion according to the predetermined first configuration conditions, so as to automatically redetermine the setting parameter values ​​of the motor.

[0051] For example, in this embodiment, before performing the first tuning movement, the initial tuning parameter values ​​of the motor are configured according to preset parameters. These configured tuning parameters are the settings for which specific parameters need to be tuned during the first tuning movement. Typically, these tuning parameters are pre-set, meaning the specific motor parameters to be tuned have already been selected. After the first tuning movement, the new tuning parameter values ​​of the motor can be determined.

[0052] In some implementations, the first configuration condition includes shielding external enable and external control commands, including but not limited to at least one of the following configuration parameters directly set by the tuning software: the limit position of left and right movement, and the response mode. The motor's configuration parameters, including but not limited to jogging speed, can be automatically set according to predetermined rules. That is, in the first configuration condition, the motor's movement is executed according to predetermined settings, and the set values ​​or determination methods of these configuration parameters can be stored in the corresponding control software or hardware. For example, the limit position of left and right movement can be found by low-speed jogging and directly set in the tuning software. For example, the first tuning motion can be a rotational motion, ensuring that the motor rotates without external enable or external control commands. It is understood that during the tuning process, the motor's path is unobstructed, ensuring fault-free normal rotation of the motor. In other examples, the motor being tuned can be a linear motor, and the first tuning motion can be linear motion.

[0053] In this embodiment, the first tuning motion is automatically executed according to pre-set first configuration conditions. During this process, various tuning parameters may be amplified or adjusted based on a pre-set algorithm. Furthermore, the first tuning motion may also include corresponding vibration suppression and inertia identification processes.

[0054] The first tuned motion can be performed in one or more segments. For example, it can be executed continuously and end after completing one continuous and complete motion, or it can be divided into multiple segments, with a certain time interval between each segment or using different motion settings. The specific execution depends on the pre-set parameters.

[0055] After the first tuning cycle, the system automatically re-determines the motor's tuning parameter values ​​based on the tuning conditions. These specific values ​​are the results obtained after the first tuning cycle. Before the first tuning cycle, these tuning parameters had an initial or default value, but for practical applications, these values ​​do not necessarily guarantee that the motor will achieve a good working state. The first tuning cycle automatically determines tuning parameter values ​​that are better suited to actual work conditions; that is, it redetermines the specific values ​​of these tuning parameters. Generally speaking, the redetermined tuning parameter values ​​allow the motor to operate better in the current environment compared to the initial values ​​of these tuning parameters.

[0056] It should be noted that multiple tuning parameters are automatically tuned according to a specific algorithm during this process. In practical applications, the specific method for automatically calculating the tuning parameter values ​​during the first tuning motion can be set by each manufacturer, and this embodiment does not limit the specific algorithm. This process includes, but is not limited to, acquiring and calculating data such as motor operating status data and performance evaluation data.

[0057] S102. Obtain at least one performance evaluation data of the motor based on the setting parameter values;

[0058] It is understandable that performance evaluation data reflects the motor's operating status, which can be reflected by one or more performance evaluation data points. For each performance evaluation data point, there is a corresponding preset target. After the motor's tuning parameter values ​​are redefined, the motor now has corresponding performance evaluation data based on those tuning parameter values. Whether the performance evaluation data all meet the corresponding preset targets can be used to determine whether the result of this automatic tuning meets the expected goals.

[0059] In practical applications, performance evaluation data can be one of the following: overshoot, number of jitters, range of arrival, number of arrivals, arrival time, maximum current, and maximum speed.

[0060] S103. Determine whether each performance evaluation data meets the corresponding preset target;

[0061] In some implementations, the performance evaluation data is one of overshoot and jitter count. Accordingly, determining whether each performance evaluation data meets the corresponding preset target may include:

[0062] Determine whether the overshoot exceeds the first threshold; if so, it does not meet the corresponding preset target.

[0063] or,

[0064] Determine if the number of jitters exceeds the second threshold; if so, it does not meet the corresponding preset target.

[0065] Understandably, the expected targets may differ depending on the actual needs of different motors or application environments. Therefore, in practical applications, technicians can set the thresholds according to their requirements. That is, the first and second thresholds can be set according to actual needs; for example, the first and second thresholds can be flexibly set based on the performance requirements of the motor in the current application environment.

[0066] In practical applications, if the motor's performance evaluation data all meet the corresponding preset targets when the tuning parameter values ​​are automatically re-determined after the first tuning motion, then the tuning parameter values ​​at this time can be used as the target tuning result. These tuning parameter values ​​can be saved, allowing the motor to replace each initial tuning parameter value with the automatically re-determined tuning parameter value and operate accordingly. However, in practical applications, the tuning parameter values ​​automatically re-determined after the first tuning motion may not meet the application requirements, meaning the motor's performance evaluation data may not meet the corresponding preset targets. In this embodiment, when the performance evaluation data does not meet the corresponding preset targets, the following step S104 is executed.

[0067] S104. Make the motor perform a second tuning motion according to the second configuration conditions, obtain the performance evaluation data of the motor during the second tuning motion, and adjust the tuning parameter value of the motor according to the performance evaluation data until the performance evaluation data meets the corresponding preset target.

[0068] In step S103, the adjustment of the setting parameter value can be set by technicians based on the performance evaluation data of the motor obtained during the second setting motion.

[0069] In some embodiments, the second configuration condition includes setting the motor's enabled state to "on," and issuing at least one of the following configuration parameters via control commands: the left and right limit positions, jogging speed, acceleration / deceleration time, and a predetermined number of reciprocating motions. During the second tuning motion, the motor moves in the enabled state. Motor enabling includes, but is not limited to, external control enabling, and can also be an internal enabling during trial operation. During the second tuning motion, the motor is in the enabled state, and the configuration parameters can be configured via external control commands. For example, at least one of the following configuration parameters can be issued via an external control device: the left and right limit positions, jogging speed, acceleration / deceleration time, and a predetermined number of reciprocating motions. Of course, these configuration parameters can also be internal enabling parameters for trial operation. Similarly, the second tuning motion under the second configuration condition should also ensure that the motor operates normally and without faults within the set range.

[0070] In practical applications, step S104 can focus on adjusting only one or a few tuning parameters. Unlike the first tuning motion, which automatically determines multiple tuning parameter values, the second tuning motion is enabled and can continue adjusting or completing the tuning after determining the impact of adjusting the tuning parameters. Targeted adjustment of tuning parameter values ​​in the second tuning motion can yield better tuning results than the first. When the tuning parameter values ​​determined in the first tuning motion are not ideal, targeted adjustment in the second tuning motion serves as a substitute or further supplement to the tuning process of the first motion, ensuring that the motor's tuning parameters achieve the expected target and resulting in better motor tuning. It should be noted that the remaining tuning parameter values ​​that are not individually adjusted can be automatically re-determined through other methods.

[0071] S105. The tuning parameter value when all performance evaluation data meet the corresponding preset target is taken as the target tuning result.

[0072] When all performance evaluation data meet the corresponding preset targets, the tuning parameter values ​​can be saved as target tuning results and can be directly called up in future motor operation. Of course, the motor can also be retuned during future motor use.

[0073] In some implementations, after determining that the overshoot exceeds the first threshold, the step S104 above, "adjusting the motor's tuning parameters based on the performance evaluation data until the performance evaluation data meets the corresponding preset target," includes:

[0074] Gradually reduce the bandwidth of model follow control (MFC) until at least one of the following conditions is met: the overshoot does not exceed the first threshold; or the bandwidth of model follow control (MFC) reaches the minimum set value.

[0075] Furthermore, when the model tracking control MFC bandwidth reaches the minimum set value, it also includes:

[0076] Determine whether the overshoot exceeds the first threshold. If so, perform a first response operation until the overshoot does not exceed the first threshold.

[0077] As an example, the first response operation includes increasing the rigidity parameter value of the motor. For instance, the rigidity parameter value of the motor can be increased by a first preset value each time until the overshoot does not exceed a first threshold. The first preset value can be at least one unit. That is, when the overshoot exceeds the first threshold, the Model Tracking Control (MFC) bandwidth value is first reduced. If the overshoot is still higher than the first threshold after the MFC bandwidth reaches the minimum set value, the rigidity is increased. The overshoot is controlled by changing the rigidity to ensure that the MFC bandwidth is not too low. For example, after the rigidity parameter value of the motor is increased, the overshoot can be observed again to see if it exceeds the first threshold, and the subsequent tuning method can be determined based on the overshoot. For example, if the overshoot no longer exceeds the first threshold after the rigidity parameter value of the motor is increased, the tuning adjustment for the overshoot is completed; if the overshoot still exceeds the first threshold, the rigidity parameter value is increased again. For example, the Model Tracking Control (MFC) bandwidth is typically set with an initial value. If the overshoot exceeds a first threshold, i.e., the overshoot is too large, the MFC bandwidth is reduced. The MFC bandwidth can be gradually reduced according to a set step size, and the overshoot is observed again after each reduction until the overshoot is controlled within the first threshold. To ensure that the motor still has sufficient MFC bandwidth, this embodiment sets a lower limit for the MFC bandwidth. When the MFC bandwidth decreases to the lowest set value, it will not decrease further.

[0078] As an example, the minimum setpoint for the Model Tracking Control (MFC) bandwidth is 50% of its initial value. For instance, if the initial MFC bandwidth for a certain rigidity level is 600 / 0.1 Hz, then after the overshoot exceeds a first threshold, the MFC bandwidth for that rigidity level will decrease to a minimum of 300 / 0.1 Hz. In other implementations, the minimum setpoint for the MFC bandwidth can also be set to 60%, 70%, etc., but it should be ensured that the motor can operate normally.

[0079] During some of the second-stage adjustment movements, the motor's rigidity parameter value may gradually increase, and with this increase, the motor's vibration may worsen. Alternatively, the user-set rigidity parameter value may be too high, causing severe motor vibration. In some implementations, if the number of vibrations exceeds a second threshold, the motor's rigidity parameter value is immediately reduced by at least one second preset value to alleviate motor vibration and prevent fastener loosening due to vibration after a period of operation. The second preset value is at least one unit; as an example, it can be two units, allowing for a margin to ensure more stable motor operation. Furthermore, in some implementations, if reducing the rigidity parameter value does not effectively alleviate motor vibration, the above process can be repeated more than once and / or combined with adjustments to other setting parameters until the motor vibration is alleviated.

[0080] To achieve better tuning results, in some implementations, the performance evaluation data includes overshoot and jitter count. Therefore, step S103 above, determining whether each performance evaluation data point meets the corresponding preset target, includes: first determining whether the jitter count exceeds a second threshold; and then determining whether the overshoot exceeds a first threshold after confirming that the jitter count does not exceed the second threshold.

[0081] After determining that the number of vibrations exceeds the second threshold, the step S104 above, "adjusting the motor's tuning parameter value according to the performance evaluation data until the performance evaluation data meets the corresponding preset target", includes: controlling the motor's rigidity parameter value to decrease until the number of vibrations does not exceed the second threshold.

[0082] After determining that the overshoot exceeds the first threshold, the step S104 above, "adjusting the motor's tuning parameters based on the performance evaluation data until the performance evaluation data meets the corresponding preset target," includes: reducing the Model Tracking Control (MFC) bandwidth until at least one of the following conditions occurs:

[0083] The overshoot does not exceed the first threshold.

[0084] Model tracking controls MFC bandwidth to reach the minimum set value;

[0085] When the Model Tracking Control (MFC) bandwidth reaches the minimum set value, it checks whether the overshoot exceeds the first threshold. If so, it executes a first response operation until the overshoot does not exceed the first threshold. The first response operation can also include increasing the rigidity parameter value of the control motor.

[0086] In other words, the tuning first targets the number of jitters. This means that after controlling the motor's rigidity parameter value to decrease, the tuning continues to check if the number of jitters exceeds a second threshold. If it does, the motor's rigidity parameter value continues to decrease; otherwise, the overshoot is assessed, and adjustments are made if the overshoot exceeds a first threshold. The beneficial effect of this embodiment is that by first tuning for the number of jitters and then for the overshoot, tuning parameter values ​​that simultaneously meet both the jitter and overshoot requirements can be obtained, further improving performance.

[0087] It is worth mentioning that each of the above tuning parameters can be determined by multiple underlying tuning parameters. Specifically, the stiffness parameter value is determined by the position command low-pass filter, the position command non-recursive filter, and the vibration reduction frequency parameter. The Model Tracking Control (MFC) parameters are also determined by the position command low-pass filter, the position command non-recursive filter, and the vibration reduction frequency parameter. In some embodiments, when the number of jitters is already very close to the preset target, further reducing the stiffness value by one unit, although it can further suppress jitter, will have a significant impact on the overshoot, thus the system performance will not reach its optimal level. Therefore, the adjustment accuracy of the tuning parameter values ​​can be further improved by manually adjusting the underlying tuning parameters. As one example, when the number of motor jitters is detected to exceed and approach the second threshold, the vibration frequency of the motor is obtained, and the vibration reduction frequency parameter is set according to the vibration frequency to suppress the motor vibration and reduce the number of jitters to within the second threshold. For example, some tuning software can display the waveform of the motor's current feedback, such as... Figure 2 As shown, the positions of two adjacent troughs / peaks are obtained as ΔX = X2 - X1, and the first damping frequency of the motor is set to 1000 / (X2 - X1) * 10. The dashed line in the figure represents the position command speed (rpm), and the solid line represents the current feedback (%). The area circled by the dashed line is the region where the motor vibrates. In this example, X1 = 575, X2 = 620, so the motor damping frequency is set to 1000 / (620 - 575) * 10 = 220.

[0088] Another optional embodiment of the present invention:

[0089] This embodiment provides a motor tuning system, such as Figure 3As shown, the motor tuning system 100 includes a first tuning module 101 and a second tuning module 102. The first tuning module 101 is used to cause the motor to perform a first tuning movement according to predetermined first configuration conditions, thereby automatically re-determining the motor's tuning parameter values. The second tuning module 102 is used to cause the motor to perform a second tuning movement according to second configuration conditions and tuning parameter values ​​when at least one performance evaluation data of the motor based on the tuning parameter values ​​does not meet the corresponding preset target. During the second tuning movement, the motor's performance evaluation data is acquired, and the motor's tuning parameter values ​​are adjusted according to the performance evaluation data until the performance evaluation data meets the corresponding preset target; the tuning parameter value when all performance evaluation data meets the corresponding preset target is taken as the target tuning result.

[0090] The motor tuning system 100 has two tuning modules with different tuning modes. The second tuning module 102 can continue to adjust or complete the tuning parameters after determining the impact of adjusting the tuning parameters, and can obtain better tuning results than the first tuning module 101. Therefore, when the tuning parameter values ​​automatically determined by the first tuning module 101 are not ideal, the second tuning module 102 serves as a substitute or further supplement to the first tuning module 101, ensuring that the tuning parameter values ​​of the motor can be better configured, resulting in better motor tuning performance.

[0091] It should be noted that at least one step in the methods of the above embodiments can be implemented by tuning software in combination with necessary hardware, or at least some steps can be operated or assisted by technicians. The division between functional modules / units mentioned in the systems of the above embodiments does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be executed by several physical components working together. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit.

[0092] It should also be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method of motor parameter tuning, characterized by, include: The motor is made to perform a first setting motion according to a predetermined first configuration condition, so as to automatically redetermine the setting parameter values ​​of the motor; Obtain the performance evaluation data of the motor based on the set parameter values, and determine whether each of the performance evaluation data meets the corresponding preset target; When the performance evaluation data does not meet the corresponding preset target, the motor is made to perform a second adjustment movement according to the second configuration conditions and the adjustment parameter value, the performance evaluation data of the motor during the second adjustment movement is obtained, and the adjustment parameter value of the motor is adjusted according to the performance evaluation data until the performance evaluation data meets the corresponding preset target. The tuning parameter value when all the performance evaluation data meet the corresponding preset target is taken as the target tuning result; The performance evaluation data includes overshoot and jitter count; The determination of whether each of the performance evaluation data meets the corresponding preset target includes: Determine whether the overshoot exceeds a first threshold; if so, it does not meet the corresponding preset target. Determine whether the number of jitters exceeds a second threshold; if so, it does not meet the corresponding preset target. First, determine whether the number of jitters exceeds the second threshold. If the number of jitters does not exceed the second threshold, then determine whether the overshoot exceeds the first threshold.

2. The motor parameter tuning method of claim 1, wherein, After determining that the overshoot exceeds the first threshold, adjusting the motor's tuning parameter value based on the performance evaluation data until the performance evaluation data meets the corresponding preset target includes: Gradually reduce the bandwidth of Model Tracking Control (MFC) until at least one of the following conditions is met: The overshoot amount does not exceed the first threshold; The model tracking control MFC bandwidth reaches the minimum set value; When the model tracking control MFC bandwidth reaches the minimum set value, the following is also included: Determine whether the overshoot exceeds the first threshold. If so, perform a first response operation until the overshoot does not exceed the first threshold.

3. The motor parameter tuning method of claim 2, wherein, The minimum setting value for the Model Tracking Control (MFC) bandwidth is 50% of the initial value of the Model Tracking Control (MFC) bandwidth.

4. The motor parameter tuning method of claim 1, wherein, After determining that the number of vibrations exceeds the second threshold, adjusting the motor's tuning parameter values ​​based on the performance evaluation data until the performance evaluation data meets the corresponding preset target includes: The rigidity parameter value of the motor is controlled to decrease until the number of vibrations does not exceed the second threshold.

5. The motor parameter tuning method of claim 1, wherein, The determination of whether each performance evaluation data item meets the corresponding preset target includes: After determining that the number of jitters exceeds the second threshold, adjusting the motor's tuning parameter value based on the performance evaluation data until the performance evaluation data meets the corresponding preset target includes: controlling the motor's stiffness parameter value to decrease until the number of jitters does not exceed the second threshold; after determining that the overshoot exceeds the first threshold, adjusting the motor's tuning parameter value based on the performance evaluation data until the performance evaluation data meets the corresponding preset target includes: reducing the Model Tracking Control (MFC) bandwidth until at least one of the following conditions occurs: The overshoot amount does not exceed the first threshold; The model tracking control MFC bandwidth reaches the minimum set value; When the Model Tracking Control (MFC) bandwidth reaches the minimum set value, it is determined whether the overshoot exceeds the first threshold; if so, the first response operation is executed until the overshoot does not exceed the first threshold.

6. The method of motor parameter tuning according to claim 2 or 5, wherein, The step of performing the first response operation until the overshoot does not exceed the first threshold includes: The rigidity parameter value of the motor is increased until the overshoot does not exceed the first threshold.

7. The motor parameter tuning method of claim 1, wherein, The first configuration conditions include: The motor is shielded from external enable and external control commands. The jogging speed is automatically set according to rules, and at least one of the following parameters can be directly set through tuning software: The extreme positions and response modes of left and right movements.

8. The motor parameter tuning method of claim 1, wherein, The second configuration conditions include: The motor is set to the ON state by at least one of the following parameters issued by the control command: The extreme positions of left and right movements, the jogging speed, the acceleration and deceleration time, and the predetermined number of reciprocating movements.

9. An electrical machine setting system, characterized in that For applying the motor parameter tuning method as described in any one of claims 1 to 8, the motor tuning system includes a first tuning module and a second tuning module: The first tuning module is used to make the motor perform a first tuning movement according to a predetermined first configuration condition, so as to automatically redetermine the tuning parameter values ​​of the motor; The second tuning module is used to cause the motor to perform a second tuning movement according to the second configuration conditions and the tuning parameter values ​​when at least one performance evaluation data of the motor based on the tuning parameter values ​​does not meet the corresponding preset target. In the second tuning movement, the performance evaluation data of the motor is acquired, and the tuning parameter values ​​of the motor are adjusted according to the performance evaluation data until the performance evaluation data meets the corresponding preset target. The tuning parameter value when all the performance evaluation data meet the corresponding preset target is taken as the target tuning result; The performance evaluation data includes overshoot and jitter count; The determination of whether each of the performance evaluation data meets the corresponding preset target includes: Determine whether the overshoot exceeds the first threshold; if so, it does not meet the corresponding preset target. Determine whether the number of jitters exceeds the second threshold; if so, it does not meet the corresponding preset target. First, determine whether the number of jitters exceeds the second threshold. If the number of jitters does not exceed the second threshold, then determine whether the overshoot exceeds the first threshold.

Images